• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method for controlling a pressurized forest machine grapple (1) of a working machine, in which a pressure medium flow is supplied to the forest machine grapple (1) via a multi-pressure medium passageway (9) for operating a multi-forest grapple actuator , 15, 16, 17, 18, 22), at least some of which comprise a valve control device, such as a solenoid, and in which method the operation of the operating valves is controlled by a control system comprising at least one control device (7) and sensors (19, 29, 21) having a sensor signal or the sensor information is transmitted to the control device (7). The method controls a control valve (14, 15) to connect the pressure medium flow (A, K, V1) of at least one other actuator (3, 11) to at least one other actuator (6, 13, 23) as a constant pressure line (P, T) and / or to connect at least two a separate pressure medium circuit into a single circuit or two separate pressure medium paths (A, K; V1; P, T) into a single pressure medium path. The invention also relates to a forest machine grapple and a working machine.
    公开号:FI20205244A1
    申请号:FI20205244
    申请日:2020-03-06
    公开日:2021-08-13
    发明作者:Taneli Moisio；Tuomas Moisio；Petrus Moisio
    申请人:Moisio Forest Oy；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION The invention relates to a method for controlling a forest machine grapple according to the preamble of claim 1. The invention also relates to a forest machine grapple. The invention also relates to a working machine.
    BACKGROUND OF THE INVENTION A forest machine, or forest machine for short, is a machine used in mechanical logging. Forest machines can typically be divided into two different areas, felling machines and driving machines. There are also combination machines that handle both work steps after small quick modifications. In addition, other work machines can be used as forest machines, which can be equipped with the equipment needed for handling trees, such as a forest machine grapple. The task of the felling machine, under the control of the driver, is to take care of felling, pruning and cutting to size. The operation of the felling machine is based on hydraulics, through which the felling machine crane and the forest machine grapple, i.e. the cutting head, receive the required force. S 30 Driving machines, also called forestry or Ek forwarders, are machines whose function is to + collect trees harvested by a harvester from the forest and transport them to the roadside in piles sorted by truck, from which a timber truck can pick them up. The S 35 has a load compartment where the trees are lifted by a crane equipped with a forest machine grapple.
    The forest machine grapple typically includes load jaws for feeding and supporting the trees to be treated between the jaws and the trunk, and cutting blades or a saw blade for cutting the trees. In this application, a forest machine grapple may also be referred to as a grapple. Sometimes the forest machine grapple can be installed on other work machines.
    The problem with conventional energy wood or felling chutes has been insufficient supply of pressure medium, such as oil, in a small work machine. If rapid cutting of the body to be treated (with a cutting blade or a saw) is desired, sufficient pressure medium, such as oil, must be obtained for the grapple. In large harvester machines, the supply of a pressure medium, such as oil, is not a problem, as they typically have sufficiently large hydraulic lines ready for the flow of the pressure medium, such as oil. Small work machines or basic machines, such as driving machines, and small excavators typically have small hydraulic lines, often with insufficient capacity to operate a fast saw or knife cutter in a forest machine grapple. Traditionally, this problem has been solved by installing new guide lines, such as hydraulic lines, or additional, additional pressure medium lines, such as hydraulic lines, on the implement, i.e. at the site where the forestry machine grab is installed. However, these prior art solutions require N significant installation steps, which are a large cost factor and generally require installation work by a person skilled in the art. Ek One problem has been the design of the hydraulic block = energy wood or felling grapples, which 3 are installed on drive machines (basic machines) where only the actuator line (grapple open / closed) comes to the S 35. Traditionally, the hydraulic block in these cases has been tailored and machined specifically for this purpose. In this case, the practical problem is the high price of the special block, the long delivery time, the difficult adaptability to different operating needs, the more complex fault diagnostics and the solution of operating problems. In the worst case, the entire special block must be replaced with a new block if the operating problem cannot be solved otherwise.
