Abstract :
A LP-19 mathematical model of the felling and bulking LP-19 machine articulated manipulator has been developed, which allows to reveal the laws of movement of the boom and stick, as well as the working body racks depending on the volume of working fluid in the hydraulic cylinders of the boom drive. Based on the results of mathematical modeling, a method and means for controlling the trajectory of the stick, boom and working body is developed by one integrated control device that provides working body movement close to plane-parallel. The dependences of the position of the working body in the vertical plane on the outreach of the boom and handle were revealed when using the developed integrated control device for the trajectory of the handle, boom and working body and without its use. Using the developed integrated device for controlling the trajectory of the handle, boom and working body provides deviations from the vertical working body with horizontal movement of the boom and handle in the range from +5 to –11 cm. Using the developed integrated device for controlling the trajectory of the handle, booms and working body provides a relative reduction in deviation from the vertical of the working body with horizontal boom movement in the range from 150 to 1600% compared with the base felling and bulking LP-19 machine. It has been experimentally established that the use of the developed integrated control device provides a reduction in the time of the guidance operation of the working body (changing the boom outreach) from 13.2 s up to 7.7 s. It was experimentally established that when using the developed integrated control device, the average production time of 1 m3 of wood is less than that of the base machine, which allowed to increase the productivity of felling and bulking LP-19 machine by 17%.
Keyword :
plane-parallel movement, gripping-cutting device, feller buncher.