Manipulator type tree harvesting machine

FIELD: agriculture.

SUBSTANCE: machine comprises self-propelled chassis with full-revolving platform mounted on it, on which the operator's cab, engine, hydraulics, manipulator and the device for compensation of the overturning moment are mounted. The device for compensation of the overturning moment is made in the form of movable bracket of the manipulator fastener to the full-revolving platform. The bracket base with one its end is hingedly connected on the full-revolving platform. To the other end of the bracket base the pitch drive of the movable bracket in the form of a hydraulic cylinder is hingedly connected. The other end of the pitch drive of the movable bracket is hingedly mounted on the full-revolving platform. Above the fastener hinge of the movable bracket the manipulator is hingedly connected to the full-revolving platform. Lifting and lowering drive of the manipulator in the form of a hydraulic cylinder is hingedly connected with one its end to the manipulator, and with its other end it is hingedly connected to the full-revolving platform or the movable bracket.

EFFECT: expanding area of trees processing, eliminating of need in balance weight.

2 cl, 3 dwg

 

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

Known machine harvesting manipulator type, 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 1732, B62D 11/00, 30.03.90 year).

A disadvantage of the known machine harvesting manipulator type is that 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 harvesting manipulator type, including self-propelled chassis, with a pre-installed full-circle platform on which to mount the operator's cab, the engine, the hydraulic units, the pointing device and the device to compensate for the tipping point that contains the load balancing mechanism of its movement relative to the rotary platform (Misurkin PM Search construction forestry equipment. - Moscow: Publishing house of Saratov University is eritea. Saransk branch, 1990. - 304 S., see RIS on p.157 and line 1...6 on the PP 156 and p.157, except row 1...5 bottom).

The disadvantage of this machine harvesting manipulator type is the fact that the device for compensation of overturning moment 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 machine and, as a result, reduces the efficiency of the machine.

The technical result of the proposed machine harvesting manipulator type is the extension of the treatment area tree.

The technical result is achieved by the fact that the car harvesting manipulator type, including self-propelled chassis with installed on it full-circle platform on which to mount the operator's cab, the engine, the hydraulic units, the pointing device and the device to compensate for the tipping point, what's new is that the device to compensate for the tipping point is made in the form of rolling bracket arm to swing the platform, while the movable bracket when viewed from the side, made triangular, and the base of the bracket with one end pivotally mounted on a rotary platform, and to the other end of the foundations of the of the hinge attached to the tilt actuator movable bracket, for example, in the form of a cylinder and the other end of the tilt actuator pivotally mounted on a rotary platform, while above the hinge mounting of the rolling bracket to swing the platform hinge with him pinned arm, the actuator lifting / lowering of the manipulator, for example a hydraulic cylinder, one end of which is hinged to the arm, and another end articulated with a rotary platform or movable bracket and the movable bracket is provided with a device for limiting its rotation, such as a rope, one end fixed base flexible arm at the point of attachment of the actuator, and the other with a rotary platform.

Such constructive execution of machine harvesting manipulator type allows you to change the size of the balancing point, depending on the magnitude of the tipping point, eliminating the need for balancing the load, which reduces the weight of the car and in the end boosts the efficiency of the machine.

In the patent and scientific literature of a similar construction machine harvesting manipulator type we have not identified.

Figure 1 shows a diagram of the machine harvesting manipulator type, side view; figure 2 is the same, the scheme of the mount arm, one end of the lifting drive-the transmission arm pivotally mounted on a rotary platform; figure 3 - the same, the scheme of the mount arm, one end of the drive of the lifting / lowering arm pivoted on the axis of mounting a flexible arm with a rotary platform.

