RU123389U1 - STEPPING MANIPULATOR FOR THE RECOGNITION OF SWAMPES - Google Patents

Abstract

A walking manipulator for bog reclamation, comprising a body, a power plant located on it with a cab, in which the driver's chair and control of the executive working bodies are located; front and rear rollers mounted on the body, connected movably by means of front closed and rear rectilinear guides with two parallel side and central pontoons installed in parallel, connected by a drive of their alternating movement; a lug pivotally connected to the side pontoons in their front part and installed with the possibility of its lifting and lowering by two hydraulic cylinders; a transverse beam rigidly connecting the side pontoons to each other in their rear part; removable pontoons-extenders, fixed on the outer sides of the side pontoons; a removable cutter-cultivator, attached to the body at its rear with hinges and two hydraulic cylinders; as well as the hydraulic drive of the working body, including the pressure head and drain pipelines and a pump driven from the power take-off shaft of the power plant, characterized in that a removable crane manipulator (CMU) with a replaceable hook and a grab bucket with a rotator is mounted on its body between the cabin and the crossbeam, pivotally mounted at the end of the telescopic boom of the KMU; moreover, the driver's chair is installed with the ability to rotate in a horizontal plane at an angle of 180 °, the pump is made adjustable, and quick-disconnect connections are installed on the pressure head and drain pipelines of the pump.

Description

The utility model relates to cross-country vehicles and earthmoving machinery and can be used in highly walkable walking swamp propellers designed for earthmoving and lifting work in dry marshes and for the restoration of marshy soil in the peat industry, land reclamation, agriculture and forestry, and , in particular, in the oil and gas industry to eliminate oil pollution:

- by excavating with a grab bucket the upper oil-contaminated layer of swampy soil and loading it into a highly passable vehicle for delivery from an undried bog to dry land in order to dispose of contaminated soil;

- by digging trenches and performing embankments with a grab bucket in order to localize oil pollution.

At present, the problem of reclamation of oil pollution in difficult impassable undrained bogs by excavating the upper layer of oiled swampy soil and loading it into a highly passable vehicle for delivery from the swamp to dry land for subsequent disposal has not been solved.

The problem of the localization of oil pollution on impassable swampy soils, which should be carried out by digging trenches and performing embankments with an earth-moving working body, has not been solved.

Also, the problem of carrying out lifting and installation work on undrained swamps without supporting the machine body on a solid foundation has not been solved.

In addition, under the indicated conditions, on weakly bearing soils, the task of carrying out lifting and installation work in the area of the front part of the machine (outside the working area of the boom in the rear of the crane) has not been solved.

Known walking crane with high cross-country capacity, designed to perform lifting operations on an undrained swamp (AS No. 1639105 USSR, MKI ³ E02F 9/06 // 01.12.90, For official use).

The working equipment of such a crane is made in the form of a single-link lifting boom, which is mounted on the machine body in its rear part. Lateral pontoons of the crane are interconnected only in the front (nose) part. Each of them is made of two pontoons pivotally connected, external and internal. The inner pontoon is equipped with a stop and is connected to the alternating movement drive with a central pontoon. The outer pontoon is rotatable in a vertical plane by means of hydraulic cylinders. The boom of the crane has the ability to work in the rear of the machine and in the area of rotation in the horizontal plane to the maximum possible angle of 180 ° (90 ° to the right and 90 ° to the left of the longitudinal axis of symmetry). When the crane is operating, the external pontoons are lowered by hydraulic cylinders until they rest on a hard bottom.

