RU2366161C2 - Method of wood-cutting area development independently from natural conditions - Google Patents

Abstract

FIELD: agriculture.

SUBSTANCE: claimed method of wood-cutting area development involves tree felling by automatic forest harvester directly to trailer. Loaded trailer is delivered to spur road by pulling cable of winch truck and unloaded by wheel loader for tree delivery to processor operation zone. Processor detaches boughs from tree trunks. Wood-cutting area development by automatic forest harvester is performed along the area length along spur road by free movement of trailer from spur road to automatic forest harvester with simultaneous movement of winch truck and special-purpose vehicle along the spur road in direction of automatic forest harvester course. After depletion of wood-cutting area, automatic forest harvester is transported over cut tree stumps by propping the harvester by its cutting grip device and pushing slab on stumps. Automatic forest harvester movement over tree trunks is controlled from the switchboard of special-purpose vehicle delivering harvester and trailer to the wood-cutting area.

EFFECT: reduced labour cost of wood-cutting area development.

1 dwg, 1 tbl

Description

FIELD OF THE INVENTION

The present invention relates to the logging industry, can be used in the development of various cutting areas with weak bearing capacity of soils having different slopes, and regardless of environmental conditions.

State of the art

The authors are aware of various walking forestry robots that use standing trees for their movement (A.S. No. 954212 "Forestry Robot", A.S. No. 459194 "Device for felling trees" and A.S. No. 528817 "Device for felling trees" , AS No. 643123 “Device for felling trees”), as well as the reference book “Machines and mechanisms for rope skidding”, part II, authors Zanegin LA, Voskoboinikov IV, Eremeev NS, Moscow - 2004, p.305 ÷ 330.

However, all these industrial robots felling trees to the ground, and then these trees must be collected by skidders, the movement of which depends on the bearing capacity of the soil, the steepness of the slopes of the cutting area and natural conditions.

Authors also know self-propelled winches with non-tilting masts (see the reference book “Machines and mechanisms for rope skidding”, Volume I. Authors Zanegin LA, Voskoboinikov IV, Eremeev NS, Moscow - 2004, p. .273 ÷ 304), which are made on a caterpillar and wheeled chassis, have several drums and work mainly with traction-carrying ropes, capable of moving various carriages, to which it is necessary to attach wood delivered to a logging mustache in various ways.

The authors are aware of the prototype - this is the development of a cutting area with the elimination of the dependence of work on natural conditions and seasonal nature (see Sukhanov V.S. How to modernize the timber industry. Journal "Forest Industry", No. 4, 2002, p.13).

When developing a cutting area, the installation works as follows. The “passive” wheeled mover, which is a uniaxial wheeled trolley with an inclined shield, is fed by a winch through an idle rope into the cutting area to the area of felled trees. Here, the idle rope detaches from the “passive” mover, and only a set of chokers moves into the area of fallen trees. A pack of trees is recruited by chocking trees located near the rope, moving the chokers towards the “passive” mover using the cargo rope and stopping to chock subsequent trees. Then, the burr trees are pulled by a freight rope onto the inclined shield of the mover. The tree lodges loaded on the shield move to the unloading point near the branch or mustache of the forest road. Here, the chokers detach from the butt of the trees and the trolley drives out from under them. Auxiliary ropes pack moves to the stack for loading on timber transport. The “passive” mover with the help of a single rope is again fed into the area of felled trees. The cycle repeats.

However, with this method of developing a cutting area, the trees fall to the ground, then they need to be choked, and the ropes should be disconnected from the passive drive, and all this is hard manual and unsafe work, and then the tree trunks move in a semi-suspended position, i.e. the tops drag along the ground , at the same time, branches are broken off and wounding of the cutting area on the drag is applied to the soil. When felling trees on the ground, cutting areas also break off knots, and then the cutting area requires additional costs for its cleaning from felling residues. This method of developing a cutting area is costly, since it also requires constant installation of the rotary block on a tree, and then its transfer to a new sector for developing a cutting area.

