DE102019129139A1 - Method and processing system for processing wood goods and working machine - Google Patents

Abstract

The present invention relates to a method (100) and a processing system (1) for processing tree trunks, as well as a self-propelled work machine (50) with such a processing system (1). A piece of wood is gripped with the aid of a gripping tool (2). According to the invention, the gripped wood is cut to length using a sawing tool (3), the gripping tool (2) and the sawing tool (3) being part of the processing system (1) coupled to a boom (6) of the self-propelled machine (50).

Description

The present invention relates to a method and a processing system for processing wood products and a self-propelled work machine with such a processing system.

The lands of agricultural holdings often also include land that can be used for forestry. In order to make the forestry use easier for these businesses, woodworking tools are known which can be coupled to conventional self-propelled machines, for example to a tractor. For example, log splitters that can be operated via a power take-off shaft of such a work machine have been developed with which a splitting wedge is driven into a piece of tree trunk and this is split in this way. Or a gripping tool that can be coupled to a boom of the working machine is used to pick up and transport tree trunks. In this way, a vehicle fleet of an agricultural company can be used efficiently. In particular, it is not necessary for the company to purchase additional work machines that specialize in forestry work.

It is an object of the present invention to simplify the processing of wood goods, in particular to make them more efficient.

This object is achieved by a method and a processing system for processing wood goods, in particular tree trunks, and by a self-propelled work machine with such a processing system according to the independent claims.

In a method for processing wood goods, in particular tree trunks, according to a first aspect of the invention, wood goods are gripped with the aid of a gripping tool. According to the invention, the gripped wood is cut to length with the aid of a sawing tool, the gripping tool and the sawing tool being part of a processing system coupled to a boom of a self-propelled work machine.

A self-propelled work machine within the meaning of the invention can be a vehicle, in particular a wheeled vehicle, which has a work tool for performing a predetermined work. The work tool can be coupled, in particular mounted, to the vehicle. A work machine can be, for example, a tractor, a forest vehicle, a Unimog, an excavator, a truck, a trailer or the like. Also possible is a crane with a boom, which in particular runs on a rail, for example over a wood store of a woodworks, and has an arm for gripping the wood.

A boom can be an arm, in particular a hydraulically movable arm, which can expediently be raised and lowered and pivoted about a particularly vertical axis. At its end facing away from the work machine, it can have an articulated joint, for example a 4-point joint or a 3-point joint, on which the processing system is arranged. As an alternative or in addition to the articulated joint, a swivel joint, for example a turntable, can be arranged on which the processing system is arranged.

In addition, the boom expediently has a further articulated joint, via which two cantilever areas, boom parts or cantilever arms, both of which are expediently movable as described above, can be pivoted relative to one another; Alternatively, the boom can also be designed as a rigid rocker, for example in the case of a front loader that either has only one boom or two boom arms that are rigidly connected to one another, possibly at an angle.

Advantageously, all driven movements of the boom relative to the work machine or to the platform of the work machine to which the boom is attached take place hydraulically. Instead of the hydraulics, one or more electric motors can also be used, which drive the movements of the elements of the boom.

The boom can preferably be fastened to a rear end of the work machine, a standardized fastening device of the work machine being usable for this purpose. The rear refers to the main direction of travel of the machine.

The processing system is expediently attached to a head of the boom in such a way that it can be pivoted from a vertical to a horizontal position, the directions being related to the working direction of one of the tools. For this purpose, the boom head can be equipped with a joint, for example a toggle lever. The joint is expediently equipped with a hydraulic drive for moving the processing system relative to the boom or its head.

The processing system comprises the sawing tool and the gripping tool, both tools expediently each having a base part and a working part, which are each movable to their base part. For example, form two gripping arms the working part of the gripping tool, and a rotating saw element - for example circular saw blade or chain saw blade with chain - can form the working part of the sawing tool. The base parts are expediently rigidly, that is immobile, coupled to one another in the processing system. The same can also apply to a possibly existing splitting tool that comprises a cone as the working part and a drive, for example a hydraulic motor, as the base part.

A gripping tool within the meaning of the invention is in particular a device for gripping, for example, wooden goods such as tree trunks, branches, wooden slats and / or the like. It is of course also possible to use the gripping tool to grasp other objects, for example agricultural goods, such as hay bales, fodder sacks and / or the like. For this purpose, the gripping tool can be designed as a gripper and, for example, have two gripping arms which can be pivoted against one another and moved towards one another like a pair of pliers. The gripping tool can preferably be operated hydraulically and can, for example, be or will be connected to a hydraulic system of a self-propelled work machine.

A sawing tool within the meaning of the invention is in particular a device for sawing, for example, wood goods such as tree trunks, branches, wooden slats and / or the like. It is of course also possible to saw or saw other objects or materials with the sawing tool. The sawing tool is preferably designed as a chainsaw. Alternatively, however, z. B. a saw tool designed as a circular saw is also conceivable. The sawing tool can have a toothed sawing means, for example a chain revolving around a blade or sword or a (circular) saw blade. The sawing tool preferably also comprises a motor for driving the sawing means. The motor is preferably designed as a hydraulic motor and can be or can be coupled to a hydraulic system of the work machine.