The disadvantages of a walking crane include:

1) the complexity of the support mechanism due to the complex design of the side pontoons, each of which consists of an internal pontoon equipped with a stop and an external pontoon, on which is mounted a hydraulic actuator for its rotation in a vertical plane;

2) the low strength of the support mechanism due to the deformation of the side pontoons in the rear due to the lack of a rear transverse beam for rigid connection of the side pontoons with each other;

3) the inability to carry out lifting and installation work in front of the crane due to the relatively small angle of rotation of the boom in the horizontal plane (90 ° to the right and 90 ° to the left of the longitudinal axis of symmetry), which is due to the limited stroke of the swing cylinder and other design features of the swing mechanism ;

4) the limited use of the machine by technological capabilities only for lifting operations due to the installation of only one working body in the form of a hook on the boom and the impossibility of installing other working bodies on it, for design reasons, for example, earth moving;

5) the limited use of the machine according to operating conditions by the depth of the swamp, which depends on the immersion depth of the external pontoons before they rest on a solid underlying bottom. When the depth of the swamp is greater than the immersion depth of the outer pontoons before resting on a hard bottom, the machine loses its stability and patency, since its support mechanism is designed to work with the support of the outer pontoons on a solid base.

A well-known walking machine containing a housing movably connected by means of rollers and rails with parallel mounted central and two side pontoons connected to a drive of their alternate movement, and on the machine body mounted working equipment of a single-bucket excavator equipped with a backhoe bucket, and on each side pontoon has a removable pontoon extender attached to its outer side side (utility model patent No. 30701, IPC ⁷ B62D 57/02, B.I. No. 19, 2003).

The disadvantage of a walkable walking machine is that it uses a “backhoe” bucket, when digging which a significant horizontal force arises from the cutting force of the soil. Its value, depending on the size group of excavator equipment, is 30-100 kN. For example, for excavators of the second size group, the maximum cutting force is from 35 to 56 kN (Appendix 1). The indicated horizontal force is transmitted to the machine body and shifts it from its position. When carrying out excavation work with a “backhoe” bucket in an undrained swamp, the bucket does not move relative to the machine body, but rather, the machine slides along the soil surface towards the bucket, which reduces its stability and the quality of earthwork.

Another disadvantage of the walking machine, equipped with excavator equipment with a backhoe bucket, is its relatively large mass. So, for excavators of the second size group equipped with a “backhoe” bucket, the weight of mounted excavator equipment is from 1700 to 2000 kg (see Appendix 1).

The disadvantage of the walking machine is also the limited use of it in technological capabilities only in excavation work due to the inability to install, on the boom, except for the backhoe bucket, any other working body, for example, a lifting hook. The working equipment of a single-bucket excavator is not designed and not intended for use in lifting operations with vertical directions of action of loads.

The closest technical solution to the claimed object is a walking swamp for the restoration of oil-lubricated swampy soils, containing a housing; the power plant located on it with a cabin, inside which a hydraulic control is installed by the executive working bodies, and the driver’s chair is rigidly attached to the floor; front and rear rollers mounted on the casing, movably connected by means of front closed guides and rear straight guides with two side and central pontoons installed in parallel, connected by a drive for their alternate movement; front lug articulated to side pontoons in their front part; a transverse beam rigidly connecting the side supports at their rear; removable pontoons-expanders mounted on the outer sides of the side pontoons; a removable recuperator cutter attached to the housing at its rear with hinges and two hydraulic cylinders; as well as a hydraulic drive of the working body, including pressure and drain pipelines not equipped with quick couplings, and an unregulated pump driven by a power take-off shaft of the power plant (utility model patent No. 48920, IPC ⁷ В62D 57/02, B.I. No. 31, 2005).

The considered design is devoid of a number of disadvantages noted above in the designs of analogues. However, a significant drawback of walking swamps for reclamation of oil-lubricated swampy soils is the limited use of it in technological capabilities only for milling the upper contaminated layer of swampy soil due to the possibility of installing only one working body in its frame in the form of a recuperator cutter.

Walking swamp has neither an earth moving tool nor a lifting device and is not able to perform such work on undrained swamps as:

- excavation of the upper layer of oiled swampy soil and loading it into a highly passable vehicle for delivery from the swamp to the dry land to the place of storage and disposal;

- digging trenches and performing embankments of oil pollution in order to localize them;

- lifting and lowering of various loads, and installation of various equipment.