SUMMARY OF THE INVENTION

In the proposed method for the development of a cutting area with the elimination of the dependence of work on natural conditions, the felling of trees is carried out by a forestry robot directly into the trailer, and the laden trailer is moved to the logging mustache by a towing rope of a self-propelled winch, and unloading by a wheel loader to feed the trees into the processor work area, which is used to clean the trunks trees from branches, and the development of a cutting area by a forestry robot is carried out along its width along the logging mustache by freely moving the trailer from a mustache to the forestry robot with simultaneous movement of a self-propelled winch and a specialized machine along the forestry mustache in the direction of movement of the forestry robot, which, after finishing the development of the cutting area, is moved along the stumps of cut trees by supporting it with its gripping-cutting device and pushing plate, while moving the timber industry the robot along the tree trunks is controlled from the console of a specialized machine that delivers a forestry robot and trailer to the cutting area.

The presence of such distinguishing features from the prototype allows us to conclude that the proposed technical solution to the problem has significant novelty. To prove the compliance of the proposed method with the criterion of significant difference, a comparison was made of the main features with the prototype according to the article by V. S. Sukhanov “How to modernize the timber industry” - with the method of developing a cutting area with the elimination of the dependence of work on natural conditions and seasonal nature.

As a result, it was found that in the prototype the trees are lying on the ground, then they are manually chocked with the rope disconnected from the passive drive and moved around the cutting area, as well as installation work is done to fix the rear block on the tree and transfer it from sector to sector, roll Trees are made taking into account natural conditions.

The technical result, which gives a positive effect in comparison with the prototype, is determined by the properties shown in table 1.

Table 1 Comparison of the main features Properties and other indicators The inventive method The prototype according to the article B.C. Sukhanov, J. "PL", No. 4, 2002 Felling trees By machine to the trailer Manual way to the cutting ground Rear unit mount On a forestry robot On a tree with hand carry from sector to sector Method for developing cutting areas Wide along a logging mustache In depth perpendicular to the logging mustache The number of drums on a self-propelled winch 2 four The method of skidding tree trunks Fully immersed In a semi-submerged position with dragging the vertices along the drag Bollard pull, kg 3000 7300 Length of ropes, m: - single 600 750 - traction 300 350

The presence of distinctive features of the proposed method from the prototype allows us to conclude that it meets the criterion of "significant differences".

Analysis of the data in table 1 shows that the inventive method can be technically implemented, as it has all the parameters.

The drawing shows a General view of the method of developing a cutting area with the elimination of the dependence of work on natural conditions.

Information confirming the possibility of carrying out the alleged invention

The method of developing a cutting area with the elimination of the dependence of work on natural conditions uses a technological scheme of logging production, which includes: a forestry robot (1), a trailer (2), a self-propelled winch (3) with traction (4) and idle (5) ropes, a specialized machine ( 6) with a body (7) for transporting a forestry robot and a radio cabin (8) for remote control of a forestry robot, a wheel loader (9), a processor (10) that cleans the tree trunk from knots and, if necessary, bucking it on assortments.

A logging system works, eliminating the dependence of work on natural conditions, as follows. A specialized machine (6) delivers the LRSh-3 forestry robot (1) and a trailer (2) to the cutting area in the back of the truck (7). The hydraulic manipulator (11) of the specialized machine (6) removes the robot from the body and lowers it onto the ground with a support plate (12), on which the internal combustion engine (13), tank and hydraulic pump (14) are installed, which provides the drives and hydraulic cylinders of the active manipulator (15) ) with a gripping-cutting device (16), a passive manipulator (17) with a gripping-cutting device (18) and a pushing support (19) with a hydraulic cylinder (20) and a platform (21).

The operator turns on the engine (13), and the active manipulator searches for the first tree and captures it with a gripping-cutting device (16), thus ensuring the stability of the manipulator with the ability to move it along standing trees, while its movement through the cutting area is not affected by natural conditions.

