Manipulator machine

FIELD: agriculture.

SUBSTANCE: machine comprises a motor vehicle chassis with a full-circle platform installed on it. The following components are mounted on the platform - an operator's cabin, an engine, hydraulic system sets, a manipulator, a balancing weight and a mechanism of balancing weight movement relative to the full-circle platform. The balancing weight in the form of an engine and hydraulic system sets on the auxiliary platform with the possibility of its movement in the horizontal plane along longitudinal guides. Longitudinal guides are rigidly fixed on the full-circle platform. The mechanism of balancing weight movement is made of a yoke, which is hingedly installed on the bracket, which is rigidly fixed on the full-circle platform. The yoke with its front arm is hingedly via a traction rod is connected to a manipulator, and with its back arm is hingedly via a traction rod connected to the balancing weight.

EFFECT: reduced weight of the machine, increased stability during process operations, and as a result, higher reliability in operation.

2 cl, 2 dwg

 

The invention relates to machines manipulator and can be used in the forest industry and forestry-harvesting, packaging, loading, and excavators.

Known machine manipulator, including self-propelled chassis, on which is installed a rotary platform mounted on the operator's cab, engine, hydraulic units, manipulator and load balancing (USSR Author's certificate No. 1553412, CL VC 17/32, B62D 11/00, 30.03.90 year).

A disadvantage of the known machine manipulator is that a counterbalancing moment created by the load balancing, is not synchronized with the overturning moment generated by the pointing device with the load balancing weight is provided with a separate actuator to move it.

Also known machine manipulator, including self-propelled chassis with installed on it full-circle platform, on which are mounted the cab, engine, hydraulic units, crane, load balancing, and the mechanism of its movement relative to the rotary platform (Misurkin PM Search construction forestry equipment. - Saransk: in Sarat. Univ. Saran. branch, 1990. - 304 S., see RIS on p.157 and PP 156, 1...6 lines from the bottom and p.157, except row 1...5 bottom).

The disadvantage of this machine manipulator the th is that balancing the load weight machine, and the departure of the manipulator changes the height position of the gravity load at maximum reach manipulator affects the stability of the machines.

The technical result is to reduce vehicle weight, increase its stability during technological operations and, consequently, improve the reliability in operation.

The technical result is achieved by the fact that in the machine manipulator, including self-propelled chassis with installed on it full-circle platform on which to mount the operator's cab, an engine, a hydraulic units, crane, load balancing, and the mechanism of its movement relative to the rotary platform, and the new is that balancing the load in the form of engine and components of the hydraulic system is mounted on the supporting framework with the possibility of moving it in a horizontal plane along the longitudinal guide rails fixed on the rotary platform, and mechanism for moving the balancing load is made of the rocker arm, pivotally mounted on rigidly mounted on a rotary platform bracket and front shoulder hinge through rod connected to the arm, and the rear articulated through the shoulder is connected to a balanced load, rocker arm done is but with the possibility of changing the ratio of the lengths of the shoulders, for example, moving the rocker arm to the bracket.

In the patent and scientific literature of a similar construction machine manipulator us not detected,

In Fig. 1 shows a diagram of the machine manipulator, side view; figure 2 is a section a-a in figure 1.

Machine manipulator includes a self-propelled chassis 1 on which is mounted a rotary platform 2 mechanism 3 of its rotation around the vertical axis. On a rotary platform 2 mounted manipulator 4, the operator's cab 5; balancing the load 6 is mounted on the supporting framework 7 and consists of units of the hydraulic system and the engine, while the latter may be mounted on a rotary platform 2. An auxiliary platform 7 is installed on a rotary platform 2 can move in the horizontal plane of the machine manipulator along the longitudinal guides 8, rigidly mounted on a rotary platform 2. The mechanism for moving the balancing load is made consisting of the rocker arm 9, pivotally mounted on the bracket 10 fixed on the rotary platform 2. On the yoke 9 made additional holes 11 to change the lengths of the shoulders of the rocker arm 9 by moving it along its longitudinal axis on the yoke 10. The rocker 9 one shoulder articulated through the rod 12 is connected with manip what system 4, and the other shoulder is articulated through the rod 13 is balanced by the load 6. The pointing device 4 is equipped with its actuators 14 and 15, for example by hydraulic cylinders.