    SUMMARY OF THE INVENTION The object of the invention is to provide a completely new solution to the above-mentioned problems. The invention is based on the idea that a new type of hydraulic and electrical connection can be used to use the existing pressure medium lines of the basic machine, such as hydraulic lines to increase the flow to forest machine grapple actuators, such as sawing or cutting equipment, without additional hydraulic line installations. The invention is characterized by what is stated in the characterizing part of claim 1. Embodiments of the invention are characterized by what is stated in the claims. According to one embodiment, the invention relates to a method O for controlling a pressure medium-operated forest machine grapple 1 of a working machine, in which method a pressure medium flow is supplied to the forest machine grapple 1 2 30 via a multi-pressure medium passage 9 The flow of pressure medium to the actuators is controlled by a plurality of actuators 14, 15, 16, 17, 18, 22, N 35, at least some of which comprise a valve control device, N such as a solenoid, and in which method the operation of the actuators is controlled by a control system
    at least one control device 7 and sensors 19, 29, 21, the sensor signal or sensor information of which is transmitted to the control device 7. According to one embodiment of the method, at least a control valve 14, 15 is controlled to connect the pressure medium flow A, K, V1 for one other actuator 6, 13, 23 as a constant pressure line P, T and / or at least two separate pressure medium circuits are combined into one circuit or two separate pressure medium paths A, K; V1; P, T as one pressure medium path.
    According to one embodiment, the method controls the control valve 14, 15 to connect the pressure medium flow of the pressure medium passages A, K, VI of at least one other actuator 3, 11 to at least one other actuator 6, 13, 23 as a constant pressure line P, T and / or to connect at least two separate pressure medium circuits A , K; V1, P, T into one circuit or two separate pressure medium paths into one pressure medium path A, K; V1; P, T based on the sensor signal or information produced by the sensor.
    According to one embodiment, the control valve 14, 15 connects two different pressure medium passages A, K; V1, P, T, such as a hydraulic line, as a single pressure medium passage A, K; V1; P, T, as a hydraulic line, and to direct the pressure selector to the at least one first actuator, at least x based on the sensor signal or sensor information of one sensor, such as the pressure sensor 19, 20, 21 of the power or pressure selector line N.
    S According to one embodiment, the pressure medium paths A, K for the actuators, i.e. the actuator + lines, are changed to constant pressure lines, pressure line P 3 and / or tank line T by changing the position of the operating valve or S 35 control valve 14.
    S According to one embodiment, the pressure medium flow path A of the loading jaws 4 of the loading jaws of the forest machine grapple 1 is connected to the pressure line P and the pressure medium flow path K of the loading jaws 4 of the loading jaws 4 to the tank line T based on the sensor
    According to one embodiment, the pressure medium flow path A of the loading jaws 4 of the loading jaws of the forest machine grapple 1 is connected to the tank line T by the control valve 14 and the pressure medium flow path K of the loading jaws 11 actuator 11 to the According to one embodiment, the control valve 14 of the forest machine grapple can also be a pressure-controlled valve which changes the pressure medium passages A, K of the loading jaws 4 of the loading jaws 4 to the pressure line P and the tank line T on the basis of the pressure information of the loading jaws 4.
    According to the embodiment, the pressure medium passages A, K for the actuators, i.e. the actuator lines, are changed to constant pressure lines to the pressure line P and / or to the tank line T by changing the position of the operating valve or changeover valve 14. According to the embodiment, the actuator valve 18 is opened to bring the actuators 13 of the tilt of the grapple 1 to the felling position of the wood. According to one embodiment, in the method 3 30, the operating valve 16 is connected to a position in which the rotation of the rotator 3 of the forest machine grapple, i.e. the rotator 3, is prevented. Ek According to one embodiment, the operating valve + 16 is controlled on the basis of the sensor signal or sensor information of the force sensor 20 of the load jaws 4. S35 According to one embodiment, in method S, the operating valve 16 is activated and the through-rotation of the rotator line V1 is prevented, whereby the normal operation of the rotator
    rotation is inhibited when the limit value of the force sensor sensor signal or sensor information is exceeded.