A self-propelled winch (3) arrives at the cutting area, having a small folding support (22) and drums (23) and (24) for traction (4) and idle (5) ropes. Self-propelled winch ropes are fixed by a traction rope (5) to the trailer (2), and a single rope (5) is passed through the trailer beam and goes around the end block (25), mounted on the LRS-3 forestry robot (1), and the rope end is also attached to trailer (2) on the opposite side of the traction rope. The movement of the trailer (2) to the forestry robot (1) is controlled by the operator of a self-propelled winch (3), moreover, the trailer has a spring-loaded full-circle wheel 360 °.

The forestry robot moves along the cutting area along the logging mustache, mastering the width of the cutting area, as shown in the diagram by arrows, it is necessary that the trailer (2) can always be fed to the forestry robot (1), while the self-propelled winch (3) and a specialized machine ( 6) move along the logging mustache following the movement of the forestry robot (1) through the cutting area.

Forestry robot LRSh-3 (1) develops the cutting area as follows. According to the program of work and with the help of an operator located in the cabin of a specialized machine (6), the robot searches for a passive manipulator (17), and as soon as the tree is detected, the gripping-cutting device (18) is automatically lowered along the tree trunk, and a command to cut the tree to the active manipulator (15) with a gripping-cutting device (16). Then, the saw’s trunk separates the tree trunk from the root system, and the active manipulator (15) puts it on the trailer (2) in a pack of trees. At the time of laying, the stability of the forestry robot is ensured by a passive manipulator fixed to the tree and a support in the form of a hydraulic cylinder with a platform resting on the ground. The active manipulator, rotating around a telescopic stand, cuts off all the trees in the working area and puts them on a trailer (2).

As soon as the trailer (2) is filled with trees, the forestry robot grabs the trees with both manipulators and its base plate (12) is firmly mounted on the ground, and the operator of the self-propelled winch (3) turns on the load drum (23) and moves it to the timber carrier with a traction rope (4) loaded trailer (2), from which the wheel loader (9) removes tree trunks and feeds them to the processor working area (10), which cleans tree trunks from knots and, if necessary, makes the tree trunks for assortments, which are then wheel loader (9) cargo ie on timber-carrying vehicles.

To move the forestry robot to a new position, a support platform rises from the ground with a telescopic stand, which, rotating around the telescopic stand, is installed in a new position so that its axis coincides with the passive manipulator. Then the platform lowers to the ground and pushes the telescopic stand with the active manipulator towards the gripping-cutting device of the passive manipulator. As soon as the telescopic stand is near the tree on which the passive manipulator is mounted, the plate lowers to the ground, the active manipulator takes a new position, the tree is searched again, grabs it and becomes passive, and the former passive manipulator cuts the tree, puts it on the trailer and starts working as active, cutting off all the trees in the new working area, and then the telescopic rack with the stove moves to the passive manipulator, and the cycle repeats.

Thus, the whole technological process of cutting trees from the root and moving them to the logging mustache with self-propelled winch ropes does not depend on the natural conditions of the cutting area.

Claims (1)

A method for developing a cutting area with eliminating the dependence of work on natural conditions, namely, that the trees are felled by a forestry robot directly into the trailer, and the laden trailer is moved to the logging mustache by a self-propelled winch pulling rope, and unloading by a wheel loader to feed the trees into the processor work area with which tree trunks are cleaned of branches, and the development of a cutting area by a forestry robot is carried out along its width along the logging mustache by free movement of the prism EPA from a logging mustache to a forestry robot with simultaneous movement of a self-propelled winch and a specialized machine along the logging mustache in the direction of movement of the forestry robot, which, after finishing the development of the cutting area, is moved along the stumps of cut trees by supporting it with its gripping-cutting device and pushing plate, while the movement of the forestry robot along tree trunks is controlled from the console of a specialized machine that delivers the forestry robot and trailer to the cutting area.

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