Machine manipulator operates as follows. The operator controls the actuators 14 and 15 and the mechanism 3 can change the amount of departure of the manipulator 4, directs the working body (not shown) on the subject of labor (not shown), captures the latest moves at the right place and puts. Almost always changes the magnitude of the overturning moment generated by the pointing device 4 with the working body and the object of labour, but as the pointing device 4 is connected by a transfer mechanism with balanced load 6, with increasing departure of the manipulator (the increase in overturning moment) balancing the load 6 will be deleted from the pointing device 4 and thereby will increase the value of the balancing point, and Vice versa. For example, depending on krupnomerami stand therefore, it is possible to change the ratio of the lengths of the shoulder of the rocker arm 9 by moving his other holes 11 on the bracket 10 and, thus, alter the limits of the minimum and maximum value of the balancing point.

The inventive machine manipulator due to the weight reduction and new design trim manipulator has more stability, and traces the tion, increased reliability in operation.

1. Machine manipulator, including self-propelled chassis with installed on it full-circle platform on which to mount the operator's cab, an engine, a hydraulic units, crane, load balancing, and mechanism for moving the balancing load relative to the rotary platform, wherein the load balancing in the form of engine and components of the hydraulic system is mounted on the supporting framework with the possibility of moving it in a horizontal plane along the longitudinal guide rails fixed on the rotary platform, and mechanism for moving the balancing load is made of the rocker arm, pivotally mounted on rigidly mounted on a rotary platform bracket, and front shoulder articulated through a rod connected to the manipulator, and rear shoulder articulated through the rod is connected to a balanced load.

2. Machine manipulator according to claim 1, characterized in that the rocker mechanism to move the load balancing performed by modifying the ratio of the lengths of his shoulders, for example, by moving the beam along its longitudinal axis on the bracket.



 

Same patents:

FIELD: machine building.

SUBSTANCE: device for control over levelling capacity of surface planning machines consists of sensor of back frame angular position, of sensor of angle between hinged front and back frames and of angle master. Also, outputs of the sensor of back frame position angle and angle master are connected with a hydro-cylinder via a comparison element and a control unit by means of an electrically controlled hydro-valve. The hydro-cylinder is installed between the front and back frames and ensures change of position of a cutting edge of a working tool. The device is equipped with a computing unit, an input of which is tied with the output of angular position sensor between the front and back frames, and with a controlled scale unit, the input of which is connected with the output of the computing unit, while the output is coupled with the comparison element. A signal at the output of the computing unit corresponds to a signal at its input multiplied by ratio of distance from a hinge between the front and back frames to the cutting edge of the working tool to distance from the back support of the planning machine to the hinge.

EFFECT: elimination of observed uncertainty for value of proportionality factor of measured angle of relative position between front and back frames.

2 cl, 3 dwg

FIELD: construction.

SUBSTANCE: hydraulic system of independent flows distribution consists of hydraulic distributors, discharge cavities of which are supplied from according discharge hydraulic lines. At least another hydraulic distributor is supplied from several discharge hydraulic lines with its discharge cavity via check valves. And at least one check valve that supplies to discharge cavity of any distributor is arranged with the possibility of its forced closure in case of necessity.

EFFECT: distribution of several independent flows by minimum number of distributors between various hydraulic engines.

3 dwg

FIELD: construction.