The utility model is based on the task of expanding the technological capabilities of a walking machine, including the reclamation of undrained bog soils. These tasks, in addition to the continuous milling of the soil and its mixing with a recuperator, include the following:

- excavation work to remove the upper oil-contaminated layer of swamp soil and load it into a vehicle for delivery to the disposal site;

- various lifting and installation works;

- excavation of digging trenches in undrained swamps, in particular, digging of embankments around oil pollution to localize them.

This goal is achieved by the fact that the walking manipulator for the reclamation of swamps containing a housing; the power plant located on it with a cabin in which the driver’s chair and the management of the executive working bodies are located; front and rear rollers mounted on the casing, movably connected by means of front closed and rear straight guides with two side and central pontoons installed in parallel, connected by a drive for their alternate movement; a lug pivotally connected to the side pontoons in their front part and installed with the possibility of its raising and lowering by two hydraulic cylinders; a transverse beam rigidly connecting the side pontoons at their rear; removable pontoons-expanders mounted on the outer sides of the side pontoons; a removable recuperator cutter attached to the housing at its rear with hinges and two hydraulic cylinders; as well as a hydraulic drive of the working body, including pressure and drain pipelines and a pump driven by the power take-off shaft of the power plant; on its body, between the cabin and the transverse beam, a removable crane manipulator (CMU) with a removable hook and a clamshell bucket with a rotator pivotally mounted at the end of the CMU telescopic boom is mounted; moreover, the driver’s chair is installed with the possibility of rotation in a horizontal plane at an angle of 180 °, the pump is adjustable, and quick-disconnect connections are installed on the pressure and drain pipelines of the pump station.

The use of the CMU in the design of a walking manipulator for reclamation of swamps has expanded the technological capabilities of the machine.

The walking manipulator for reclamation of swamps, in addition to continuous milling of soil with a removable mill-reclamator, has the ability to use the following CMU to perform the following types of work on undrained swamps:

- lifting and installation works, including installation and dismantling of various technological equipment;

- Excavation work to remove the upper layer of swampy soil and load it into a vehicle for delivery to the disposal site;

- excavation work, in particular, digging trenches and carrying out landings with a grab bucket around oil pollution in order to localize them;

- Excavation work with a grab bucket to remove the upper oil-contaminated layer of swampy soil and load it into a highly walkable vehicle for delivery from an undried bog to dry land for the purpose of storage and disposal of soil.

The utility model is illustrated by the following drawings, where:

figure 1-walking manipulator for reclamation of swamps in the transport position; side view (left). The dashed-dotted line shows the working positions of the mill-recultivator, crane manipulator (CMU) and loader;

figure 2 is a view of figure 1; walking manipulator for reclamation of swamps in transport position; plan view;

figure 3 is a variant of the transport position of the walking manipulator for the restoration of swamps; side view;

figure 4 is a variant of the transport position of the CMU on a walking manipulator for reclamation of swamps;

figure 5 - dismantling of the mill-reclamator using CMU;

figure 6 - installation of pontoons-expanders using CMU;

figure 7 - dismantling (installation) of the lug with the help of the CMU;

on Fig - installation of a bucket with a rotator. The CMC is installed in the position corresponding to the maximum digging radius Rmax (maximum reach of the boom). The jaws of the bucket are open. The dashed-dotted line shows the position of the CMU at the time of installation of the bucket with the rotator.

figure 9 - removal of the upper layer of oil-contaminated soil to a depth of "h"; the bucket is rotated along the direction of movement of the machine using a rotator. The dashed-dotted line shows the position of the CMU with a minimum digging radius at the parking level.

figure 10 is the same; the bucket using a rotator is turned across the direction of movement of the machine;

11 - digging a trench or performing an embankment to localize oil pollution in the swamp.