    According to one embodiment, the rotator line V1 is connected to the pressure line P by activating the control valve 15 when the sensor signal or sensor information provided by the rotator pressure medium line pressure sensor 19 exceeds a set limit value, whereby the rotator line and grapple line can be connected.
    According to one embodiment, the grapple cutting device 6 is activated by activating the actuator valve 17. According to the embodiment, the actuator valve 18 is activated to bring the grapple 1 , and connecting means for connecting the forest machine grapple to the pressure medium system of the implement for operating the forest machine grapple actuators with the pressure medium.
    According to one embodiment, a control system is provided in connection with the forest machine grapple, comprising a control device 7 and sensors, based on which sensor signal or sensor information the control system is adapted to control a control valve to connect at least one other actuator 3, 11 to at least one for the operating device 6, 13, 23 as a constant pressure line P, T and / or 3 30 to connect at least two separate pressure medium circuits S into one circuit or two separate pressure medium paths A, K; V1; P, T as one pressure medium + path. 3 According to one embodiment, the control system of the forest machine grapple S 35 is adapted to control the actuators of the forest machine grapple S according to one of the above applications.
    form or by a method according to claims 1 to 13.
    The invention also relates to a working machine comprising a crane 10 and at least one pumping device and a pressure medium passageway 9. The working machine comprises a forest machine grapple 1 according to any one of claims 13 or 14, which can be connected to a crane and a pressure medium passageway 9. The invention relates in particular to , such as a hydraulic and electrical system, which makes it possible to control the transfer of the pressure medium of the forest machine grapple in the pressure medium guide lines, i.e. the control lines.
    The solution according to the invention has numerous significant advantages.
    The control system of the forest machine grapple according to the invention can be adapted to work machines, such as driving machines or other forest work machines, which can be used, for example, in the treatment of energy trees or felling.
    The forest machine grapple control system according to the invention enables the installation of a forest machine grapple without replacing the pressure medium lines with new ones or by installing additional pressure medium lines.
    With the solution according to the invention, existing pressure medium lines of the basic machine, such as hydraulic lines, can be used to increase the flow to forest machine grapple actuators, such as a sawing or cutting device, so that no additional installation of hydraulic lines on the implement is required.
    In this case, the forest machine grapple according to the invention can be easily adapted to various work machines.
    The control system according to the invention can also be used in connection with other devices related to the handling of timber species. > In the solution according to the invention, such as in block 3, the problems of the prior art, in particular the problems related to the hydraulic block, are solved by an S diverter valve which switches the “grapple open” line / “grapple closed” line to pressure / return lines.
    These lines are used, for example, in the traditional standard constant pressure hydraulic block (CETOP). By using a standard hydraulic block and suitable standard valves, an advantageous solution is provided for application in the solution according to the invention. The hydraulic block should be inexpensive to obtain. The necessary components are easily available. The hydraulic block can be easily modified for different applications. Fault diagnosis in the hydraulic block is easier. In addition, faulty valves can be replaced individually.
    BRIEF DESCRIPTION OF THE DRAWINGS The invention will now be explained in more detail with reference to the accompanying drawings, the illustrations of which illustrate the structure of the grapple and the hydraulic coupling and clarify its operation. Figure 1: Shows a driving machine fitted with a tipping saw grapple with a control system according to the invention. Figure 1A: Shows detail A of Figure 1 enlarged. Figure 1B: Shows detail B enlarged from the direction of arrow B in Figure 1. FIGURE 2: Shows a hydraulic diagram of the grapple control according to the invention. Figure 3 shows a functional diagram of the operation of the control method according to the invention. g © 30 © DETAILED DESCRIPTION OF THE INVENTION
    I n. Figure 1 shows an overview of a forest machine I in which an O forest machine grapple according to an embodiment is arranged. The forest machine grapple 1 can be, for example, an S 35 felling saw grapple, which can be attached to the driving machine N, its crane. According to one embodiment, the forest machine grapple may be arranged in the forest machine 2 by its crane 10. An attachment point is arranged in the forest machine grapple 1, such as a fastening pin from which it is arranged in the forest machine crane 10, for example its boom 10. The rotator 3 can rotate the grapple 1 about an axis transverse to the plane of rotation of the rotor.