SUBSTANCE: group of inventions relates to the field of mining and construction, in particular, to rotary cutting tool, which may be used to pierce through thickness of soil. Rotary cutting tool includes body, which has axial front end and axial back end, and also axial length. Hard tip, which has remote end, is fixed to body of cutting tool at its axial front end. Body of cutting tool has a section of back surface, arranged along axis behind remote end of hard tip, and having transverse dimension. Section of back surface includes axial front transverse dimension and minimum transverse dimension, which is located along axis behind axial front transverse dimension. Axial front dimension exceeds minimum transverse dimension. Section of back surface has axial length within the limits from approximately 10% to 35% of axial length of cutting tool body.

EFFECT: improvement of rotary cutting tool, to reduce extent of resistance of rotary cutting tool when piercing through soil thickness, with small angle of separation.

32 cl, 9 dwg

FIELD: construction.

SUBSTANCE: invention relates to automated monitoring and control of mining machines in producing enterprises. System to visualise operation of excavator includes sources of information related to excavator, facilities of remote transfer of data, screen and data processing facility. Data processing facility builds 3D synthesized image on the basis of signals from sources of information. Sources of information are signals of control of drives of main movement, voltage and currents of motors of specified drives.

EFFECT: increased reliability of observation and reduced volume of transferred data.

2 dwg

FIELD: machine building.

SUBSTANCE: device comprises boom, bucket, hydraulic cylinders of boom, balancing pneumatic hydraulic cylinder, gas balloon, hydraulic pump, main and additional hydraulic distributors of boom control. Piston cavities of boom hydraulic cylinders are arranged with the possibility of connection to hydraulic pump via main hydraulic distributor or additional hydraulic distributor of differential type, providing for the possibility to connect simultaneously piston and stem cavities of boom hydraulic cylinders to hydraulic pump. At the same time piston cavity of balance pneumatic hydraulic cylinder is connected to gas balloon charged to pressure of more than 10 MPa, and ratio of squares of piston diametre and boom hydraulic cylinders stem is within the range of .

EFFECT: energy efficiency, increased capacity, higher efficiency factor of working equipment.

1 cl, 3 dwg

Working machine // 2403348

FIELD: transport.

SUBSTANCE: working machine designed for at least two functions including attachment displacement and (or) steering. The machine includes at least two hydraulic circuits, one hydraulic circuit for each of mentioned functions. Each hydraulic circuit includes at least one hydraulic pump to control operation of corresponding attachment or steering functions; separate first electric machine with possibility to transfer driving force and connected with each of mentioned hydraulic pumps for separate power supply to the pump and power takeoff form the pump; transmission for working machine displacement by means of driving wheels. The transmission includes at least one second electric machine mechanically connected with the mentioned first electric machines to exchange power between hydraulic circuits and transmission.

EFFECT: lower fuel consumption and higher efficiency.

22 cl, 9 dwg

FIELD: machine building.

SUBSTANCE: facility consists of compressor, oil-moisture separator and receiver pneumatically and successively interconnected. An output of the receiver is coupled to inputs of adsorbers with evenly distributed heaters; while outputs of adsorbers are pneumatically connected to a consumer. Also a compressor is equipped with a suction filter containing a case with a conic bottom and an orifice in its lower part, a connecting pipe of purified air outlet, a condensate extractor positioned in the bottom orifice, a reflecting partition, and a connecting pipe of purified air inlet. The case of the filter is made in form of a two-layer jacket with an air cavity connected to adsorbers and the connecting pipe of outlet of heated generated air to atmosphere by means of the connecting pipe of inlet of heating generated air via a pipeline and a control valve. Notably, curvilinear grooves with a dovetail shape are made on internal surface of the connecting pipe of inlet of purified air; the connecting pipe of purified air inlet is made in form of a convergent nozzle. A circular groove connected with a device for impurities extraction is made at the inlet orifice of the connecting pipe for purified air inlet. The circular groove is coupled with curvilinear grooves and is equipped with a mesh.