A walking manipulator for reclamation of swamps consists of a housing 1, on which a power plant 2 and a cabin 3 are mounted (Figs. 1, 2). In the cab 3, the driver’s chair 4 is installed with the possibility of its rotation in a horizontal plane at an angle of 180 ° and hydraulic control 5 of the working bodies. On the housing 1, in addition, front and rear rollers 6 and 7 are installed, which are movably connected with the help of front closed guides 8 and rear straight guides 9 with parallel-mounted central 10 and dual side pontoons 11 connected by a drive of their alternate movement 12. Front and the rear guides 8, 9 are fixed on the central and side pontoons 10, 11, respectively, in their front and rear parts. The drive 12 to the central pontoon 10 is offset relative to the drive to the side pontoons 11 by an angle of 180 °. The lateral pontoons 11 in the front part are pivotally connected to each other by means of a lug 13, which is installed with the possibility of its raising and lowering in a vertical plane using two hydraulic cylinders. In the rear part, the side pontoons 11 are rigidly connected to each other by means of a transverse beam 14. To the outside of each side pontoon 11, a removable pontoon-expander 13 is rigidly attached. A hinged cutter is pivotally connected to the housing 1 in its rear part by two hydraulic cylinders 16 recultivator 17. A pump 18 with pressure and drain pipelines is attached to the power plant 2 at its rear. SOS 18 with pressure and drain pipelines. The pump 18 is installed with the possibility of its rotation from the power take-off shaft (PTO) of the power plant 2 and is made adjustable, for example, by manually moving the regulator rod with a screw using a flywheel. On the pressure and drain pipelines of the pump 18 are installed quick disconnect connections (BRS). A removable crane manipulator unit (CMU) 19 is mounted on the housing 1 in its rear part. It consists of a vertical rotary column 20, which is located behind the cab 3, in front of the transverse beam 14, and its lower part is flanged to the housing 1. Into the rotary column 20, in its lower part, a hydraulic rotation mechanism 21 is mounted, the stroke length of the hydraulic cylinder of which ensures rotation of the column by at least 360 ° in each direction. From above, a boom 23 is pivotally attached to the pivoting column 20 by means of a hydraulic cylinder 22, and an auxiliary boom 25 is pivotally attached to it using a hydraulic cylinder 24. A telescopic boom 26 is mounted inside the boom 25, which is mounted with the possibility of its reciprocating movement relative to the boom 25 using the hydraulic cylinder 27. At the end of the telescopic boom 26, the rotator 28 is pivotally suspended, the lower part of which is rigidly connected to the two-jaw digging grab bucket 29. In front of the power plant 2 on the housing 1, the support 30 of the bucket 29 is installed. The boom 26 of the KMU 19 is equipped with a lifting hook 31, which is mounted instead of the bucket 29 when performing lifting operations.

Arrows 23, 25 and 27 of the CMU 19 in the transport position of the machine are preferably located in the front position (see figure 1), and the bucket 29 is mounted on the support 30.

To ensure the operation of the KMU 19, the pressure and drain pipelines are disconnected from the hydraulic system of the cutter-recuperator 17 from the hydraulic system and connected to the hydraulic system of the KMU 19, and the pump 18 is adjusted to the required nominal flow rate, for example, manually, by moving the regulator rod with a screw using the handwheel.

Walking manipulator for the restoration of swamps works as follows.

In the transport position, the chair 4 of the cab 3 is turned in a horizontal plane forward in the forward direction of the machine, the lug 13 and the recuperator 17 using hydraulic control 5 are lifted relative to the soil surface (see figure 1). The lug 13 in the process of walking holds the side pontoons 11 in front of each other and, in addition, performs the function of a bumper. Two hydraulic cylinders 16 hold the mill-recuperator 17 from lowering, and the transverse beam 14 holds the side pontoons 11 in their rear part from moving relative to each other. The rotary column 20 of the KMU 19 is transferred to the transport position when the pump 18 is turned on from the PTO of the power unit 2 using the hydraulic control 5. The rotation mechanism 21 turns the arrows 23, 25 and 27 forward along the forward movement of the machine. In this case, the hydraulic cylinders 22, 24 and 27 provide the installation of the bucket 29 on the rack 30, and the rotator 28 provides the position of the bucket 29 along the direction of movement of the machine.

One of the options for the transport position of the CMU 19 is its compact installation in the folded position in the rear of the machine behind its cab 3 (Fig.3, 4). In this case, the lug 13 and the mill-recuperator 17 are raised upward relative to the soil surface, and the bucket 29 is disconnected from the boom 26 and mounted on the stand 30.

