Manipulator of machine for trimming trees
FIELD: forestry machine engineering, possibly trimming of growing trees.
SUBSTANCE: machine includes boom and multi-link telescopic handle with jointly coupled truss that is jointly secured to boom. Each two-link mechanism of said truss except last one is provided with additional link. Additional links are mounted in parallel relative to second link of two-link mechanism and they are joined with first rotary link of adjacent two-link mechanism for forming pantograph. Tie rod is jointly secured to bearing section of telescopic handle; said tie rod is jointly secured to boom through link of rigid triangle. Apex opposite to said link of rigid triangle through lever is jointly secured to platform of machine. In order to vertically move working organ, hinges of supports are mounted on platform of machine at mutual shifting by angle α.
EFFECT: increased length of extension part of manipulator working organ.
2 cl, 3 dwg
The invention relates to forest engineering and can be used in forestry when processing trees (cutting the lower branches in the tree care, pruning of the crown at a landscape wood processing, harvesting cuttings from elite trees and other) and in the harvesting of logs directly from standing trees designated for cutting.
A known machine for processing trees on the basis of car lift AGP-28 (see the book: Misurkin PM, a Department Vigation Manipulator brush cutters. - Yoshkar-Ola: edition Marpi 1992. - p.87, fig.5.10), including the skidder, lift type AGP, the turntable, arm, working body.
The disadvantage is the complexity of the interference of the working body at the same time the two lift cylinders, which reduces the maneuverability of manipulation and low maneuverability in the forest.
Known lift trailer crankshaft (see brochure CPD-6-12-500, the authors Inn, Sugadaira, Bigorre and others) including a platform, a shaft and a handle that represents a lever device and straightforward-guide mechanism with the contour of moving parts and the hydraulic cylinder to move the boom.
The disadvantage is a slight departure (height) of the working body.
The technical result is an increase of departure (in the cell rise) of the working body.
This technical result is achieved by the fact that the boom articulated multi-link telescopic handle with articulated farm, in which each dvukhzonnykh, except the last, is provided with an additional element, which is installed parallel to the second link of dvuhtomnika and connected with the first rotary link neighboring dvuhtomnika for education pantograph (patent No. 2135347 EN, MKI825 J 5/2, 66 23/687, 23/68 // 23/08 01 G Manipulator machine for processing trees / Pymatuning, Seavision No. 98111805/13 declared 15.06.98; publ. 27.08.99. - 6 S.).
The supporting sections telescopic handle pivoted thrust, which through the link rigid triangle pivotally connected to the boom. The top, opposite the link rigid triangle, via a lever pivotally connected with the platform of the machine.
Bearing hinges platform can be positioned at different angles to the horizon, which allows you to create a tower - lifts on rough terrain wheeled chassis. While working body in the form of a cradle or working body, such as sawing mechanism, will rise along the tree trunk.
The essence of the technical solution is that it increases the departure of the working body of the manipulator when it is delivered to the treatment site, for example, a growing tree.
Set of functionally-to struktivnyh signs, as described in the technical solution allows to increase the departure of the working body of the manipulator when it is delivered to the treatment site, for example, a growing tree.
Figure 1 shows the schematic design of the manipulator for processing trees (when retracted movable sections telescopic handle); figure 2 - the same, when a stretched position of the movable sections telescopic handle, figure 3 shows the trajectory of the vertical movement of the working body.
Manipulator machine for processing trees includes the arrow 1, the cylinder 2 displacement arrows. The arrow articulated telescopic handle with a support section 3 and movable sections 4, 5 and 6. On the jib 7 boom pivoted rod 8 connected to the articulated farm. The farm contains dvuhtomnike. Each dvukhzonnykh, except the last, is provided with an additional link 9, which is installed parallel to the second link 10 dvuhtomnika and connected with the first rotary element 11 adjacent dvuhtomnika for the formation of a pantograph. Articulated farm, base section 3 and the movable sections 4, 5 and 6 together form a telescopic handle. The supporting section 3 hinged rod 12, which through the link 13 hard triangle pivotally connected to the boom 1. The top, opposite the link 13 hard triangle, growling through the and 15 are connected pivotally with the platform 14 of the machine. At the end of the handle is a work of the body 16. Arrow 1 and the cylinder 2 is installed on the platform 14 of the machine.
