RU1782465C - Logging and timber sorting machine - Google Patents

Description

1

(21) 4487294/15 (22) 10/26/08 (46) 12/23/92. Bull №47

(71) Altai Tractor Plant named after M.I. Kalinina

(72) Yu.I. Spirin

(56) USSR Copyright Certificate N ° 1281210, cl. A 01 G 23 / 08.1984

(54) FORESTRY MACHINE

(57) The invention relates to machines for clear-cutting and forestry logging followed by skidding. The machine comprises a basic unit 1 with a power unit, an operator’s cabin, and controls. . -tf.g MaMHKfoa.

laziness and gripping-cutting device 5 with its own propulsion devices associated with the base unit with cables 6 and power supply channels. New in the machine is the use of rotary platforms with folding two-link ladders 8 at the basic installation 1, the presence of a central processor that prevents overloading the power unit, equipping the gripping-cutting devices with 5 self-guidance systems, control units and adaptive suspension links for saw tires and gripping mechanisms with providing translational movement of saw

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FIELD OF THE INVENTION The invention relates to devices for continuous forest felling of trees with subsequent skidding and can be used in the forest industry. 1

The most widespread are forestry machines in the designs of which gripping and cutting devices with saw mills or rotary tires with saw chains and glueing machines for gripping mechanisms mounted on the arrows of manipulators or frames of basic machines (Baranovsky V.A., Nekrasov PM Systems are used) machines for logging. M: Forest Industry. 1977).,. ,,

A well-known forest logging facility including a basic installation with a power unit, a control cabin, one or WecKOflbKO gripping-cutting devices with propulsors connected to the basic installation by cables through a towing winch and control unit (Aut. St. No. 1281210, CL. ASH G 23/08, 1984) ,,. ,

A disadvantage of the known machine is the limited productivity and narrow technological capabilities due to the need for constant power communication of the gripping-cutting device with the turntable and the guiding roll by securing the tree with the manipulator, the need to rotate the platform at one technological step with increased requirements to the functional capabilities of the operator due to the difficulties of visual control of the work process due to the remoteness of the working body.

Lime is also a manipulator feller buncher, including a basic unit with an energy unit, a control cabin, a control unit and a gripping-cutting device associated with the basic unit with a hydraulic manipulator and power supply channels (WORKS TSNII-ME. Khimki. 1981).

The disadvantage of the machine is its low productivity and narrow technological capabilities due to the impossibility of moving along steep slopes and poorly bearing soils, the need to provide a directional felling by means of a tree urchin with a manipulator, and the need to move the basic unit to the technological step when felling each tree.

The purpose of the invention is the expansion of technological capabilities and increase productivity by improving the working conditions of the operator, independent

the exit of the gripping-cutting devices from the rotary platforms with their unloading by introducing an adaptive scheme and providing the directional tree cut with rationally directed movement of the saw bar ... The goal is achieved by the fact that the logging machine is equipped with the basic unit with an energy unit, a control cabin, one or several rotary platforms, each of which has control means and a gripping-cutting device & o with a propulsion unit, connected with the base unit The winch is pulled out and the control unit provides an independent exit for the cut-off devices By equipping the swing platforms with double-hinged ladders and automatic cutting: by following the cut tree by introducing two rows of fan-sensitive sensors into each control unit, and to provide a directional roll, each gripping mechanism and a saw bar with a longitudinal feed mechanism are mounted on a fork frame pivotally coupled to the propulsion.

Comparative analysis with the prototype allows us to conclude that the claimed logging system differs in that the rotary platforms are equipped with folding two-link ladders and for the withdrawal of gripping-cutting devices, and in the prototype the gripping-cutting device is constantly located on the platform. In addition, the control units are equipped with a fan-mounted photosensitive sensors, in contrast to the prototype, and the actuators are hinged relative to the engines and provide translational movement of the saw bar along the forks, while in the prototype the gripping mechanism does not tilt when moving the gripping-cutting device and the saw bar is rotatable.