When the machine is driven by the drive 12 from the power unit 2, the leading front rollers 6 of the housing 1 rotate, which move in the front guides 8 of the pontoons 10, 11 and move them one by one. In this case, the rear rollers 7 of the housing 1 move along the rear guides 9 of the pontoons 10, 11, making reciprocal movements in the guides 9.

The operating positions of the cutter-recultivator 17, KMU 19 and the lug 13 correspond to such positions "A", "B" and "C" (see Fig. 1), in which the cutter-reclamator 17 and lug 13 are buried in the ground to the required depth, the chair 4 of the cabin 3 is turned in the horizontal plane at an angle of 180 ° backward, and the bucket 29 with the help of arrows 23, 25, 27 and their hydraulic cylinders 22, 24 and 27 is removed from the strut 30, and using the rotation mechanism 21 is moved to the rear position.

When the machine is operated using CMU 19 for lifting work, instead of the bucket 29, a load hook 31 is hung on the end of the boom 26 (Fig. 5). Using the hook 31, various lifting and installation work is performed on the maintenance of the machine, for example, the dismantling of the cutter-recultivator 17 (see Fig. 5), the installation of pontoons-expanders 15 or the installation of the lug 13.

Installation of the cutter-recuperator 17 is carried out before the walking manipulator leaves the swamp using the lifting hook 31. Using the hydraulic control 5, the driver of the walking manipulator from the cab 3 turns the CMU 19 on the rotary column 20 by the turning mechanism 21 to the rear of the machine to the location of the cutter-recuperator 17 ( see figure 5). In this case, the driver’s chair 4 is also rotated backward in a horizontal plane. Then, changing the position of the arrows 23, 25 and 26 using the hydraulic cylinders 22, 24 and 27, set the lifting hook 31 exactly above the installation site of the cutter-recuperator 17. Installation of the cutter-recuperator 17 is made using wire ropes.

Installation of the pontoons-expanders 15 to the side pontoons 11 of the walking manipulator is carried out before it leaves for an undrained swamp in order to increase the patency and stability of the machine. Using hydraulic control 5, the driver of the walking manipulator from the cab 3 turns the CMU 19 on the rotary column 20 by the rotation mechanism 21 to the location of the pontoons-expanders 15 (Fig.6). Then, changing the position of the arrows 23, 25 and 26 with the help of hydraulic cylinders 22, 24 and 27, the driver installs a lifting hook 31 above the installation site of the pontoons-extenders 15. Installation of the pontoons-extenders 15 is carried out using wire ropes.

Dismantling (installation) of the lug 13 is carried out, for example, for the purpose of repair or assembly. To dismantle (install) the lug 13 using hydraulic control 5, the driver of the walking manipulator from the cab 3 turns the CMU 19 on the rotary column 20 by the rotation mechanism 21 to the front of the machine (Fig. 7). In this case, the driver’s chair 4 is also turned forward. Then, changing the position of the arrows 23, 25 and 26 using the hydraulic cylinders 22, 24 and 27, the driver sets the lifting hook 31 above the installation site of the lug 13. Dismantling (installation) of the lug 13 is carried out using steel wire rods, with which the lug 13 is disconnected from pontoons 11 or, conversely, connected to them.

When the walking arm for reclamation of swamps in combination with other machines is used, hook 31 KMU 19 disassembles interchangeable working equipment on other units of the complex, for example, dismantling a pump installed on an all-terrain chassis for pumping oil, a body for transporting oil-contaminated soil and other equipment.