One aspect of the invention is based on the approach of combining at least two tools for wood processing in one processing system, so that several wood processing steps can be carried out with a single device that can be coupled or coupled to a work machine. As a result, it is no longer necessary to laboriously couple different tools (one after the other) with the work machine. With a gripping tool, for example, wooden goods such as tree trunks can be gripped and cut to the desired length with the help of a sawing tool. Cutting to length, d. H. Sawing through a tree trunk is preferably carried out in the gripped state, for example by pivoting a sawing means of the sawing tool against the gripped tree trunk. Wood processing can thus be carried out very efficiently.

It is advantageous if the gripping tool and the sawing tool and, if necessary, other tools for wood processing, for example a splitting tool for splitting wood, are arranged relative to one another in such a way that the processing system for performing the various processing steps is essentially not or at least only slightly moved, z. B. pivoted, must be. For example, the sawing tool can be arranged relative to the gripping tool in such a way that, when pivoted relative to the gripped wood, the sawing means at least essentially sweeps over the entire gripping / pivoting range of two mutually pivotable gripping arms of the gripping tool. In particular, the tools can be arranged relative to one another in such a way that, for the successive processing of a piece of wood using different tools of the system, a movement of the processing system in only one direction, e.g. B. pivoting about a pivot axis or translation in one direction is necessary. Different, successive processing steps can thus be carried out not only in a particularly time-saving manner, but also in a particularly precise manner, since a complex - and possibly imprecise - repositioning of the tools or the wood goods is not necessary.

In the following, preferred embodiments of the invention and their developments are described which, unless this is expressly excluded, can be combined with one another as desired and with the aspects of the invention described below.

In a preferred embodiment, the wood material is split before or after being gripped with the aid of a splitting tool that is part of the processing system. The splitting tool is preferably designed as a cone splitter. The processing system or the work machine to which the system is coupled can thereby be used particularly flexibly and efficiently. It is particularly conceivable that, for. B. an operator, such as a farmer, with a vehicle that has a boom to which the processing system is coupled, such as a tractor, drives into a forestry area and there on site without, for example, transporting tree trunks over long distances need to produce firewood. The use of highly specialized forestry (self-propelled) machines and / or separate tools is not necessary here.

In a further preferred embodiment, the processing system between the gripping and the splitting, in particular between a gripping movement of the gripping tool such. B. a closing of the gripper and a splitting movement of the splitting tool such. B. a translation of the (entire) processing system, pivoted about a pivot axis, in particular relative to a boom arm of the boom, preferably around a front arm part of the boom, which can be bent relative to a rear arm part by a hinge. For example, the processing system, in particular the splitting tool, can be pivoted into a splitting position after being gripped, e.g. B. tilted, out of which the processing system, in particular the splitting tool, can perform a splitting movement to split the wood. Alternatively or additionally, the processing system, in particular the gripping tool, can be pivoted into a gripping position after splitting, from which the gripping tool can perform a gripping movement to grasp the split wood or the resulting wood gaps, for example by closing the gripper. The pivoting described can prevent the splitting tool from hindering the gripping of the wood or the gripping tool hindering the splitting of the wood. At the same time, the pivoting about only one axis, for example in contrast to a multi-axis pivoting movement or a translation, possibly by pivoting the boom or even repositioning the machine, can be carried out quickly and precisely. In addition, the pivoting, which is preferably necessary, can prevent wood goods that have not yet been cut to length from being accidentally split.

The pivot axis is preferably perpendicular to a gripping axis of the gripping tool. The gripping axis in the sense of the invention is in particular that axis around which the gripping tool is gripped, for example, by two mutually pivotable gripping arms. In the gripped state, a longitudinal axis of a gripped piece of wood thus usually runs parallel to the gripping axis or even corresponds to it. By pivoting the processing system about a pivot axis perpendicular to the gripping axis, the reliability with the z. B. split pieces can be safely gripped after splitting, since gripping tools along the gripping axis usually have a higher grip tolerance with respect to the orientation of the gripping tool with respect to objects to be gripped. So z. B. a tree trunk aligned with its longitudinal axis essentially parallel to the gripping axis can usually be gripped anywhere between its two ends without any problems. A gripping tool embodied as a gripper, on the other hand, cannot grasp at all or at least not cleanly around a tree trunk whose longitudinal axis is not aligned essentially parallel to the gripping axis.

If the joint is a swivel joint, the processing system can be rotatable around a turning axis between gripping and splitting. The axis of rotation can be perpendicular to an axis of rotation of the splitting tool, in particular relative to an extension arm of the extension arm, preferably around a front arm part of the extension arm, which can be bent relative to a rear arm part by a hinge. The rotation can in particular between a gripping movement of the gripping tool, such as. B. a closing of the gripper, and a splitting movement of the splitting tool take place, such. B. a translation of the (entire) processing system. In particular, a suspension on which the gripping tool and the splitting tool are mounted can be rotated relative to the boom. The suspension preferably forms or comprises part of a turntable, in particular a turntable rotor, which can be coupled to a boom head designed as a turntable stator. This makes it possible to transfer the various tools of the processing system precisely and quickly into a respective processing position with just one rotational movement.

The processing system can be suspended from a boom head of the boom with the aid of a suspension and can be swiveled about the swivel axis by pivoting the boom head. The processing system is preferably suspended in a detachable manner without tools. For example, at least one connecting means, for example a bolt, can be or will be received at least in sections at the same time by a coupling structure of the boom head and by the suspension. Such a bolt can easily be removed from the receptacle of the boom head and / or the suspension, at least in the load-free state, in order to decouple the machining system from the boom. The processing system can thus be rigidly connected to the boom in a precise orientation. This allows precise positioning of the processing system, in particular pivoting about the pivot axis.