EFFECT: raised reliability of operation of pneumatic systems of control for excavators and cranes operating with considerable amount of solid particles in process dust due to reduced amount of impurities in sucked atmospheric air coming into cavities of compressor.

3 dwg

FIELD: electricity.

SUBSTANCE: method for forcing of excitation current in electric motors of lift and discharge of mining shovel, designed to improve operational characteristics of electric machines of "digging" electric drives. Heavy duty operation of shovel provides for forcing of excitation in electric motors of lift and discharge as current of electric drive anchor exceeds current of set, equal to 75% of Istop and making 1.25 of Iexc.rated.

EFFECT: reduced cycle of excavation and improved efficiency of mining shovel.

1 dwg

FIELD: construction.

SUBSTANCE: invention refers to the field of machine building, namely to wheel excavator with hydraulic system. Hydraulic system of wheel excavator comprises pumps, stroke hydraulic motors, hydraulic distributor with address travel spool, power hydraulic lines including discharge power hydraulic line and power hydraulic lines of stroke hydraulic motors, servocontrol hydraulic lines, hydraulic switch of speeds with tap to connection of the second gear, unit of address travel spool control with tap to start excavator movement "forward". Hydraulic system comprises additional power circuit connected into power hydraulic lines between stroke hydraulic motors and discharge power hydraulic line, and additional circuit of servocontrol connected into hydraulic lines of servocontrol between hydraulic switch of speeds and unit of address travel spool control. Additional power circuit includes three-position spool with normally closed inlet, two outlets and two cavities of servocontrol, two-position spool with two inlets, four outlets and cavity of servocontrol, hydraulic lines that connect outlets of three-position spool to according inlets of two-position spool, and also hydraulic lines that connect the first and second outlets of two-position spool with power hydraulic lines of stroke hydraulic motors, the third and fourth outlets of which are arranged with the possibility to connect additional hydraulic set to them, for instance hydraulic hammer. Additional circuit of servocontrol consists of three-position spool control unit, having two taps, valve OR with tap and two feeds, valve AND with tap and two feeds.

EFFECT: invention provides for displacement of excavator under severe road conditions at the second gear, and also expanded functionality.

3 dwg

FIELD: construction.

SUBSTANCE: invention refers to the field of machine building, namely to hydraulically driven crawler shovels. Hydraulic drive of crawler shovel comprises power pumps, control pump, distributor, hydraulic motors of stroke, power hydraulic lines, hydraulic lines of servocontrol with control units, hydraulic cylinders of caterpillar belt tension. Besides between each hydraulic cylinder of caterpillar belts tension and according power hydraulic lines of stroke, there is an additional circuit included, made of two drain check valves, discharge check valve, safety valve and hydraulic lines of servocontrol, at the same time piston cavity of hydraulic cylinder of tension of caterpillar belts is connected to discharge cavity of safety valve and through discharge check valve with discharge hydraulic line of servocontrol, and stem cavity - to drain cavity of safety valve and through drain check valves with power hydraulic lines of stroke.

EFFECT: invention provides for automatic tension of caterpillar belts independently on load on master wheels.

1 dwg

Log carrier // 2418695

FIELD: transport.

SUBSTANCE: invention relates to long largo carriers used in logging industry, particularly, to log carriers. Proposed log carrier comprises full-track 1, full-track frame 2 accommodating manipulator 3 and cargo platform. Frame 5 of the latter is provided with roller 6 with its axle fixed at frame rear so that outer roll surface of roller 6 is located under platform frame top surface. Central part of cargo platform 3 has roller 7 fitted in frame 8 pivoted to frame 2 and provided with turning hydraulic drive made up of several parallel hydraulic cylinders with their one ends secured on frame 2 and other ends secured to frame 8.

EFFECT: higher efficiency.

2 dwg

Logging machine // 2415564

FIELD: agriculture.