For mounting the bucket 29 with rotator 28 (Fig. 8) on the boom 26 using hydraulic control 5, the driver of the walking manipulator from the cab 3 turns on the turning column 20 the turning mechanism 21 of the KMU 19 in the front of the machine to the rack 30. In this case, the driver’s chair 4 is turned forward in the forward direction. Then, changing the position of the arrows 23, 25 and 26 using the hydraulic cylinders 22, 24 and 27, the driver sets the end of the boom 26 next to the rotator 28. A lifting hook 31 is disconnected from the boom 26. After the boom 26 is pivotally connected to the rotator 28 and the equipment piping is connected using quick-detachable connections (BRS) they release the bucket 29 from the rack 30. Then, the bucket 29 with the rotator 28 using the rotation mechanism 21 and hydraulic cylinders 22, 23, 27 are transferred to the rear working position corresponding to the maximum digging radius Rmax or the maximum the boom when working with a lifting hook 31. In this case, the driver’s chair 4 is turned in a horizontal plane backwards in the reverse direction of the walking manipulator.

During the operation of the walking manipulator, when removing the upper layer of oil-contaminated soil to a depth of "h" corresponding to the depth of oil pollution of swampy soil, the CMU 19 is set to the working position using hydraulic control 5 (see Fig. 8), and the bucket 29 is rotated by rotator 28 into position either along the direction of movement of the machine (figure 9), or across it (figure 10). Ladle 29 loads the contaminated soil into the body of a highly passable self-propelled vehicle with the aim of delivering it from the swamp to the dry land to the place of storage and disposal. In order to increase the stability of the machine in a swampy swamp, the soil is excavated in a position in which the soles of the central and side pontoons 10, 11 are on the ground in the same plane (on the same level). At the same time, in the longitudinal direction, the central and side pontoons 10, 11 are separated from each other by the size of the step of the support "a", determined by the double length of the front guide "b" (see Fig.9, 10).

To remove the soil at the maximum reach of the boom KMU 19 at the parking level, the arrows 25 and 26 from the position of the maximum reach Rmax (see Fig. 8) with the bucket 29 open, lower it into the ground to a depth of “h” by compressing the hydraulic cylinder 24. To remove of soil at the minimum reach of the boom KMU 19 at the parking level, the boom 26 is pulled into the boom 25 by compressing the hydraulic cylinder 27, and the boom 25 is turned towards the machine (pressed to the boom 23) by compressing the hydraulic cylinder 24 with the bucket 29 open. Then the boom 26 is pulled out from arrow 25 by astyazheniya hydraulic cylinder 27, the bucket 29 is lowered down into the soil to a depth «h».

The parameters of the boom CMU 19 are selected in such a way that the maximum length of the soil layer L ₁ , removed by a bucket 29 with its longitudinal location in one installation of a walking manipulator, which depends on the maximum length of the boom Rmax (see Fig. 8), preferably, should not be less the step length “a” of the pontoon 10 or 11, that is: L ₁ ≥а, and with the transverse location of the bucket 29 between the maximum length of the soil layer L ₂ , removed by the bucket 29 in one machine installation and the step length of the pontoon 10 or 11, the preferred dependence: L ₂ ≥a (see Figs. 9, 10). Since L _{2 is} always less than L ₁ , when choosing the boom length Rmax in the general case, the dependence L ₂ ≥а is preferable.

When removing contaminated soil from the surface of the swamp in one parking lot for the entire length of the layer L ₁ or L _{2, the} manipulator is moved forward by the value of step “a” and the cycle of work on excavating the soil is repeated.

Digging trenches to a depth of Hmax and performing embankments are carried out by a bucket 29 during alternate or combined operation of hydraulic cylinders 22, 24 and 27 (Fig. 11). When extending or retracting their rods, the positions of the arrows 23, 25 and 26 in space in the vertical plane change. Changing the position of the arrows 23, 25 and 26 of the KMU 19 in the horizontal plane is carried out by the rotation mechanism 21. Using the rotator 28, the position of the bucket 29 is directly changed in the horizontal plane. When this bucket 29 is rotated relative to the vertical axis of the rotator 28.

The installation of a removable CMU with a removable hook and a grab bucket with a rotator on a walking mover allowed the walking manipulator to expand the technological capabilities of the machine and, in addition to continuous milling of the soil, provide the ability to carry out earthmoving and lifting operations in dry marshes, as well as to carry out the restoration of oil-contaminated bog soils by excavation top contaminated layer of swamp soil and its loading in a highly passable vehicle for delivery from undrained soil lots for dry land for the purpose of storing and disposing of contaminated soil, as well as by digging trenches and performing embankments with a grab bucket in order to localize oil pollution.