The processing system is expediently pivoted hydraulically, the pivoting movement being effected with the aid of a four-bar linkage of the boom. As a result, precise pivoting can also be achieved through a large angular range, in particular up to essentially 180 °.

It is also advantageous if the processing system when performing a gap movement at least substantially along the Gripping axis of the gripping tool is moved. This preferably includes all gap movements that do not deviate by more than 30 ° from the gripping axis. Such a splitting movement of the processing system can, in particular with the aid of the boom, be carried out particularly easily with sufficient precision for essentially uniform splitting.

In order to be able to perform a splitting movement at least essentially along the gripping axis, the processing system is preferably pivoted after gripping and / or before gripping, for example by an angle between 70 ° and 90 °. A pivoting by at least essentially 90 ° is particularly advantageous, since this can be set particularly reliably by an operator.

In a further preferred embodiment, a marking of the processing system is positioned along the wood material, in particular produced on the wood material, before the gripping, and the wood material is cut to length at a predefined distance from the marking. A positioning along the wood can in particular be a positioning with respect to a longitudinal extent, in particular a longitudinal axis, of the wood.

In order to position the marking, the processing system is preferably positioned along the length of the wood, i. E. H. moved in particular along the timber. The marking can, for example, be a structural feature of the processing system which can be positioned at a desired location on the wood and whose arrangement and / or shape in the processing system preferably defines the predefined distance. This makes it z. B. possible to cut wood material reliably and precisely with respect to a feature of the wood material, for example a wood defect or a wood marking applied when a tree trunk is felled.

A tip of the splitting tool, in particular of the cone splitter, is advantageously positioned along the wood.

In this respect, the folded-up log splitter can be a simple length aid. Its tip lies, for example, at a predefined distance from the cutting surface of the sawing tool, e.g. 1 m. Since the splitting tool can be aligned parallel to the tree trunk being gripped, its tip can be used above the tree trunk as an optical marking point for positioning the end of the tree trunk, so that a predetermined Cutting length is easily achieved. The tip of the splitting tool can generally be easily recognized by an operator of the processing system and can therefore be positioned particularly easily at a desired location on the wood. As a result, it is not necessary to provide an additional marking device, for example a rule of predefined length.

In this case, a longitudinal or rotational axis of the cone splitter is or is preferably oriented essentially parallel to the longitudinal axis of the wood to be gripped or cut to length. The tip of the cone splitter can easily be moved along the wood.

In order to facilitate the precise cutting to length of tree trunks or wooden poles, it is advantageous if an optical marking is projected onto the wood and positioned along the wood. For this purpose, the processing system can, for example, have a corresponding marking device, for example a laser or a laser diode. The projection of the optical marking onto the wood material has the advantage of enabling a particularly precise positioning of the processing system and thus a particularly precisely positioned cut through the wood material.

The gripping tool can be positioned along the wood product in such a way that the optical marking is projected onto a wood product end by a marking device of the processing system and the wood product is cut to length at a predefined distance from the wood product end. As a result, pieces of wood, for example tree trunk sections, of essentially defined or equal length can be produced in a simple and reliable manner. The production of such defined long pieces of wood has the advantage, in particular in connection with the splitting tool, that particularly uniform wood gaps can be produced.

The gripping tool is preferably positioned along the wood material in such a way that the wood material can be gripped essentially without further (re) positioning of the gripping tool or the processing system, for example by closing the gripper. The gripping tool can in particular be brought into contact with the wood to be gripped. This prevents the marking from "slipping" when gripping the wood.

The logs of the split wood can be removed with the help of the gripping tool. For example, the logs can be loaded into a trailer using the gripping tool. Preferably, after splitting, the processing system is pivoted again, if necessary, preferably only about the pivot axis, in particular into the gripping position convicted. This enables particularly efficient wood processing.

To cut the wood to length, it is advantageous if at least part of the sawing tool, in particular the sawing means, is pivoted relative to the gripping tool or to the gripped wood. The at least one part of the sawing tool, in particular the sawing means, is preferably pivoted in a cutting plane running essentially perpendicular to a gripping axis of the gripping tool or perpendicular to a longitudinal axis of the gripped wood. The gripped wood can thus be cut to length particularly precisely and quickly, in particular with a straight cut across the wood. Because the cutting to length requires pivoting of the sawing tool or sawing means, operational reliability can also be increased.

A processing system for processing wood goods, in particular tree trunks, according to a second aspect of the invention has a gripping tool for gripping wood goods and is set up for coupling to a boom of a self-propelled work machine. According to the invention, the processing system also has a sawing tool for cutting the gripped wood to length.

The processing system can have a splitting tool for splitting the wood. The splitting tool is preferably designed as a cone splitter. The integration of a splitting tool into the processing system enables particularly flexible and efficient use of the processing system or the working machine to which the system is coupled.

In a preferred embodiment, an axis of rotation of the splitting tool, in particular of the cone splitter, runs parallel to a plane of symmetry of the gripping tool. The plane of symmetry here is expediently the plane of mirror symmetry to which the gripping arms are mirror-symmetrical. The plane advantageously runs through the gripping axis of the gripping arms. Your surface normal can run perpendicular to the gripping axis of the gripping tool. In this embodiment, by just a single pivoting movement of the processing system, the splitting tool can be turned towards a previously gripped wood and the gripping tool can be turned towards a previously split wood with a similar return movement.