SUBSTANCE: logging machine comprises tracked powered chassis with front and rear lever-centerpoint suspensions, which connect crawler-mounted movers and chassis frame. In front part of chassis, on its frame, the operator's cabin is mounted, as well as bulldoser equipment that rotates in vertical plane, and an external support joined to chassis spars in specified part of chassis, where a hydraulic manipulator is installed with a rotary working head. Axis of rotation of the manipulator column is installed in longitudinal-vertical plane passing through longitudinal axis of chassis symmetry. In the rear part of chassis, behind the operator's cabin, a loading platform is installed for assortments, the longitudinal-vertical plane of symmetry of which passes through the longitudinal axis of chassis. Loading platform comprises a base, vertical side stands, a thrust-end shield. The loading platform is installed on the chassis frame with the possibility of rotation in horizontal plane by means of a rotary facility arranged between spars and the platform base, and the vertical axis of its rotation is located between the axis of levers rotation and axes of beams in the rear lever-centerpoint suspension. The thrust-end shield is arranged in front part of the loading platform.

EFFECT: invention realisation provides for full cycle of lumbering operations on weak soils of wood cutting areas, and for wide spectrum of technological operations of trees felling and processing, while at the same time machine operational reliability and its ergonomic characteristics improve.

4 cl, 3 dwg

FIELD: mechanics.

SUBSTANCE: machine consists of basic chassis, boom, hoist, grip, drives. Boom has arched z-shaped form. Boom is arranged as extended. At the end of extended upper part of boom there is a folding handle installed with gripping-and-cutting device for trees felling. Process equipment is installed on rotary platform and chassis.

EFFECT: design makes it possible to combine several operations with single detachable process equipment.

2 dwg

FIELD: agriculture.

SUBSTANCE: invention is related to devices for gripping, cutting and felling of trees, and may be used, for instance in forest industry and forestry. Device comprises the following components, which are installed on common base: cutting mechanism, fixed support, squeeze lever hingedly joined to base with driving hydraulic cylinder, and felling mechanism. Felling mechanism comprises lever-thrust (7), free end of which is arranged in the form of thrust (8), and the other end is hingedly joined to upper part of base and slider (9). Slider (9) by means of lever mechanism (14) is connected to driving hydraulic cylinder (10). Lever mechanism (14) comprises two levers (13) and (15), which are connected to each other at the angle by means of connecting hinged joint (17), besides lever mechanism (14) is hingedly connected to driving hydraulic cylinder (10) by its free end, and by its other end - to base (3). Connecting hinged joint (17) of levers (13) and (15) in lever mechanism (14) is installed in slider (9).

EFFECT: invention provides for simplification of design.

2 cl, 9 dwg

FIELD: woodworking industry.

SUBSTANCE: rooting out method involves space fixation of a tree and its separation from the soil. Attachment of the tree top, its space fixation and separation from the soil is carried out by a unified complex system directly connected to an aircraft. The tree is transported after it is lifted and placed on the aircraft outer bracket. The complex for rooting out and transportation of trees by an aircraft comprises tools for the tree space fixation and its separation from the soil. The complex comprises a handler and a set of transportation grips for the trees, a rooting out unit and an outer load frame with brackets; the outer load frame is fixed on the aircraft, the handler with the transportation grips and the rooting out unit are connected to the aircraft by ropes and cables of control and power supply systems.

EFFECT: method and complex application allows for the reduction of the process cycle at the felling site, decrease of labour input, increase of timber output, decrease of the probable injuries to the workers.

2 cl, 2 dwg

FIELD: woodworking industry.