Manipulator machine operates as follows.
The working body 16 to be delivered, for example, at a predetermined height with vertical movement. For this purpose, the rotation of the platform 14 of the machine and the cylinder 2 set arrow 1. This lever 15 changes the position of the vertex of the hard triangle, the link 13 which acts on the supporting section 3 telescopic handle through the rod 12. Reference section 3 of the telescopic handle is rotated about the axis of attachment to the boom. When this rod 8 acts on the articulated farm, dvuhtomnike which push the movable sections 4, 5 and 6 relative to the reference section 3 telescopic handle.
When the retraction of the rod of the hydraulic cylinder 1 total handle develops, the arrow returns to its original position.
The proposed invention allows to create machines for vertical delivery bassinet with work or working body to a predetermined height.
1. Manipulator machine for processing trees comprising a platform, a shaft and a handle that represents a lever device, linearly-guiding mechanism with a contour moving parts and the hydraulic cylinder to move the boom, wherein the boom swivel p is trapline multi-link telescopic handle with articulated farm in which each dvukhzonnykh, except the last, is provided with an additional element, which is installed parallel to the second link of dvuhtomnika and connected with the first rotary link neighboring dvuhtomnika for the formation of the pantograph, and the supporting sections telescopic handle pivoted thrust, which through the link rigid triangle pivotally connected to the boom, and the vertex opposite this link rigid triangle, via a lever pivotally connected with the platform of the machine.
2. Manipulator machine according to claim 1, characterized in that the movement of the working body vertical hinge supports on the platform of the machine mounted relative to each other at an angle α.
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
FIELD: railway road transport vehicle.
SUBSTANCE: manipulator includes hand with working organ, positioning apparatus, control system. Hand is mounted on movable base with possibility of translation and rotation. Working organ is in the form of automatic clutch grip being reciprocal head part of housing of railway road automatic clutch77 provided in addition with gripping mechanism having two gripping levers and with drive unit jointly mounted in housing. Upper double-arm lever is jointly mounted on body of grip, its one arm is kinematically joined with drive unit. Lower single-arm lever is jointly mounted on housing of drive unit. Said lever is joined through tie rod with first lever; it includes automatic pneumatic valve arranged in circuit of grip body and device for locking drive unit of gripping mechanism. Positioning apparatus is made with possibility of discrete reversing rotation of grip. It is in the form of two mutually balanced hydraulic cylinders with pneumohydraulic accumulators whose rods are kinematically joined through common gearing with hand and whose hydraulic cavities are communicated with pneumohydraulic accumulators of rotation drive unit. The last is controlled by pneumatic system. Positioning apparatus may be centered by means of drive unit jointly mounted between column and carriage. Control system of manipulator is interactive one.
EFFECT: possibility of positioning working organ in different planes and automatically gripping article at simultaneous locking of it in grip at emergency condition.
5 cl, 5 dwg
FIELD: forestry, in particular, processing of individual trees, may be used for cleaning cutting in average aged and ripening stand.
SUBSTANCE: method involves processing tree by initially cutting branches from the bottom to the top of tree over trunk up to crown part; upon removal of crown part, leaving trunk for several months to provide for natural drying of tree trunk. Method allows versatility of felling-bunching machine with gripping-and-cutting boom to be increased and operational capabilities of machine to be widened owing to adaptation to different kinds of tree and stand care processes. It means that single machine may be used for tree clear or selection felling processes, as well as for caring of crown of individual trees. Method may be effectively used for caring of trees in parks, gardens and preservation plots by means of existing felling-bundling machines furnished with small-sized gripping-cutting booms having maximal predetermined weight and load capacity.
EFFECT: increased efficiency and wider operational capabilities.
3 cl, 8 dwg