As an alternative to the articulated joint, the processing system can be coupled to a swivel joint. The tool change from gripper to splitter or vice versa then does not take place via a tilting movement, but via a rotary movement. For this purpose, the processing system can have a suspension for coupling to a swivel joint, which can be arranged on the boom head, for example with a boom head of the boom designed as a slewing ring stator. The suspension can have a slewing ring rotor which, in the coupled state, forms a slewing ring of the swivel joint together with the boom head designed as a slewing ring stator. The processing system can thereby be rotated quickly and precisely about an axis of rotation of the swivel joint, which preferably runs parallel to a boom arm, in particular to a front arm part of the boom, and, for example, can be brought into a gripping or splitting position, essentially without further pivoting movements of the Boom are necessary.

An axis of rotation of the splitting tool expediently runs perpendicular to an axis of rotation of the turntable rotor, in particular of the turntable formed by the turntable rotor and the boom head designed as a turntable stator. As a result, the splitting tool can be essentially completely turned away from a piece of wood to be gripped by only one rapid rotational movement, in particular without further pivoting of the boom in order to prevent the gripping process from being hindered.

A simple change of the tool can be achieved if the processing system has a suspension for suspending the processing system in a boom head of the boom. Hanging in here is in particular a hanging attachment. A suspension can accordingly be a device for hanging attachment. The suspension can for example be designed in such a way that it is hooked or can be hooked into at least one hook-like receptacle of the boom head, so that the receptacle or the processing system hangs or is attached to the boom head in the hooked state. This allows a simple and quick coupling of the processing system to the boom.

The boom head is preferably pivotable about a pivot axis relative to a boom arm of the boom.

The suspension preferably has at least one connecting means, with the aid of which the processing system can be attached to the boom head in a suspended manner.

The connecting means preferably acts at the same time as a securing means, which secures the processing system in the attached state. The connecting means can, for example, as Be formed bolt, which in each case at least one, z. B. hook-like, coupling structure of the boom head and the suspension is introduced or can be introduced. Such a connecting means can in particular be used without tools and therefore without great effort for coupling the processing system to the boom.

The suspension can define a suspension plane in which the processing system is suspended in the boom (head). In this case, an axis of rotation of the splitting tool, in particular of the cone splitter, preferably runs essentially perpendicular to the suspension plane. The splitting tool can thereby act as an extension of the boom, in particular a processing system-side last arm segment of the boom arm, which facilitates the operation of the splitting tool.

The gripping of logs or rods can be made easier if the gripping tool can be rotated horizontally before gripping. This can be achieved if the suspension has a turntable by means of which the gripping tool is rotatably mounted with respect to the suspension. The swivel joint can be arranged between the splitting tool and the gripping tool, so that the splitting tool can remain stationary when the gripping tool is rotated. An axis of rotation of the swivel joint runs at least approximately preferably perpendicular to the axis of rotation of the splitting tool. The gripping tool can thus be used particularly flexibly, in particular in order to be able to quickly and reliably grasp wooden goods that are not aligned parallel to one another, essentially without the boom having to be pivoted.

To make it easier to cut logs or rods to length, the processing system can have a marking device which is configured to project an optical marking onto a gripped piece of wood at a predefined distance from a cutting plane of the sawing tool. The marking device is preferably designed as a laser or laser diode and can be integrated into a housing of the processing system, in particular of the splitting tool. This enables a particularly precise positioning of the processing system, in particular the sawing tool, relative to the wood and thus a particularly precisely positioned cut through the wood.

The sawing tool advantageously comprises a housing and at least one sawing means arranged in the housing and comprising saw teeth. The sawing means can be mounted so as to be pivotable relative to the gripping tool in order to cut the gripped wood to length. The sawing means is preferably also pivotable relative to the housing, in particular out of the housing. As a result, the gripped wood can be cut to length quickly and easily without repositioning the processing system.

The housing is preferably also mounted pivotably relative to the gripping tool. The housing can be given away at least in sections together with the sawing means, in particular until the housing strikes against the gripped wood that is to be cut to length. This can significantly increase operational reliability. On the one hand, the sawing means runs predominantly within the housing. On the other hand, spinning off when wood chips are cut to length can be particularly reliably prevented or at least reduced.

A self-propelled work machine according to a third aspect of the invention includes a boom and a processing system coupled to the boom according to the second aspect of the invention.

A boom in the sense of the invention can in particular be an excavator-like arm, preferably having at least two boom arms that can be pivoted relative to one another. Alternatively, however, a front loader can also be installed under a boom, i. H. a z. B. a linkage that can be coupled to a tractor can be understood.

The boom can have a boom head which can be pivoted about a pivot axis relative to a boom arm and to which the processing system is coupled. The boom head is preferably designed as a rocker arm of a four-bar linkage. As a result, a particularly precise pivoting of the processing system in a large angular range, in particular up to essentially 180 °, can be achieved.

In a further preferred embodiment, the rocker has at least two connecting devices for connecting the rocker to a coupling of the four-bar linkage. The coupling is connected to the rocker via one of the at least two connecting devices. The two connecting devices preferably have different distances from the pivot axis about which the rocker arm or the processing system coupled to it can be pivoted. The provision of at least two connecting devices, one of which is optionally used to connect the rocker to the coupling, allows the angular range in which the processing system can be pivoted and / or the sensitivity with which the processing system via a - preferably hydraulically effected - Translation the coupling is pivotable to adjust as required.

Alternatively, the boom head can also be designed as a rocker arm of a hinge triangle in which the further rocker arm, which is coupled to the boom head via the coupling, is also mounted so as to be pivotable about the pivot axis of the boom head.