    The grapple 1 of Figure 1 is shown in more detail in Figures 1a and 1b. Figure 1a shows the grapple of Figure 1 enlarged. Figure 1b shows the grapple enlarged in the direction of arrow B in Figure 1. The load jaws 4 of the grapple 1 are arranged in the figures in a position where they would be around an upright tree (not shown) and the machine would prepare to fell the tree. According to one embodiment, the forest machine grapple 1 may be a felling grapple. According to one embodiment, the forest machine grapple may be a cutting grapple. The forest machine grapple 1 may have load jaws 4 which can be operated by a compression cylinder 11. The load jaws 4 can be used to press the trees 5 to be treated against the frame of the grapple 1. The forest machine grapple 1, for example a felling saw grapple or other cutting grapple, may have a cutting device 6 for cutting trees. The cutting device 6 may be a sawing device. According to another embodiment, a forest machine grapple, such as a cutting grapple, may have N cutting blades with which trees are cut. The forest machine grapple N 1 may comprise a tilting device, i.e. the tilt 12. In the solution according to Fig. 3 30 1, the rotator 3 of the grapple 1 is fixed to the grapple tilting device, i.e. the tilt z 12. between the felling position of the tree and the horizontal or loading position of the trees S 35. The grapple may comprise a control device S, such as control logic 7. According to one embodiment, the control device may be arranged on the Tilt 1 upper
    part.
    According to one embodiment, a control device 7, such as control logic, may be arranged to control the hydraulic block 8 of the grapple.
    According to an embodiment of the furrow, the apparatus may comprise pipes or hoses, i.e. actuator lines 9, for conveying the pressure medium. to speed up the flow of oil during felling.
    According to one embodiment, the pressure medium passages, such as the hydraulic lines 9, can pass from the valve block 8 of the grapple 1 to the pressure medium pumping device of the working machine, for example the driving machine 2, for example hydraulic pumps.
    According to one embodiment, the paths of the pressure medium, such as hydraulic lines, are arranged to run along the structures of the crane 10, for example a boom.
    According to one embodiment, the load jaws 4 of the grapple 1 may have a force sensor 20, for example a strain gauge sensor, or a hydraulic pressure or flow sensor connected to the cylinder 11 of the load jaws 4.
    According to one embodiment, the sensor 20 can measure, for example, the compressive force on the load jaws.
    According to one embodiment, the load jaws may have a position sensor 21 adapted to measure the position of the load jaws S.
    The jaw position sensor 21 can be, for example, an inductive sensor.
    The position sensor 21 can be adapted to give a signal when the load jaws are 3 in the open position.
    According to one embodiment, the position sensor of the jaws 4 of the load S 35 may be an angle sensor, which S may be adapted to measure the degree angle of the load jaws.
    Depending on the embodiment, the apparatus may comprise a pressure sensor 19 or a flow sensor. The pressure sensor 19 or the flow sensor can be connected to the rotator 3. According to one embodiment, the rotator 3 may have a motion sensor. The sensors of the rotator 3 can be used to obtain sensor information or a sensor signal when the rotator is rotated, for example when the user gives a command to rotate the rotator.
    From the pressure medium system of the working machine, such as the hydraulic system, several paths of the pressure medium, such as hydraulic lines, can be introduced for operating the actuators of the grapple 1. According to one embodiment, several hydraulic lines 9 are supplied to the hydraulic system of the grapple from the hydraulic system of the working machine. Figure 2 shows a hydraulic diagram of the grapple 1 of an embodiment according to the invention. In Figure 2, the following explanations have been used for the pressure medium lines: A = “Grapple open” line, K = “Grapple closed” line, O = “Rotator to the right” line, V, V1 and V2 = “Rotator to the left” line, P = Pressure line, T = Tank line and Dr = Block overflow line.