An analysis of the known technical solutions in the studied area and adjacent areas shows that moving the gripping-cutting devices together with the base machine each subsequent cutting of the tree, holding the tree to provide directional felling, visual or location monitoring of the process do not provide high labor productivity and reduce technological capabilities : the claimed solution eliminated these shortcomings by increasing mobility, reducing energy costs and improving the working conditions of the operator

Remote-controlled aircraft contain homing means with automatic target tracking units, the angle reading units of which have gyroscopic devices that generate control signals via onboard computers, the complexity of their design is obvious in the claimed solution, since there is a need to maintain only the directional direction of movement, the block control includes two rows of fan-mounted photodiodes

Figure 1 shows the proposed forestry machine in a transport position; on Fit 2 - a side view of the turntable with a gripping-cutting device installed on it; Fig. 3 - arrangement of photosensitive sensors; Fig. 4 - gripping-cutting device; in Fig. 5 is a top view of the gripping-cutting device shown in Fig. 4; in Fig. b - 8 - the position of the gripping-cutting device when felling the tree across and along the slope, as well as during skidding, in Fig. 9 - diagram of the remote control; Fig. 10 is a layout of a control station; Fig 11 is a control diagram

The harvesting machine includes a basic unit 1 with a control cabin 2, an energy unit 3 of rotary platforms 4 with gripping-cutting devices (ZSU) 5 and control means connected to the basic unit 1 with cables 6 by means of pulling winches 7 Each rotary platform 4 contains a folding two-link a ladder 8 in the hinges 9 of which the drives for changing the relative position of the links are integrated

Each ZSU 5 has its own propulsion device, the track rollers 10 of which are rigidly connected by the axes of rolling with the housing 11. In the housing 11 are a hydraulic pump 12, a gear 13, an electric motor 14, a valve box 15, a camera 16, in the rear focal plane 17 of the lens which photodiodes 18 are placed associated with the control unit 19, the hydraulic motors of the onboard drives 20 of the driving wheels 21 are connected by friction forces with rubber tracks reinforced with steel cables 22 In front of the housing 11, on the central axis of the swing, there is a beam 23 connected to the housing so e tilt cylinder 24, and a sensor-emphasis

The beam 23 is pivotally coupled to a double spigot 25, each hinge of which contains a drive 26 serving as an adaptive

the link for the orientation of the forked frame 27 and the associated saw bar 28 and the gripping mechanism 29 The saw bar 29 contains a hydraulic drive chain 30 and moves along the fork frame 27 using gear 31 screw-nut, using drives 32 On the fork frame 27 mounted two adjustable probes 34, which are sensors of the height of the plane of the mouth;

0 Control cabin 2 comprises a remote control (RC) 35 having a radio control transmitter associated with. direction keys 36 and position adjusters of the hinges of the two-link 25 and the television receiver electrically connected to the visual information display screens 37, quantitatively equal to the number of ZSU 5, under which, in the area of the motor field of the operator, there are direction keys 36 and operation switches 38, as well as the master 39, geometrically similar to the two-link 25

The photodiodes 18 of the control panel 19 are arranged in a fan so that under transverse vibrations of the ZSU under typical operating conditions they do not intersect the vertical axis of the directional direction of movement, each of which is connected through

0 controls 40, which is a homing system, loborto with mechanisms 41 drives 20 through comparators 42, power amplifiers 44 and valves OR 45 Moreover, photodiodes 18

5 are connected to the comparator 42 in parallel. The workflow control system (SURP) of the ZSU contains a block of a software device 46 (included in the operation by a stop sensor 47 on the swing axis of the beam 23)

0 off control means 40 connected to the actuators 26 of the lower and middle hinges of the two-link 25 by means of parallel-connected probe probes 34 a with the actuator 26 of the upper hinge and

5 by a valve 48 of the tilt cylinder 24 - by means of valves OR 45 through sensors of the longitudinal 49 and transverse 50 position of the forked frame 27

Sensors 49 and 50 are also associated with a valve.

0 mi AND 51 through valve OR 45 with servo 52 gripping mechanism

29with a capture sensor 53 generating feedback commands and servo mechanisms 54 and 55 acting on the drive

5 saw bus 28 with communication via drives

30 and 32 associated with sensor 56

The remote control system (CDS) contains the BPP 57, consisting of a receiver of the radio control system and a television transmitter BPP associated with the camera 16 s

by servomechanisms 41 valves 45 and with actuators 26 of the lower and middle hinges.

Forestry machine operates as follows.

Direct aiming of the ZSU 5 to the tree is carried out visually from the control cabin 2 and is verified by telemetric data by turning the platform 4, after which the ladder 8 is lowered, along which the ZSU 5 moves to the ground and the control unit is activated, which identifies the object by the degree of brightness, therefore in selective felling, the tree is marked with a marker in the form of a brightly colored object. Causing ZSU on the ground to subsequent trees is made by changing the angular velocity of rotation of the onboard hydraulic motors 20.