The boom head can have at least two hook-like coupling structures, into each of which a connecting means for coupling the processing system to the boom is inserted. In this case, the two hook-like coupling structures are preferably open on sides facing away from one another for introducing the connecting means. With the help of the connecting means, the processing system can thus be attached to the boom particularly easily and securely.

The description given so far of preferred embodiments of the invention contains numerous features, some of which are summarized in several of the individual dependent claims. These features can, however, also be viewed individually and combined into useful further combinations. In particular, these features can be combined individually and in any suitable combination with the method according to the first aspect of the invention, the processing system according to the second aspect of the invention and the self-propelled work machine according to the third aspect of the invention.

The above-described properties, features and advantages of the invention and the way in which they are achieved are explained in more detail in connection with the following description of exemplary embodiments of the invention in connection with the figures. The same reference symbols are used throughout the figures for the same or corresponding elements of the invention. The exemplary embodiments serve to explain the invention and do not restrict the invention to the combinations of features specified therein, not even with regard to functional features. In addition, features of the exemplary embodiments suitable for this purpose can also be explicitly considered in isolation and combined with any of the claims.

• 1 ein Beispiel eines Verarbeitungssystems zur Verarbeitung von Holzgütern in einer perspektivischen Ansicht;
• 2 ein Beispiel einer Aufhängung eines Verarbeitungssystems;
• 3 ein Beispiel eines Verfahrens zur Verarbeitung von Holzgütern; und
• 4 ein Beispiel einer selbstfahrenden Arbeitsmaschine mit einem an einen Ausleger gekoppelten Verarbeitungssystem.

They show, at least partially schematically:

• 1 an example of a processing system for processing wooden goods in a perspective view;
• 2 an example of a suspension of a processing system;
• 3 an example of a method of processing wood goods; and
• 4th an example of a self-propelled work machine with a processing system coupled to a boom.

1 shows an example of a processing system 1 for processing wooden goods in a perspective view. The processing system 1 has a gripping tool 2 for gripping a piece of wood, a sawing tool 3 for cutting the gripped wood to length as well as a splitting tool 4th to split the wood. There is also a suspension 5 provided by the processing system 1 to one in 1 partially shown boom 6th , especially a boom head 7th , is coupled or can be coupled. Any of the tools 2 , 3 , 4th is directly on the suspension 5 assembled.

The gripping tool 2 is in the present example as a gripper with two, in particular by a gripping hydraulics 2d , mutually pivotable gripper arms 2a , 2 B educated. When gripping the wood, the gripping arms close 2a , 2 B preferably in a gripping plane (not shown) at least partially around a gripping axis running perpendicular to the gripping plane 2c of the gripping tool 2 . The closing movement of the two gripping arms 2a , 2 B preferably runs essentially synchronously and in particular symmetrically with respect to a plane of symmetry (not shown) of the gripping tool that is perpendicular to the gripping plane 2 , in which also the gripping axis 2c lies.

The gripping tool 2 can be attached to the suspension via a turntable (not shown) 5 be mounted. This is the gripping tool 2 opposite the suspension 5 and thus also the splitting tool 4th rotatably mounted, preferably around one both perpendicular to the gripping axis 2c as well as perpendicular to an axis of rotation 4b of the splitting tool 4th running axis of rotation of the slewing ring.

The sawing tool 3 is preferably adjacent to the gripping tool 2 arranged and has a housing 3a and a toothed sawing means arranged in the housing 3b on, which is used to cut one with the gripping tool 2 gripped wood from the housing 3a can be designed to be pivoted out. In the example shown is the sawing tool 3 designed as a chainsaw, but variants with a circular saw or other types of saw are also conceivable.

In order not to hinder the gripping of wood goods, the sawing tool is 3 compared to a gripping area of the gripping tool 2 , in the wood goods without repositioning the processing system 1 can be gripped, preferably arranged set back.

The sawing means 3b , ie in the present example the sheet with the revolving toothed chain, is preferably in such a way opposite to the housing 3a and the gripping tool 2 , especially the gripper arms 2a , 2 B , pivotably mounted that the saw means 3b when swiveling out of the housing 3a a gripping area in which the gripping tool 2 a piece of wood by moving the gripper arms 2a , 2 B can grab, strokes. By swiveling the saw means 3 preferably parallel to the gripping plane of the gripping tool 2 , ie perpendicular to the gripping axis 2c , a gripped piece of wood can in particular by the pivoting movement of the sawing means 3b defined cutting plane can be cut to length.

In a preferred manner, the housing is also in this case 3a of the sawing tool 3 relative to the gripping tool 2 , especially the two gripping arms 2a , 2 B , designed pivotable. In particular, the housing 3a at least in sections together with the sawing means 3b be given away, for example, to the case 3a strikes against a gripped piece of wood. The sawing means 3b thus essentially remains in the housing 3a arranged until the sawing means 3b comes into contact with the gripped wood and can then come out of the housing 3a swivel out.

The splitting tool 4th is in the present example as a cone splitter with one around an axis of rotation 4b rotatable splitting cone 4a educated. The processing system 1 is preferably designed such that the axis of rotation 4b essentially parallel to the gripping axis 2c runs, ie not more than 30 ° relative to the gripping axis 2c is inclined. In order to first grip a piece of wood and then split it or first split it and then grip the wood gaps created in the process, the processing system can 1 therefore, for example around the pivot axis 9 , are pivoted, in particular by essentially 90 ° with an essentially parallel alignment of the axis of rotation 4b and the gripping axis 2c .