    Scheme number 3 is a rotator into which a plurality of hydraulic lines 9 are supplied from a working machine, such as a basic machine 2. The hydraulic lines 9 may be pressure medium passageways, such as pipes or hoses, such as pressure-resistant hydraulic hoses. The hydraulic lines 9 can be, for example: “grapple open” line A, “grapple closed” line K, “rotator right” line O, “rotator left” line V. S from the actuator 3 to the actuators and / or z to the hydraulic block the “grapple open” line A and the “grapple = closed” line K lead, which can lead to the compression cylinder 11 of the grapple load 3 jaws 4. S 35 The hydraulic block 8 of the grapple 1 is marked S in dashed lines. The hydraulic block 8 can be provided with operating valves for different functions of the grapple 1.
    le. According to one embodiment, the hydraulic block may have one or more of the following operating valves: operating valves 22 for the cutting cylinder 23 (saw blade or knife cutting), control valves 18 for the tilt cylinders 13, a rotary and groove line connecting valve 15, and a rotor la more or less depending on the embodiment.
    According to one embodiment, a diverter valve 14 may be provided outside the hydraulic block 8, but in the same hydraulic circuit. pressure to line P- and tank to line T-. According to one embodiment, a control valve 17 of the saw motor 6 can be arranged outside the hydraulic block 8. These aforementioned valves (changeover valve 14 and control valve 17) can also be arranged to belong to the hydraulic block 8.
    According to one embodiment, the block and the replacement of the actuator / constant pressure lines by the diverter valve and / or the control valve are performed in the grapple.
    According to one embodiment, the change of lines takes place automatically on the basis of the sensor signals.
    Figure 3 shows a flow chart of the operation of an embodiment of a grapple according to the invention. N The control device 7 of the grapple 1, such as the electronic control logic 3, can monitor the status of at least one or more of the following sensors, such as the force sensor z 20 of the load jaws 4, the position sensor 21 of the load jaws 4 and the pressure sensor 19 of the rotator> 3 - 3 signals or information from said at least one S 35 sensor according to the description 200 of Fig. 3. S In operation diagram 3, at 210, it is checked whether the load jaws 4 are open or closed according to the sensor signal or sensor information given by the position sensor 21. According to one embodiment, this can also be done according to the pressure information of the hydraulic cylinder 11 of the load jaws 4, especially if the diverter valve 14 is pressure-controlled. According to one embodiment, if the control device 7, such as control logic, detects from the sensor signal of the position sensor 21 or receives sensor information from the load jaw position sensor 21 that the load jaws are open, then the control device 7, such as control logic, according to diagram 220 14 by changing the actuator line A to a constant pressure line P and the actuator line K to a constant pressure line T. This can be done by switching on a valve control device, such as an electric coil. In this case, the diverter valve 14 can connect the pressure block P and the tank T lines to the fluid connection of the “grapple open” line A and the “grapple closed” line K. Thereafter, when the operator uses the “grapple open” A line of the implement, the hydraulic pressure can be directed not only to the opening cylinder 11 of the grapple load jaws 4 but also to the grapple Tilt control valve 18. The control device 7, such as control logic, can give the Tilt valve 18 actuators, such as cylinders 13, to the A side and the grapple 1 pivots to a vertical, wood felling position. This is shown as a step in Figure 3
    230. The control valves 18 of the bridge may also be pressure-controlled valves which can open when the
    There is enough pressure in the N line. 3 30 If the control device 7, such as the control logic, instead S does not detect the signal of the load jaw position sensor 21 z or receive information from the position sensor * at point 210 in Fig. 3, then the logic assumes that the load jaws 4 are closed or going closed and turn S 35 actuator line AS to the hydraulic block as constant pressure line T and actuator line K as constant pressure line P at 240.
    if the signal or sensor information of the male force sensor 20 exceeds the value set for it, the control device 7, such as control logic, can activate the valve 16, whereby normal circulation of the pressure medium through the rotator line V1 is prevented according to 260. In this case, the rotator 3 cannot normally rotate to the left or to the right, but the medium pressure of the rotor line V1 is directed inside the hydraulic block 8. If the signal or pressure sensor information of the pressure sensor 19 of the rotator line V1 exceeds the limit value set for it in point 270, then the control device 7, such as the control logic, activates the valve according to point 280.