SUBSTANCE: device for wood procurement consists of at least labour body and cutting mechanism. Cutting mechanism contains casing, outfitted by cutting facilities for cutting of tree trunks and facilities for installation of cutting mechanism on labour body, mounted on tree crop harvester boom. Cutting facilities contain cutting unit, in essence, rigidly installed in casing of cutting mechanism and outfitted at least by plane top surface, and also bracket. Bracket is installed with ability of movement, in essence, in working plane of cutting unit or plane, in essence, parallel specified working plane. Labour body contains casing and set of capture elements for catching of one or more wood trunks. Each subject to cutting wood trunk under action of bracket is directed on top surface of cutting unit for keeping of it by specified surface. Movements of cutting unit of cutting mechanism and brackets are interconnected and oppositely directed. Cutting mechanism is installed rotary relative to labour body by means of connecting facilities so that labour body and cutting mechanism with cutting unit and bracket can be shifted, in essence, in working plane of cutting facilities, minimising effort for labour body, herewith movement of cutting mechanism outsides the scope of overall dimensions, specified by capture elements of labour body.

EFFECT: structure of mechanism will provide more effectively implement procurement, particularly, firewood.

9 cl, 6 dwg

FIELD: engines and pumps.

SUBSTANCE: rotary support includes roller rotary support. Lower non-rotary part of support is rigidly fixed in frame of motor vehicle chassis. On upper rotary part of support there is rotary platform rigidly installed. Manipulator is installed on platform, as well as mechanism of platform rotation with manipulator in horizontal plane around vertical axis. Mechanism of rotary platform rotation is arranged in the form of plate hydraulic motor, body (stator) of which is rigidly connected to upper rotary part of roller rotary support. Rotor (internal part) with plates is rigidly connected to lower non-rotary part of roller rotary support. Body is equipped with openings for supply and drain of working fluid. EFFECT: device design is simplified, its metal intensity is reduced and wear resistance is increased.

3 cl, 2 dwg

FIELD: agriculture.

SUBSTANCE: method includes loading ends of sheared trees into the machine for bunch formation and transportation to the next station. Bunch formation is carried out on the ground, and hauling by traction to the next station is carried out by the machine for bunch formation. On the first station sheared trees are bundled by butt ends on the winch rope of the machine for bunch formation lying on the ground. The bunch is choked by the winch rope using a clinch in its end, and left in the first station. The rope is drawn off the hoisting drum when replacing machine to the next station. After the machine is set on the stop, the bunch from the first station is hauled by traction with the winch to the second station. The bunch is grubbed and attached to the bunch of the required quantity by laying trees on it which were sheared on the second station. The machine has driving chassis which is equipped with a manipulator having claw-like felling unit and device for bunch formation on its free end. The device for bunch formation has a winch placed on the frame of the driving chassis and equipped with load carrying rope and clinch on the free end of the rope, winch drive is made from one of the shafts of the reducing gear of the driving chassis's travel mechanism.

EFFECT: method and construction of the machine allow formatting bunches of any size without charging the machine, and improving ecology.

3 cl, 5 dwg

Wood combine // 2354107

FIELD: agriculture.

SUBSTANCE: wood combine consists of a base and rotating platforms, telescope boom with harvesting head, storage container with saw mechanism. The telescope boom equipped with restrain and shear mechanism is mounted in the base platform. The rotating platform is made in the form of inner and outer platform coaxially fixed in the horizontal plane. The manipulating units are fixed diametrically on the inner rotating platform, and telescope boom with harvesting head - on the outer rotating platform. The saw mechanism is removable and fixed with possibility being replaced along the storage container.

EFFECT: increase in productivity, lower metal and energy consumption.

2 cl, 3 dwg

Wood combine // 2354107

FIELD: agriculture.

SUBSTANCE: wood combine consists of a base and rotating platforms, telescope boom with harvesting head, storage container with saw mechanism. The telescope boom equipped with restrain and shear mechanism is mounted in the base platform. The rotating platform is made in the form of inner and outer platform coaxially fixed in the horizontal plane. The manipulating units are fixed diametrically on the inner rotating platform, and telescope boom with harvesting head - on the outer rotating platform. The saw mechanism is removable and fixed with possibility being replaced along the storage container.

EFFECT: increase in productivity, lower metal and energy consumption.

2 cl, 3 dwg

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

Up!