At the in 1 The configuration shown is the axis of rotation 4b essentially perpendicular to a suspension plane, which is formed, for example, by four (of which three are visible), in the present example as through-bores 5c the suspension 5 is defined and in which (for the sake of clarity not shown) connecting means for coupling the processing system 1 to the boom 6th are introduced. The splitting tool 4th acts as an extension of the boom 6th which gives an operator the precise alignment of the splitting tool 4th relieved relative to a piece of wood to be split.

As an alternative to the in 1 embodiment shown, the processing system 1 instead of the splitting tool 4th also have a drilling tool for drilling a piece of wood. The drilling tool includes a drill that rotates around the axis of rotation 4b rotates.

The splitting tools are preferred 4th and the drilling tool is each designed to be exchangeable, that is to say, possibly even without tools, with the processing system 1 connectable. In particular, the split cone 4a and the drill can be designed in such a way that they can be easily interchanged with one another or with the hydraulic motor 4c can be coupled. To achieve the rotation speed required for drilling, the drill can use a corresponding transmission gear, which is connected to the hydraulic motor 4c can be coupled have.

Just like the gripping tool 2 with the gripping hydraulics 2d can also use the splitting tool 4th be or will be operated hydraulically. A hydraulic motor is used for this in the present example 4c intended. A hydraulic line (not shown) can be connected to the processing system via a hydraulic connection 4d 1 , especially the splitting tool 4th , be or are connected to provide a hydraulic medium or to apply pressure.

If necessary, the sawing tool can also be used 3 be hydraulically driven with the aid of a hydraulic motor and a corresponding transmission gear. Alternatively, however, it is also conceivable that the sawing tool 3 powered by an electric or combustion engine.

To the tools 2 , 3 , 4th of the processing system 1 To be able to position relative to a piece of wood to be processed, the boom can 6th , preferably in sections, be designed to be pivotable. In particular, the boom 6th be formed by a cantilever arm, the segments of which are at least partially designed to be pivotable relative to one another. In 1 is the last of these segments at a processing system-side end of the boom 6th shown.

To quickly switch between a gripping position in which a piece of wood using the gripping tool 2 tangible (and with the help of the sawing tool 3 can be cut to length), and a splitting position in which the wood can be cut using the splitting tool 4th is fissile, to be able to change, is the processing system 1 advantageous around a pivot axis 9 , especially together with the boom head 7th , relative to the extension arm, in particular to the last processing system-side segment of the extension arm, pivotable. A swivel device can be used for this purpose 8th may be provided in the following in connection with 2 is explained in more detail.

To quickly and precisely position the processing system 1 Allow relative to a wood to be processed, is a marking device in the present example 11 into the processing system 1 , especially in the splitting tool 4th , more precisely in a housing of the splitting tool 4th , integrated. The marking device 11 is z. B. designed as a laser or laser diode and preferably set up to provide an optical marking on a gripped wood at a predefined distance from the sawing tool 3 , more precisely to the cutting plane of the sawing tool 3 to project. The processing system 1 can then be positioned, for example, in such a way that the optical marking is projected onto one end of a piece of wood. When the gripped wood is cut to length, a piece of wood can be produced with a length corresponding to the predetermined distance.

2 shows an example of a suspension 5 a processing system (see 1 ), over which the processing system with a boom 6th , especially a boom head 7th , is coupled or can be coupled to a self-propelled work machine. The processing system can have several tools, in particular a gripping tool, a sawing tool and possibly also a splitting tool, which are directly or indirectly attached to the suspension 5 , especially a scaffolding 5a , are mounted. In 2 these tools are not shown for reasons of clarity.

The suspension 5 is for hanging on the boom head 7th set up. For this purpose, it has two opposite side walls 5b on that on a back of the scaffolding 5a are arranged. In each of the side walls 5b are two recordings each 5c let in. The recordings 5c can for example be designed as through-holes. In the recordings 5c are in to the boom 6th coupled state of the processing system connecting means (not shown for the sake of clarity) introduced with which the suspension 5 at the boom head 7th is hooked. The connecting means can be designed, for example, as bolts which, at least in the unloaded state, are tool-free for decoupling the processing system from the boom 6th from the recordings 5c can be pulled out. The bolts can have a stop at one end and also be or will be secured at the opposite end, for example by a split pin.

The boom head 7th has on one end face, which is the processing system or the suspension 5 is facing in the coupled state, two hook-like coupling structures 7a on. In the coupling structures 7a is the suspension 5 hooked, in particular via the two connecting means. In the coupled state, the connecting means sit at least partially in the coupling structures 7a . They lie on support surfaces 7b the coupling structures 7a on. The support surfaces 7b are facing away from each other, ie the two hook-like coupling structures 7a grab in opposite directions.

The boom 6th preferably has a cantilever arm with at least two mutually pivotable arm segments, wherein in 2 only a portion of the last of these arm segments is shown. There is also a swivel device on this segment 8th mounted, which is preferably designed as a four-bar gear. The so-called frame of the four-bar linkage is formed by a section of the last arm segment on which the boom head 7th , which forms a so-called rocker arm of the four-bar linkage, around a pivot axis 9 is pivotably mounted. Because of the, in particular rigid, coupling of the processing system via the suspension 5 to the boom head 7th is also the entire processing system around the pivot axis 9 pivotable.