    15. In this case, the rotator line V1 can be connected to the pressure line P of the hydraulic block 8. In this case, both the lines of the rotator V1 and the load jaws K, A are connected to the same pressure line P and the tank line T. By combining the lines the lines have a narrow flow cross-sectional area and one hydraulic line does not pass much oil. When two different hydraulic lines for an actuator are connected, such as a cutting device (chain saw or cutting cylinders), theoretically the oil flow capacity of the grapple actuator can be increased, even doubled, and correspondingly, depending on the application, the actuator speed can be increased . According to one embodiment, the operating speed of the N actuators (such as the cut-off speed N) can be increased in proportion to the increase in the theoretical oil flow capacity. S According to one embodiment, the control device 7, z such as the control logic, next activates the valve 17 according to 290 +, which can control the cutting device 3 6 (chain saw or cutting cylinders). When the switch-off device S 35 te 6 has been activated, after a certain delay, e.g. adjustable, the control device 7, such as the control logic, can activate the Tilt control valve.
    a brick 18 for directing the pressure to the minus side of the Tilt cylinders 13 and the grapple 1 pivots, i.e. tilts, down to the loading position of the wood. This is set out in
    300.
    The invention is not limited to the preferred embodiments described above, but may vary within the scope of the inventive idea formed by the appended claims. If necessary, the features presented in the description together with other features may also be used separately. OF O OF
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    权利要求:
    Claims (16)
    [1]
    A method for controlling a pressurized forest machine grapple (1) of a working machine, the method comprising supplying a pressure medium flow to the forest machine grapple (1) via a plurality of flake paths (9) for operating a multi-forest grate actuator (3, 6, 11, 16, 23). the actuators are controlled by a plurality of actuator valves (14, 15, 16, 17, 18, 22), at least some of which comprise a valve control device such as a solenoid, and in which method the operation of the actuator valves is controlled by a control system comprising at least one control device (7) and sensors ( 19, 29, 21), the sensor signal or sensor information of which is transmitted to the control device (7), characterized in that the method controls a control valve (14, 15) to connect at least one other actuator (3, 11) to the pressure medium conveyors. (A, K, V1) pressure medium flow to at least one other actuator (6, 13, 23) as a constant pressure line (P, T) and / or at least two different pressure medium circuit into one circuit or two separate pressure medium paths (A, K; V1; P, T) as a single pressure medium path.
    [2]
    Method according to Claim 1, characterized in that the method controls the control valve (14, 15) to connect the pressure medium flow N (A, K, V1) N of the at least one other actuator (3, 11) to at least one other actuator. 2 30 paths (6, 13, 23) are connected as a constant pressure line (P, T) and / or © by at least two separate pressure medium circuits E (A, K; V1, P, T) into one circuit or two separate pressure medium paths into one pressure selector N as a path (A, K; V1; P, T) based on the sensor signal or N 35 sensor information. N A method according to claim 1 or 2, characterized in that
    [3]
    (14, 15) two different pressure medium paths (A, K; V1, P, T), such as a hydraulic line, into a single pressure medium path (A, K; V1; P, T), such as a hydraulic line, and to direct the pressure medium to at least one first actuator, on the basis of at least one sensor, such as a pressure sensor (19, 20, 21) in the force or pressure medium line, a sensor signal or sensor information.
