Lumber-industry robot

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

 

The technical field to which the invention relates.

The present invention relates to logging equipment and can be used for the conduct of forest operations in mountainous conditions.

The prior art. The author knows A.S. No. 459194 “Device for felling trees, which can be used in the forest industry for machine felling of trees on mountain slopes and in the cutting area with low bearing capacity soils. The main purpose of this device is to mechanize fell of trees on the mountain slopes. For this purpose, the device is made with extra gripping-cutting authority, and primary and secondary gripping-cutting bodies are installed on individual vertical bars connected by a telescopic beam.

The main disadvantage of this device is as follows: if the length of the telescopic beams are not enough to the next tree, then it can't move through the plot and make Valka trees. In addition, the telescopic beam can not blame located close to the reference tree, trees, because the minimum length of the telescopic beams is limited.

The author knows A.S. No. 529817 “Device for felling trees, which can be used in the forest industry machine for felling trees. The main purpose of this device is all - in to expand the range of regulatory capture-the cutting bodies in height. For this beam made of composite of pivotally interconnected parts, with the ability to rotate one relative to the other and relative to the gripping-cutting body by means of hydraulic cylinders.

However, the design of this device is also limited to the location of the tree relative to the reference tree. In the absence of wood in the area of the length of his arm moving on the plot stops, and it is unable to fell the trees.

The author knows A.S. No. 643123 “Device for felling trees”, which refers to the forest industry and can be used for machine felling of trees. The main purpose of this device - improved performance when working on mountain logging. For this purpose the device is provided with an additional arm and bearing telescopic rack, and all manipulators are mounted on the rack by means of hinges.

Such a device increases the stability of manipulators when felling trees, but it can't without relying on the tree to navigate through the cutting area. So, if you want to overcome the plot area with widely spaced trees, it shuts down and cannot fell a tree.

The author is also known for the prototype A.S. No. 954212 “Timber robot”, which is from OSISA to logging equipment and can be used for the conduct of forest operations in mountainous conditions. The primary goal of the device is the provision of opportunities for felling and bunching trees in mountainous conditions. For this purpose it is equipped with a manipulator with gripper-cutting device, and the platform is made in the form interconnected by means of a vertical circle of the upper and lower frames, a drive which has motors with gears on the shafts, and the frame is made with oval cutouts, fitted with racks for engagement with the gear motors and movable supports are made in the form prescribed in the corners of the frames of the cylinders with base plate.

Such a device can independently without relying on the trees to move along the plot, however, having four legs and two frames, cross-country mountain area does not have sufficient stability in both longitudinal and transverse directions. In addition, frame, circle, and move the timber work are heavy, which limits its movement in the plot and the resistance at the moment of felling a tree, if this mass is not acting as a counterweight.

The essence of the invention.

In the proposed timber robot for stability in all directions when moving in mountain conditions and reducing the weight of the robot constructively to the circular platform attached a working bearing executed the form of telescopic hydraulic cylinder, a rod which is connected to the reference area. In addition, case work support pivotally connected with a movable wheel and a cylinder rod movement, circular platform has a guide groove with branches from the direct right and left on both sides, which has a rocker stop and movable wheel bearings, and rocker emphasis can be routed immediately to your right and left branch or alternately each of them. And the edges of the circular platform swivel angle 120° relative to each other attached three legged support, made in the form of hydraulic cylinders, each piston rod of which is connected to a conical space, and the body of each walking supports are pivotally connected to the two auxiliary rods of the cylinders and simultaneously pivotally attached to the circular platform, and housing sub-cylinders. And in the upper part of the circular platform on a wheel installed power drive robot with a control system, and a manipulator with gripper-the cutting body is connected with a swivel range of two vertical cylinders. In addition, timber robot automated system will search tree and tactile sensors on the gripper-cutting device, providing the necessary grip force of the tree and cutting the root.

The presence of such differences from the prototype poses which takes you straight to the conclusion, the proposed technical solution has significant novelty.

To prove compliance of the proposed design of timber robot criterion significant differences were compared with the main features of the prototype A.S. No. 954212. In the result, it was found that the timber robot contains one frame, three movable supports, there are no motors to move the robot, a system of automatic search tree and tactile sensors effort. All this allows to considerably reduce the operating weight of the robot and to increase its stability when moving and cutting the tree from the root.

The technical result, which gives a positive effect in comparison with the prototype, is determined by the properties and performance, summarized in table 1.

Data analysis table 1 shows that the proposed timber robot can be technically implemented, as has the original settings that can be sustained is already available in industry standard nodes. List of drawings:

Figure 1. The General appearance of the timber.

Figure 2. The scheme of fixing the working support in the guiding groove of the circular platform.

Figure 3. The scheme of fixing the working support in the guiding groove of the circular platform.

Figure 4. The flow of marching feet.

<> Figure 5. The scheme of the sustainability of forest industry of the robot when moving work support.