The so-called paddock 10 the four-bar linkage is with a first connecting device 7'c of the boom head 7th pivotally connected to the pivoting of the processing system or the suspension 5 to allow in a large angular range. The boom head 7th also has a second connector 7''c on that at a greater distance from the pivot axis 9 is arranged as the first connecting device 7'c . If necessary, the paddock 10 also via the second connection device 7''c with the boom head 7th be pivotally connected to the processing system or the suspension 5 to be able to swivel with greater precision - and in return in a small angular range.

Even if only two connection devices in the present example 7'c , 7''c are shown, further connection devices can of course also be provided in order to allow further, possibly finer, adjustments to be made between precision and angular range, if necessary.

The connecting devices 7'c , 7''c can be used as recordings, in particular through bores, in the boom head 7th be trained. The paddock 10 can so z. B. using a bolt (not shown), which may be attached to a End has a stop and is secured at the opposite end by means of a split pin or can be with the boom head 7th be or become connected.

3 shows an example of a method 100 for processing wooden goods such as tree trunks, for example with the help of an in 1 processing system shown.

In one process step S1 the processing system, in particular a gripping tool of the processing system for gripping the wood to be processed, is initially positioned relative to a wood in a gripping position with the aid of a boom of a self-propelled work machine to which the processing system is coupled. For example, the gripping tool can be aligned in such a way that a gripping axis of the gripping tool, in which a piece of wood can be gripped by the gripping tool, at least substantially coincides with a longitudinal axis of a piece of wood to be gripped. The processing system, in particular the gripping tool, can be pivoted about a pivot axis relative to a boom arm of the boom.

The gripping tool, for example designed as a gripper, can then remove the wood from this position by closing the gripper in a further process step S2 to grab. For this purpose, the gripper is preferably operated hydraulically.

In a further process step S3 the gripped wood is cut to length with the help of a sawing tool of the processing system. For this purpose, the sawing tool can have a sawing means which is designed to be pivotable relative to the gripped wood, for example a chain saw. After cutting to length, the gripped wood is preferably released again, ie the gripper is opened.

In a further process step S4 the processing system is positioned in a splitting position relative to the cut timber, in which the cut timber can be split with the aid of a splitting tool of the processing system. For this purpose, the processing system can in particular be pivoted about the pivot axis.

In a further process step S5 the cut wood is split using the splitting tool. For this purpose, the splitting tool, which is preferably designed as a cone splitter, can execute a splitting movement from the splitting position, which movement runs essentially along the gripping axis of the gripping tool. A splitting cone of the cone splitter rotates around an axis of rotation which is oriented essentially parallel to the gripping axis. The cone splitter is preferably also operated hydraulically.

In a further process step S6 the logs of the split wood are transported away. Here, the processing system is preferably pivoted again into a gripping position relative to the wood gaps about the pivot axis and the wood gaps are gripped with the aid of the gripping tool. By pivoting the boom, the log gaps can then be transported to a throwing point, for example above a trailer of the working machine, where the gripper is then opened again.

The sequence of the method steps described above is to be understood as purely exemplary. It is of course also conceivable to start with the process steps S4 and S5 to perform, ie to position the processing system in the splitting positions and then to split the wood to be processed, in order to put the processing system in process step S1 then to pivot about the pivot axis and thus position it in the gripping position. As a result, the wood gap of the split wood can be in process step S2 grabbed and in process step S3 be cut to length. In the subsequent process step S6 the cut logs are then transported away accordingly.

4th FIG. 10 shows an example of a self-propelled work machine 50 that incorporates a processing system 1 for processing wood goods, in particular tree trunks. The processing system 1 includes a gripping tool 2 for gripping a piece of wood, a sawing tool 3 for cutting the gripped wood to length as well as a splitting tool 4th for splitting the wood. The tools 2 , 3 , 4th are using a suspension 5 to a boom 6th the work machine 50 coupled.

The boom 6th has, in the example shown, a cantilever arm with two (arm) segments 6a, which can be pivoted relative to one another in a vertical plane. The boom 6th is also coupled to the working machine 50 such that it can pivot in a horizontal plane.

The boom 6th also has a boom head at its end on the processing system side, which relative to the boom arm or the segments 6a about a pivot axis 9 is pivotable. The processing system 1 is attached to the boom head. This allows the processing system 1 using the boom 6th , in particular by pivoting about the pivot axis 9 , be positioned in a gripping position and a splitting position relative to a wood item to be processed in order to enable gripping with the aid of the gripping tool 2 or a split using the split tool 4th to enable.

List of reference symbols

1

Processing system

2

Gripping tool

2a, 2b

Gripping arms

2c

Gripping axis

2d

Gripping hydraulics

3

Sawing tool

3a

casing

3b

Sawing means

4th

Splitting tool

4a

Splitting cone

4b

Axis of rotation

4c

Hydraulic motor

5

suspension

5a

framework

5b

side walls

5c

Recordings

6th

boom

7th

Boom head

7a

Coupling structure

7b

Support surface

7'c, 7''c

Connecting device

8th

Swivel device

9

Swivel axis

10

Paddock

11

Marking device

100

Procedure

S1-S6

Procedural steps

Claims (28)