    [4]
    Method according to one of Claims 1 to 3, characterized in that the pressure medium paths (A, K) for the actuators, i.e. the actuator lines to constant pressure lines, to the pressure line (P) and / or the tank line (T) are changed by changing the operating valve or control valve ( 14) position.
    [5]
    Method according to one of Claims 1 to 4, characterized in that the pressure medium path (A) of the actuator (11) of the loading jaws (4) of the forest machine grapple (1) is connected to the pressure line (P) and the actuator (4) of the loading jaws (4) (11) a path of the pressure medium (K) to the tank line (T) on the basis of the sensor signal or sensor information of the position sensor (21) of the loading jaws (4), at least when the load jaws are open.
    [6]
    Method according to one of Claims 1 to 4, characterized in that the pressure medium path (A) of the actuator (11) of the loading jaws (4) of the forest machine grapple (1) is connected to the tank line (T) by the control valve (14) and the loading jaws (4) the pressure medium path (K) of the actuator (11) to the pressure line 3 30 (P) on the basis of the sensor signal or sensor information of the position sensor (21) of the loading jaws (4), at least Ek when the load jaws are closed or going closed. +
    [7]
    Method according to Claim 4 or 5, characterized in that the operating valve S 35 (18) is opened to bring the actuators (13) of the tilt of the grapple (1) to the felling position of the wood.
    [8]
    Method according to one of Claims 1 to 7, characterized in that the method switches the operating valve (16) to a position in which the rotation of the rotator (3) of the forest machine grapple is prevented.
    [9]
    Method according to one of Claims 1 to 8, characterized in that the operating valve (16) is controlled on the basis of the sensor signal or sensor information of the force sensor (20) of the load jaws (4).
    [10]
    Method according to one of Claims 1 to 9, characterized in that the method activates the operating valve (16) and prevents recirculation of the rotator line (V1), whereby normal rotation of the rotator is prevented when the limit value of the force sensor sensor signal or sensor information is exceeded.
    [11]
    Method according to one of Claims 1 to 10, characterized in that the rotator line (V1) is connected to the pressure line (P) by activating the control valve (15) when the sensor signal or sensor signal from the rotator pressure medium line pressure sensor (19) the information exceeds a set limit value, whereby a combination of the rotator line and the grapple line can be achieved.
    [12]
    Method according to one of Claims 1 to 11, characterized in that the grapple-cutting device (6) is activated by activating the operating valve (17).
    [13]
    Method according to one of Claims 1 to 12, characterized in that the N operating valve (18) is activated to bring the tilt actuators 3 30 (13) of the grapple (1) to the wood loading position S 14. which forest machine + grapple comprises connecting means for connecting the grapple 3 to the crane of the working machine, and connecting means for connecting the forest machine grapple S 35 to the pressure medium system S of the working machine for operating the grapple actuators with the pressure medium, characterized in that
    [14]
    provided with a control system comprising a control device (7) and sensors, on the basis of which sensor signal or sensor information the control system is adapted to control the control valve to connect at least one other actuator (3, 11) to the pressure medium path (A, K, V1) pressure medium flow to at least one other actuator (6, 13, 23) as a constant pressure line P, T and / or to connect at least two separate pressure medium circuits into one circuit or two separate pressure medium paths (A, K; V1; P, T) into one pressure medium flow.
    [15]
    Forest machine grapple according to Claim 14, characterized in that the control system of the forest machine grapple (1) is adapted to control the actuators of the forest machine grapple by a method according to one of claims 1 to 13.
    [16]
    Implement comprising a crane (10) and at least one pump device and pressure medium passageways (9), characterized in that the implement comprises a forestry machine grab (1) according to one of claims 15 or 16, which can be connected to the crane (10) and pressure medium passageways (9).
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    FI129142B|2021-08-13|
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    FI20205244A|FI129142B|2020-03-06|2020-03-06|Method for controlling a forest machine grapple, a forest machine grapple, and a work machine|FI20205244A| FI129142B|2020-03-06|2020-03-06|Method for controlling a forest machine grapple, a forest machine grapple, and a work machine|
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