Machine harvesting manipulator type includes a self-propelled chassis 1 on which is mounted a rotary platform 2. On a rotary platform 2 mounted operator compartment 3 compartment 4 with the engine and the hydraulic units and the arm 5 with its actuators 6 and 7, for example by hydraulic cylinders, and at the free end of which is mounted a working body 8 with its actuator 9, for example a hydraulic cylinder. The arm 5 is mounted on a rotary platform 2 by means of the device to compensate for the tipping point, including the movable bracket 10, one end of the base 11, hinged to swing the platform 2 with the possibility of rotation (inclination) about the axis 12 by means of the actuator 13, such as a hydraulic cylinder, one end of which is pivotally mounted on a rotary platform 2, the other end of the actuator 13 pivotally connected with the other end of the base 11 of the rolling bracket 10. The arm 5 pivotally, by means of axis 14, is connected to a movable bracket 10, above axis 12. The actuator 6 lifting / lowering of the arm 5 with one end pivotally connected to the arm 5, and the other end articulated with novovoronej platform 2 or with the axis 12 of rotation of the rolling bracket 10. Device for compensation of overturning moment is supplied by the limiter 15 of rotation of the rolling bracket 10, for example a rope, one end of which is connected to the base 11 of the rolling bracket 10 at the point of attachment of the actuator 13, and the other with a rotary platform 2.

Machine harvesting manipulator type operates as follows.

The operator controls the actuators 6, 7, 9, and a rotation mechanism (not shown), a rotary platform 2, changes the magnitude of the departure of the manipulator 5, directs the working body 8 on the subject of labour 16 (tree, whip, or an assortment), captures it, if necessary, cuts, moves to the desired location and stacks. When the arm 5 does not seem to load the maximum allowable load at its maximum reach (melamina wood, the frequency of afforestation reforestation, lack of drive in gripping-cutting device, and others), the operator of the actuator 13 rotates the movable bracket 10, as shown in figure 2 and figure 3 as solid lines. In this case, the departure of the manipulator 5 is increased by the amount Δ and the same level of shifting the point of application of the vertical load from the weight of the arm 5 and the weight of the object 16. When the arm 5 is loaded to the maximum load at its maximum reach, the operator sets on vignau bracket 10 in position, as shown in figure 1 and in dotted lines in figure 2 and figure 3, thus bringing the point of application of vertical forces to the axis of rotation of the rotary platform 2. To change the position of the movable bracket 10 is possible when working simultaneously with the change of the departure of the manipulator 5. In case of failure of the actuator 13, tilting the movable bracket 10 holds the stopper 15.

When attaching one end of the actuator 6 with the turntable 2 changes the shoulder of his actions, in the position as shown in figure 1 and in solid lines in figure 2, the leverage action of the actuator 6 will be smaller magnitude than in the position shown by the dotted line in figure 2. When attaching the actuator 6 on the axis 12, the shoulder of the force from the actuator 6 from the position of the movable bracket 10 is not changed. Thus, the operator changes the value of the tipping moment depending on the operating conditions of the manipulator, not exceeding the value of the magnitude of the stabilizing torque calculated when creating the machine. The limiter 15, the maximum value of Δ, acts as a damper.

Such constructive execution of machine harvesting manipulator type allows you to change the size of the balancing point, depending on the magnitude of the overturning moment, without overloading the machine load balancing, reduced dynamic loads, and eventually avishay efficiency of the machine.

1. Machine harvesting manipulator type, including self-propelled chassis with installed on it full-circle platform on which to mount the operator's cab, the engine, the hydraulic units, the pointing device and the device to compensate for the tipping point, characterized in that the device for compensation of the tipping point is made in the form of rolling bracket arm to swing the platform, while the base of the bracket with one end pivotally mounted on a rotary platform, and to the other end of the base pivotally attached to the tilt actuator movable bracket in the form of a cylinder and the other end of the actuator is pivotally mounted on a rotary platform, while above the hinge mount flexible arm to swing the platform is pivotally connected with him manipulator, the drive of the lifting-lowering which is in the form of a cylinder one end of which is hinged to the arm, and another end articulated with a rotary platform or movable bracket.

2. Machine according to claim 1, characterized in that the movable bracket is provided with a device for limiting its rotation, such as a rope, one end fixed base flexible arm at the point of attachment of the actuator, and the other with a rotary platform.



 

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

2 cl, 6 dwg, 1 tbl

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