A method (100) for processing wood products, in particular tree trunks, in which a wood product is gripped using a gripping tool (2), characterized in that the gripped wood product is cut to length using a sawing tool (3), the gripping tool (2) and the sawing tool (3) Are part of a processing system (1) coupled to a boom (6) of a self-propelled work machine. Method (100) according to Claim 1 , characterized in that the wood is split before or after being gripped with the aid of a splitting tool (4) which is part of the processing system (1). Method (100) according to Claim 2 , characterized in that the processing system (1) is pivoted between gripping and splitting about a pivot axis (9) which is perpendicular to a gripping axis (2c) of the gripping tool (2). Method (100) according to Claim 2 or 3 , characterized in that the processing system (1) is rotated between gripping and splitting about a turning axis which is perpendicular to an axis of rotation (4b) of the splitting tool (4). The method (100) according to any one of the preceding claims, characterized in that the processing system (1) is detachably suspended without tools using a suspension (5) on a boom head (7) of the boom (6), at least one connecting means at least partially simultaneously from one Coupling structure (7a) of the boom head (7) and is received by the suspension (6), and is pivoted by pivoting the boom head (7) about the pivot axis (9). Method (100) according to one of the preceding claims, characterized in that the processing system (1) is pivoted hydraulically, the pivoting movement being effected with the aid of a four-bar linkage of the boom (6). Method (100) according to one of the preceding claims, characterized in that the processing system (1) when executing a splitting movement with the aid of a splitting tool (4) which is part of the processing system (1), at least substantially along the gripping axis (2c) of the gripping tool (2) is moved. Method (100) according to one of the preceding claims, characterized in that a marking of the processing system (1) is positioned along the wood material before gripping and the wood material is cut to length at a predefined distance from the marking. Method (100) according to Claim 8 , characterized in that a tip of the splitting tool (4) is positioned along the wood. Method (100) according to Claim 8 , I mean that an optical marking is projected onto the wood material with the aid of a marking device (11) of the processing system (1) and positioned along the wood material by moving the gripping tool to the wood material. The method (100) according to any one of the preceding claims, since the gripping tool (2) is positioned along the wood product in such a way that an optical marking is projected onto a wood product end by a marking device (11) of the processing system (1) and that Timber is cut to length at a predefined distance to the end of the timber. Method (100) according to one of the preceding claims, it is indicated that wood gaps of the split wood material are transported away with the aid of the gripping tool (2). Method (100) according to one of the preceding claims, since I can denote that at least part of the sawing tool (3) for cutting the wood to length relative to the gripping tool (2) in a substantially perpendicular to the gripping axis (2c) of the gripping tool (2) extending cutting plane is pivoted. Processing system (1) for processing wood products, in particular tree trunks, which has a gripping tool (2) for gripping wood and is set up to be coupled to a boom (6) of a self-propelled machine gripped wood. Processing system (1) according to Claim 14 , I mark net by a splitting tool (4) for splitting the wood. Processing system (1) according to Claim 15 , as I mean net that an axis of rotation (4b) of the splitting tool (4) runs parallel to a plane of symmetry of the gripping tool (2). Processing system (1) according to one of the Claims 14 to 16 , gekennze ich net by a suspension (5) for coupling the processing system (1) to a boom head (7) of the boom (6) designed as a slewing ring stator, the suspension (5) having a slewing ring rotor which, in the coupled state, together with the as Slewing ring stator designed boom head (7) forms a slewing ring. Processing system (1) according to Claim 17 Because I mean, that an axis of rotation (4b) of the splitting tool (4) runs perpendicular to an axis of rotation of the turntable rotor. Processing system (1) according to one of the Claims 14 to 18th , gekennze ich net by a suspension (5) for hanging the processing system (1) in a boom head (7) of the boom (6), which is pivotable relative to a boom arm of the boom (6) about a pivot axis (9). Processing system (1) according to one of the Claims 14 to 19th , characterized net by a suspension (5) for suspending the processing system (1) in a boom head (7) of the boom (6), the suspension (6) defining a suspension plane in which the processing system (1) in the boom ( 6) can be suspended, and an axis of rotation (4b) of the splitting tool (4) runs essentially perpendicular to the suspension plane. Processing system (1) according to one of the Claims 14 to 20th Since I can identify net, the suspension (5) has a turntable, by means of which the gripping tool (3) is rotatably mounted with respect to the suspension (5). Processing system (1) according to one of the Claims 14 to 21 I denote net by a marking device (11) which is set up to project an optical marking at a predefined distance from a cutting plane of the sawing tool (3) onto a gripped piece of wood. Processing system (1) according to one of the Claims 14 to 22nd , as I can denote that the sawing tool (3) has a housing (3a) and at least one sawing means (3b) arranged in the housing (3a) and encompassing saw teeth, the sawing means (3b) being mounted so as to be pivotable relative to the gripping tool (2) is. Processing system (1) according to Claim 23 , I can say that the housing (3a) is pivotably mounted relative to the gripping tool (2). Self-propelled working machine with a boom (6) and a processing system (1) coupled to the boom (6) according to one of the Claims 14 to 24 . Self-propelled machine according to Claim 25 , because I net durc hgekennze that the boom (6) has a boom head (7) which can be pivoted about a pivot axis (9) relative to a boom arm of the boom (6) and to which the processing system (1) is coupled Boom head (7) is designed as a rocker arm of a four-bar linkage. Self-propelled machine according to Claim 26 , there through identification I net that the rocker has at least two connecting devices (7'c, 7''c), a coupling (10) of the four-bar linkage being connected to the rocker via one of the at least two connecting devices (7'c, 7''c) . Self-propelled working machine according to one of the Claims 26 or 27 Because I mean that the boom head (7) has at least two hook-like coupling structures (7a), into each of which a connecting means for coupling the processing system (1) to the boom (6) is inserted.

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