Rotation device of the manipulator harvesting machine

 

(57) Abstract:

The invention relates to the technical equipment forestry machines manipulator type, namely the support-rotating devices, and can be used in the forest industry and forestry. In the proposed design for the spider hinge gook center rests on a ball bearing, which is rigidly fixed on the frame of the self-propelled chassis, with crosses made hemisphere in contact with a ball bearing. Some of the cylinders tilt mechanism turntables, one ends pivotally connected to one of the axes of the spider hinge gook, and other - with self-propelled chassis frame, and the other cylinders on the other axis crosses, and with the lower fixed part of the pivot roller. This will increase the rigidity of the cross and of the entire device, since the ball bearing is additional support, to reduce dynamic loads, vibrations of the platform and improve the reliability and durability of the device. 1 C.p. f-crystals, 3 ill.

The invention relates to the technical equipment lesozagotovitelnyh machines manipulator type, namely the support-rotating devices, and can provide istwo manipulator forest machines comprising a support rotatable roller, lower stationary part which is rigidly fixed on the frame of the self-propelled chassis, and the upper movable part is rigidly mounted a turntable on which is mounted the arm and the rotation mechanism rotating platform with a manipulator in the horizontal plane relative to the frame of the self-propelled chassis (Feller-Bunchers machine PL-19. Circles B. C., Berman M. A., B. N. Ermolov, Queens, C. E., Popov B. C.-M. : Genre Differences. prom the terrain, 1982. -288 S., see page 15 Fig.5, page 20, Fig.9, page 21, Fig.10 and page 33, Fig.19).

Known rotation device of the manipulator harvesting machine has no mechanism for alignment of the turntable in a horizontal plane.

Closest to the invention is a rotation device of the manipulator harvesting machine, comprising a support rotatable roller, lower fixed part which is fixed through a hinge gook on the frame of the self-propelled chassis, and the upper movable part is rigidly mounted a turntable with technological equipment and a rotation mechanism rotating platform with technical equipment in the horizontal plane relative to the frame of the self-propelled chassis, crosses hinge Hooke (ed. the certificate in the USSR 1102525, CL 01 And G 23/08, 1984).

This rotation device of the manipulator harvesting machine has insufficient stiffness, because each axis crosses hinge gook has support only at their ends, which leads to additional dynamic loads, which, when logging machines, even with a rigid design, reach significant values.

To eliminate this drawback, the proposed construction of a turntable manipulator harvesting machine, comprising a support rotatable roller, lower fixed part which is fixed through a hinge gook on the frame of the self-propelled chassis, and the upper movable part is rigidly mounted a turntable with technological equipment and the rotation mechanism turntable with technological equipment in the horizontal plane relative to the frame of the self-propelled chassis, tilt mechanism, such as hydraulic cylinders, turntable relative to mutually perpendicular axes of the spider hinge gook, spider hinge gook center rests on a ball bearing, which is rigidly fastened on the wound, self-propelled chassis, in the center of the crosses of vacform one ends pivotally connected to one of the axes of the spider hinge gook and the other - with self-propelled chassis frame, and the other cylinders on the other axis crosses, and with the lower fixed part of the pivot roller.

The proposed construction of a turntable manipulator harvesting machine significantly increases the stiffness of the device, reduces the dynamic loads, increases the reliability and durability of the device.

In the patent and scientific literature is similar to the design of a turntable manipulator harvesting machine is not detected.

In Fig. 1 shows a rotation device of the manipulator harvesting machine, side view; Fig.2 - the same, the section a-a in Fig.1; Fig.3 - the same, the section b-b In Fig.2.

