Voronezh, Voronezh, Russian Federation
Voronezh, Voronezh, Russian Federation
Voronezh, Voronezh, Russian Federation
The main requirements for hydraulic equipment of forest transport machines of manipulator type are revealed. It is established that the main drawback of the used hydraulic drives of manipulators is their increased power and high energy consumption. The main ways of increasing the technical level of hydraulic manipulators of forest transport vehicles are considered. The constructive optimization and improvement of the hydraulic drive mechanism for lifting the boom and turning the column of the manipulator is justified. New designs with the use of hydro-mechanical dampers and energy-saving devices are proposed. As energy-saving devices, it is proposed to use a hydraulic accumulator. The main advantages of the design, which are to increase the reliability and expand the technological capabilities of hydraulic manipulators forest transport machines. The principles of influence on the hydraulic system that reduce the pressure in the piston group and reduce energy consumption are substantiated. The proposed energy-saving hydraulic drive reduces the maximum pressure during braking to 3 MPa. The recovery energy when the column is rotated is 25 % of the energy consumed. The diameter of the dampener's lockable cavities should be 48 mm with the internal diameter of the dampener 65 mm. Minimal changes in the design are achieved to increase the technical level of the hydraulic drive of manipulators of forest transport machines and its competitiveness among existing analogues.
hydraulic manipulator, damper, hydraulic actuator, boom, rotary column
ВВЕДЕНИЕ
В лесном производстве машины манипуляторного типа пользуются наибольшим спросом. К данным машинам предъявляются достаточно жесткие требования: по вылету гидроманипулятора, грузовому моменту, конечному углу поворота и моменту поворота колонны, максимальной высоте подъема груза, производительности [3, 5]. В зависимости от осваиваемой территории вводятся ограничения для машин манипуляторного типа по удельному давлению на грунт в целях сохранения подроста [4, 9].
1. Bartenev, I.M. Gidromanipulyatory i lesnoe tehnologicheskoe oborudovanie: monografiya / I. M. Bartenev i dr. / G46, - M.: FLINTA: Nauka, 2011. - 408 s.
2. Dolzhenko, S.V. Razrabotka metodiki eksperimental'nyh issledovaniy gidroprivoda mehanizma povorota lesnogo manipulyatora sortimentovoza/ S. V. Dolzhenko// Lesotehnicheskiy zhurnal. 2013. № 1. S. 127-137.
3. Morales D O, Westerberg S, La Hera P X, Mettin U, Freidovich L and Shiriaev A S 2014 Increasing the level of automation in the forestry logging process with crane trajectory planning and control (Journal of Field Robotics 31 (3)) P 343-363 DOI:https://doi.org/10.1002/rob.21496.
4. Mäkinen P, Dmitrochenko O, Mattila J 2018 Floating frame of reference formulation for a flexible manipulator with hydraulic actuation (Modelling and experimental validation) 2018 Symposium on Fluid Power and Motion Control, FPMC DOI:https://doi.org/10.1115/FPMC2018-8846.
5. Sushkov, S. I. Rezul'taty issledovaniya parametrov gruzopod'emnogo mehanizma gidravlicheskogo ekskavatora / S. I. Sushkov, V. N. Makeev, D. D. Pleshkov // Stroitel'nye i dorozhnye mashiny. - 2014. - № 2. - S. 47-52.
6. Palpacelli M C, Palmieri G, Callegri M 2012 Redundantly Actuated 2-Degrees-Of-Freedom Mini Pointing De¬vice (Journal of Mechanisms andRobotics.Vol 4.no.3)
7. Posmetyev V I, Bartenev I M, Malyukova M A, Malyukov S V 2019 Energy saving of hydraulicdrives of machines due to increase of effectiveness of hydraulic cylinders cuffs according to the results of simulation modeling (IOP Conference Series Materials Science and Engineering) P 483 DOI:https://doi.org/10.1088/1757-899X/483/1/012107.
8. Chetverikova, I.V. Povyshenie effektivnosti primeneniya avtolesovozov s gidromanipulyatorami pri kombinirovannom sposobe dostavki drevesiny v usloviyah Severo-Zapada RF/ I. V. Chetverikova, P. I. Popikov // Aktual'nye napravleniya nauchnyh issledovaniy XXI veka: teoriya i praktika. 2016. T. 4. № 5-4 (25-4). S. 173-178
9. Huako, Z.A. Teoreticheskoe obosnovanie effektivnEosti sovmescheniya dvizheniy treh zven'ev/ Z.A. Huako // Vestnik AGU. - Maykop, 2011. - № 3. - S. 24-29.