Among the works that expand the technological capabilities of using the CMC on a walking manipulator when using a clamshell bucket, among other things, also include the following types of work:

- deepening and cleaning the bottom of reservoirs, ponds and small rivers;

- an excerpt of the main and field pipelines in the swamps for the purpose of their repair;

- digging wells, etc.

Among the works that expand the technological capabilities of using the CMC on a walking mover when using a lifting hook, in addition to lifting operations with various loads, the following types of work also apply:

- installation of all components and technological equipment directly of the walking manipulator itself, with which it is equipped, both behind it and in front, due to the use of the CMU with a boom rotation mechanism of at least 360 ° both in one direction and in the other direction;

- installation of technological equipment of other machines that can work in conjunction with a walking manipulator.

The use of the clamshell bucket on the CMU during excavation of soil, unlike, for example, the “backhoe” bucket, allowed to reduce the weight of excavator equipment by about 3 times. So, the mass of mounted excavation equipment for excavators of the second size group with a “backhoe” bucket with a capacity of 0.25 m ³ and a boom length at Rmax from 5.0 to 5.6 m is from 1700 to 2000 kg (see Appendix 1), while the mass of the CMU with a bucket of 0.25 m ³ at Rmax = 5.3 m was 650 kg.

The use of the clamshell bucket allowed the walking manipulator to perform excavation work on undrained swamps, regardless of their depth and without the use of special anchor devices to support the machine on a solid foundation (swamp bottom) to keep it on the soil surface from horizontal displacement, since when digging the soil with a clamshell bucket, horizontal forces arise that are transmitted to the machine body.

The use of a rotating chair in the cab of a walking manipulator with the possibility of its rotation in a horizontal plane at an angle of 180 ° has improved the working conditions of the driver when working with CMU when performing both lifting and excavation work.

The use of an adjustable pump allowed the walking manipulator, when using one pump station and one of its drives, to alternately provide work with two replaceable working bodies: with a mill for soil remediation, the hydraulic system of which, for example, requires a flow rate of 100 l / min. and with CMU, the flow rate of the working fluid for which is 25 l / min.

The use of BRS in the hydraulic system of a walking manipulator when replacing its working bodies (recuperator mill with a CMU and, conversely, a CMU with a recuperator mill) ensured a quick, and without loss of working fluid, connection of the pressure and drain pipelines of the pump to the corresponding pipelines of the corresponding working body.

Currently, Tverskoye Experimental-Mechanical Plant CJSC (TEMZ CJSC) based on the BShM walking swamp (walking small swamp) has developed a working design of the walking manipulator for the reclamation of MSM swamps (small walking switcher). In the 3rd quarter of 2012, according to the drawings of the authors of the application for a utility model, it is planned to manufacture a pilot-industrial model of the MSM machine, the production tests of which will be carried out in Western Siberia on the undried bogs of the Samotlor oil and gas field in combination with a highly passable transport machine.

Annex 1.

Analysis of the characteristics of excavator equipment with a “backhoe” bucket when using it on a walking swamp.

Consider excavator equipment using the example of excavators of the second size group equipped with a backhoe bucket.

Technical characteristics of such equipment are presented in table 1.

Technical characteristics of mounted excavation equipment for excavators of the second size group with a backhoe bucket.