6. The scheme of the sustainability of forest industry working when moving walking poles,

Information confirming the possibility of implementation of the invention

Timber robot consists of the pointing device 1, which is equipped with gripping-cutting device 2 connected to the horizontal arm of the hydraulic cylinder 3 and the hinge 4. The handle 5 of the manipulator is connected to its base by a hydraulic cylinder 6, and the base is by means of a support hinge 7 of the manipulator and two vertical hydraulic cylinders 8 are connected pivotally with the turning circle 9 on which is also mounted power plant 10. The turntable movably mounted on the circular platform 11, which has a special guide groove 12 with rocker lugs 13 which can move installed movable wheel 14 which is connected to the bracket 15, the hinge 16 of the working bearings and the housing 17 with the working arm, which has a piston rod 18 of the working bearings and bearing pad 19. The bracket is fixed to the guide hinge 20 of the rolling wheel, in turn connected to the hydraulic cylinder moves, the housing 21 which is installed using a hinge 22 of the cylinder movement in the swivel bracket 23 of the hydraulic cylinder movement, established in circular illuminator is the first platform.

The edges of the circular platform angle 120° to each other are installed on the movable hinge 24 housing three walking supports to the chassis 25 which by means of pivot bearing 26 of the rod of the auxiliary cylinder is connected auxiliary cylinders right 27, 28 left, and their body using the adjustable supports 29 are attached to the circular platform. The rod 30 walking supports are connected to the conical space 31.

Timber robot is an automatic system 32 of the search tree, equipped with a control system power actuator and hydraulic cylinders, tactile sensors 33 in gripping-cutting device.

Works timber works as follows. Special transport timber robot is delivered to the area and set on the ground so that the working pressure plate 19 of the working bearings and tapered pad 31 of walking poles rested on the ground.

After that, the operator includes a system 32 automatically search tree timber robot, which begins to rotate the turntable 9 to until tactile sensor 33 does not touch the tree. Then use the horizontal cylinder 3 and the hydraulic cylinder 6 and the vertical cylinder 8 of the manipulator 1 which rotates in the hinge 7, the handle 5 gripping-cutting device 2 by means of the hinge 4 is induced on the tree, and the sight of ethno-cutting device on the tree and the power of his grip control tactile sensors 33. Once the tree is fully compressed, the team goes on his cutting the root. Cut the tree by turning the turntable 9 using the pointing device 1 is placed on the ground in the right direction and the team goes on the brakes gripping-cutting device 2. When in range of the manipulator 1, all the trees are cut, the timber, the robot moves to a new position. Moving timber robot can be straight or turning in the right direction. When moving to a direct command issued is working on support. When the stem 18 of the working support is drawn into the housing 17 of the working supports and lifts the soil support platform 19. Timber robot remains at three walking poles, then is actuated movable wheel 14 bracket 15 working support guide hinge 20, the rolling wheel 14, the housing 21 of the cylinder displacement of the hinge 22 and the swivel bracket 23 of the hydraulic cylinder moving, moving wheel 14 along the guiding groove 12 is moved forward. This rocker stop 13 is in position overlying the left and right branches of the guide groove 13. As soon as the working bearing moved to the end position, the piston rod 18 of the working bearing down on the ground support pad 19 and a command is generated at the rise of the walking poles. The rods 30 are lifted from the ground ononye the platform 31 and depending on the direction of motion come into work right 27 and 28 left auxiliary cylinders, which by means of hinges 26 and 29 cant casing 25 walking support at a certain angle, rotating it on the movable hinge 24 corps marching feet. At this time the timber the robot is working on the pole. Then at the command of the rods 30 walking poles at an angle down to the ground cone platform 31 and through the housings 25 of the auxiliary cylinders, moving the circular platform 11, are installed in a vertical position. Happened step timber robot. When moving timber robot with turning operations remain the same, only moving the wheel 14 with the cylinder movement with respect to the rocker stop 13 in the guide groove 12 is moved to the left or right, and the free movement contributes to the hinge 16, and accordingly the walking support deployed circular platform 11 with the turning circle 9, the power actuator 10, the supporting hinge 7 of the manipulator 1 in the desired direction. Will be done step timber robot to turn. Once the robot has moved to a new position, again in the work enters the system 32 automatically search tree and the trees felling cycle is repeated.

The use of timber robot on felling of trees in the mountain felling completely automates this operation, which will increase the productivity of the machine, and is also to provide a fully technical security on felling trees in the mountains.

1. Timber industrial robot, comprising a platform, equipped with a movable support, the turntable, the arm with the gripping-cutting device, characterized in that to ensure patency and stability when moving and work on felling trees in mountain conditions, and reduce the structural mass of the robot to the circular platform attached a working bearing, made in the form of telescopic hydraulic cylinder, the rod of which is connected to the reference area, and, in addition, the housing of the working leg in the upper part pivotally connected with a movable wheel and a cylinder rod movement, circular platform has the groove with branches from the direct right and left with two of the parties, which established the rocker stops and moving the wheel bearings, and rocker emphasis has the ability to block immediately left and right branches or alternately each of them, and the edges of the circular platform swivel angle 120° relative to each other attached three legged support, made in the form of hydraulic cylinders, each piston rod of which is connected to a conical space, and the body of each walking supports are pivotally connected to the two auxiliary rods of the cylinders and simultaneously pivotally attached to the circular platform, as the body of the auxiliary cylinders, and in the upper part of the circular platform on the surface is Rotom the range of installed power drive robot with a control system, and the manipulator with gripper-the cutting body is connected with a swivel range of two vertical cylinders.

2. Timber robot according to claim 1, characterized in that to automate the process of felling trees manipulator has an automatic search system tree and tactile sensors on the gripper-cutting the body, providing the necessary grip force of the tree and cutting the root.



 

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5 cl, 5 dwg

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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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