Rotation device of the manipulator harvesting machine includes a support rotatable roller, lower fixed part 1 which is rigidly mounted on the plate 2. Plate 2 through the hinge gook connected with the frame 3 self-propelled chassis. Top 4 mobile, i.e., rotary, part of the support rigidly connected with the rotatable platform 5 on which are mounted equipment and a rotation mechanism (not pokazany) turntable 5 in horizontalism connected with the plate 2. The ends 9 of the other axis crosses 6 pivotally mounted in the brackets 10, which are rigidly connected with the frame 3 self-propelled chassis. With the ends 7 of the spider 6 pivotally connected to the cylinders 11, the other ends of which are pivotally connected with the frame 3, and the ends 9 of the spider 6 pivotally connected to the cylinders 12, the other ends of which are pivotally connected with the plate 2. In the center of the spider 6, on its lower side is made hemispherical recess 13, which rests against the outer spherical surface of the ball bearing 14, which is its base rigidly fixed on the frame 3 self-propelled chassis. Ball bearing 14 is connected to the crossbar 6 two half-rings 15.

Rotation device of the manipulator harvesting machine operates as follows.

When the machine is in operation on the horizontal section area of the cylinders 11 and 12 is set to "locked" and a turntable 5 together with the upper movable part 4 is rotated relative to the lower fixed part 1. Ball bearing 14 is in contact with a hemispherical recess 13 of the spider 6. When working on slopes or slopes for slope crosses 6, and hence the turntable 5 relative to the bracket 10, one of hydrochloridr 12 one end of which is pivotally connected to the ends 9 of the spider 6, in this case, their length does not change. For tilting the turntable 5 on 6 crosses one of the cylinders 12 is put on the pushing rod, and the other is retracted, the hydraulic cylinders 11 "locked", as well as some of the ends of the cylinders 11 pivotally connected with the ends 7 of the spider 6, they do not prevent tilt. When the above-described manipulation of the ball bearing 14 all the time in contact with a spherical recess 13 of the spider 6.

The proposed construction of a turntable manipulator forest machines greatly increases the stiffness of the spider 6, since the ball bearing 14 is additional support, and the entire device that reduces the dynamic loads, vibrations of the platform and improves the reliability and durability of the device.

1. Rotation device of the manipulator harvesting machine, comprising a support rotatable roller, lower fixed part which is fixed through a hinge gook on the frame of the self-propelled chassis, and the upper movable part is rigidly mounted a turntable with technological equipment and the rotation mechanism turntable with technological equipment in the horizontal ploskokatanoj mutually perpendicular axes of the spider hinge gook characterized in that the crossbar hinge gook center rests on a ball bearing, which is rigidly fixed on the frame of the self-propelled chassis, with crosses made hemisphere in contact with a ball bearing.

2. The device under item 1, characterized in that one of the cylinders tilt mechanism turntables, one ends pivotally connected to one of the axes of the spider hinge gook, and other - with self-propelled chassis frame, and the other cylinders on the other axis crosses, and with the lower fixed part of the pivot roller.

 

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FIELD: lumbering processes and equipment, possibly felling procedures in mountains.

SUBSTANCE: robot includes platform with movable supports, rotary circle, manipulator with gripping and cutting off apparatus. Circular platform is joined with working support in the form of telescopic hydraulic cylinder whose rod is joined with supporting site. Upper portion of housing of working support is joined with movable wheel and with rod of motion cylinder. Circular platform has groove provided with right and left branches at both sides. Tumbling stop and movable wheel of working support are mounted in said groove. Tumbling stop may close at once right and left branches of groove or it may close one branch and then other branch. Three walking supports are jointly mounted at mutual spacing by angles 120° on edges of circular platform. Said walking supports are in the form of hydraulic cylinders whose rods are joined with cone site. Housing of each walking support is jointly connected with two rods of additional hydraulic cylinders and simultaneously it is jointly mounted on circular platform. In upper portion of circular platform on rotary circle power drive unit of robot is mounted. Said drive unit is provided with control system. Manipulator with gripping and cutting off organ is joined with rotary circle through two vertical hydraulic cylinders. Manipulator has automatic system for searching tree and tactile pickups mounted on gripping and cutting off organ for providing necessary effort of gripping tree and cutting it off.

EFFECT: enhanced efficiency and safety of felling process in mountains.

2 cl, 6 dwg, 1 tbl

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