Table No pp The model of car Manufacturer Base tractor Attachment Options equipment Note one ЭО2626 (backhoe loader. OOO Ural Excavator MTZ-82.1; MTZ-82P Max. digging radius R _max = 5.3 m; geometrical bucket capacity 0.25 m ³ ; weight of attachments. 1650 kg. Chelyabinsk. 2 EO2626 Excavation Equipment Plant MTZ-82.1 Geometric capacity
bucket 0.25 m ³ ; R _max = 5.3 m; weight of attachments. 1650 kg. OOO Trading House Belarus. 3 EO2621 (bulldoz excavator. SAREX Plant MTZ-82.1 All characteristics are identical to equipment EO2626 Saransk four EO2101 (excavator - OJSC "Mikhnevsky RMZ" MTZ-82.1 Nominee bucket capacity 0.28 m ³ ; R _max = 5.5 m; Pos. Mikhnevo of Moscow

loader "Inter-Don") Max. cutting force 3910 kg; weight of attachments. 1650 kg. area. 5 E-11 Dorsnab Excavator Plant MTZ-82.1; MTZ-920 Nominee bucket capacity 0.25 m ³ ; R _max = 5.65 m; Max. cutting force 3500 kg; weight of attachments. 1700 kg Rybinsk 6 EO2621 Rusich (bulldozer excavator) Moscow factory "Spetsmash" MTZ-82.1; Nominee bucket capacity 0.28 m ³ ; R _max = 5.2 m; weight of attachments. 1650 kg. Moscow 7 EOW 271 ZAO SKB Gazstroy-Mashina Basic machine EO2621 (BOREX-2629) h _max = 2.7 m; capacious. bucket 0.25 m ³ ; weight of attachments. 1670 kg; Moscow 8 Xitachi ZX70 Japan. Engine power 55 hp Isusu SS models. Buckets: 0.23-0.33 m ³ ; R _max = 6.1 m; weight of attachments. 1,500 kg Max. cutting force 5600 kg.

Analysis of the above technical parameters of the working bodies of excavators shows that they have the following general characteristics:

- nominal capacity of the main bucket, m ³ 0.25

- maximum digging radius on

parking level, m from 5.0 to 5.6 - maximum cutting force, kN from 35 to 56 - weight of attachments, kg from 1700 to 2000

Xitachi ZX70 excavator attachments are 200 kg lighter due to the use of more durable steels, and the cutting force is higher.

An analysis of the above technical characteristics of earth moving tools with a “backhoe” bucket, which can be installed, for example, on a walking swamp-walker BShM designed by TEMZ, shows that they all have the following significant disadvantages:

- a relatively large mass of attachments, from 1,500 kg (Xitachi ZX70) to 2,000 kg, which increases the pressure of the bearings on the ground, reduces the buoyancy, stability and patency of the walking swamp in poorly supported soil;

- high horizontal component of the cutting force of the soil (3.5 t - 5.6 t), which is transmitted from the working body to the base means and requires reliable anchoring of the latter in the swamp in the underlying mineral soil with special additional devices and mechanisms from horizontal displacement (from sliding machine on the surface of the soil during digging). The use of anchor devices complicates the design of propulsion machines and increases their mass;

- the limitation of the types of removable attachments on the boom equipped with a backhoe bucket excludes the use of the excavation equipment considered in other technological operations, for example, when carrying out lifting and installation work.

Claims (1)

A walking manipulator for reclamation of swamps, comprising a housing, a power plant located on it with a cabin, in which the operator’s chair and the management of executive working bodies are located; front and rear rollers mounted on the casing, movably connected by means of front closed and rear straight guides with two side and central pontoons installed in parallel, connected by a drive for their alternate movement; a lug pivotally connected to the side pontoons in their front part and installed with the possibility of its raising and lowering by two hydraulic cylinders; a transverse beam rigidly connecting the side pontoons at their rear; removable pontoons-expanders mounted on the outer sides of the side pontoons; a removable mill mounted to the housing at its rear with hinges and two hydraulic cylinders; as well as a hydraulic drive of the working body, including pressure and drain pipelines and a pump driven by the power take-off shaft of the power plant, characterized in that on its body between the cab and the cross beam there is a removable crane manipulator (CMU) with interchangeable hook and grab bucket with a rotator, pivotally mounted on the end of the telescopic boom of the CMU; moreover, the driver’s chair is mounted with the possibility of rotation in a horizontal plane at an angle of 180 °, the pump is adjustable, and quick-disconnect connections are installed on the pressure and drain pipelines of the pump.