The linear motion of the ZSU 5 is provided by the control unit 19 by maintaining the same angular speed of rotation of the drive wheels 21. The control unit 19 also corrects the direction of movement when a mismatch signal is received from the photodiodes 18 with a delay eliminating the influence of random obstacles. The mismatch signal occurs in case of different illumination the right and left rows of the photodiodes 18, the left row generating commands for decreasing the revolutions of the left drive wheel 21, and the right row for decreasing the revolutions of the right.

After touching the tree with the stop sensor on the swing axis of the beam 23, the means 40 is turned off and the software of the control unit 19 is turned on. The actuators 26 of the two-link 25 are activated, the fork frame 27 is moved to the front horizontal position, provided by two mutually perpendicular mercury switches, and the longitudinal connection with the drive of the relative position of the frame 27 and the upper link of the two-link 25, and the transverse with the tilt cylinder 24,

The lowering of the frame 27 occurs until one of the probes 34 is touched, then the gripping mechanism 29 is turned on, finally orientating the ZSU 5 with respect to the tree, then the drives 30 and 32 are turned on. Moving the translational saw bar 28 m provides a fall from itself. The fall energy of the tree is blocked by the link 25 due to the floating mode of operation of the drives 26.

At any stage of the working process of the ZSU 5, it is possible to control the intervention of the operator in the operation of the block 19 using the controls on the TV channel.

The gripping mechanism 29 after the tree fell holds it, the saw bar 28

is returned to its original position, the winch 7 is turned on, and ZSU 5 is moved to the base unit 1, skidding the tree for subsequent processing

at the end of the skidding, the gripping mechanism 29 releases the tree and, together with the frame 27, returns to its original position.

The control means 40, when a mismatch signal occurs on the photodiodes 18, converts it on the comparator 42 into a high-level signal and amplifies it to a working signal in the power amplifier 44, after which it is directed through the valve 45, which is connected to the BPP 57, to the servo mechanism 41 of the onboard hydraulic motor 20.

The SURP is put into operation by an emphasis sensor 47, which includes power to the software device 46, which generates commands for the sensors of the probes 34. With a time interval, the software device 46 provides a voltage in the sensor circuit for the longitudinal position 49 and transverse position 50, which act respectively on the actuator 26 and valve 48

5 of the tilt cylinder 24, and the signals are fed to the valve And 51, whence, when combined, to the servo 52, and after the pickup sensor 53 is activated, which forms the servo shutdown command

0 from gate AND 51, through gate OR 45, for servo mechanisms 54 and 55 Sensor 56 generates a command to retract the saw bar back.

CDS, providing reception of commands from the RC

5 and transmitting television signals, gives commands to the servo drives 26 of the lower and middle hinges of the two-link 25, through valves OR 45 - to the servo drive 26 of the upper hinge, valve 48 and through valve AND 51 to the rest

0 actuators.

The remote control provides the formation of control commands, their transmission and reception of feedback signals with their conversion to a television image.

5 When a directional key 36 is acted upon, one of the signals (right or left) is turned on, converted by the BPP transmitter 35 into a radio signal received by the PDU 57.

0 If necessary, manual control selects the communication channel by the switch 38 and generates command signals by changing the relative position of the links of the master body 39, each

5 of the sensors of which are connected to the BPP 39 radio transmitter.

Claims (1)

SUMMARY OF THE INVENTION Forestry machine comprising a basic unit with a power unit, a control cabin, one or not how many rotary platforms, each of which has control means and a gripping-cutting device with a mover, connected to the basic installation by ropes through a pull winch, and a control unit, characterized in that, in order to expand technological capabilities and increase productivity, each swing platform is equipped with a folding two-link ladder 0 to exit the gripping-cutting device, the gripping mechanism and the saw bar of which are mounted on a fork frame pivotally connected to the drive unit and having a longitudinal feed of the saw tire, and the control unit is equipped with two rows of photosensitive sensors arranged to fan to control the rotation of the gripper-cutting device to the left or right Fie. 1 Fig.Z JJ 75 12 30 33 J / /4 FieL 27 2 29 Fie. 5 w / w 6 bp 7  . ftJtasoSoii ycwawfae Figz LootZJ I1 Lj / r C3 about f-m "L rfb .; rs jCTj LU 37 L f-m-i I about u Xx .