SU988557A1

SU988557A1 - Method and apparatus for treating fallen trees

Info

Publication number: SU988557A1
Application number: SU813266860A
Authority: SU
Inventors: Юрий Сергеевич Гаврилов; Валерий Исаакович Подбрезский; Валерий Владимирович Колядов; Эдуард Владиславович Наконечный
Priority date: 1981-03-31
Filing date: 1981-03-31
Publication date: 1983-01-15

Description

Изобретение относится к лесозаготовительной промышленности.The invention relates to the forestry industry.

Наиболее близким к предлагаемому является способ обработки поваленных деревьев, заключающийся в наведении захватно-сучкорезной головки на ствол дере- 5 ва, захвате последнего и срезании сучьев путем перемещения захватно-сучкорезной головки [1].Closest to the proposed one is a method of processing felled trees, which consists in pointing the gripping-delimbing head onto the tree trunk, grabbing the latter and cutting branches by moving the gripping-delimbing head [1].

Недостатком указанного способа является высокая энергоемкость процесса об- ₁₀резки сучьев, обусловленная тем, что дерево в процессе обрезки сучьев перемещается относительно сучкорезной головки и при этом поддерживается над поверхностью грунта.The disadvantage of this method is a high energy process ob- cutting branches _10, caused by the fact that the wood during the delimbing head is moved relative delimber and thus supported above the ground surface.

Наиболее близкой к предлагаемой является машина для обработки поваленных деревьев, содержащая шасси, манипулятор с захватно-сучкорезной головкой и протаскивающий механизм [1].Closest to the proposed is a machine for processing felled trees, containing a chassis, a manipulator with a gripping-delimbing head and a pulling mechanism [1].

Недостатком этой машины являются большие энергозатраты при обрезке сучьев с поваленных деревьев. Этот недостаток объясняется не только тем, что указанная конструкция предусматривает обрезку сучьев с дерева в процессе его перемещения отно2 сительно сучкорезной головкй машины под действием механизма подачи вальцевого типа с поддержанием дерева при этом посредством манипулятора над поверхностью грунта, но и тем, что на лесосеке в процессе перемещения дерева возникают дополнительные сойротивления продольному перемещению дерева. .The disadvantage of this machine is the high energy consumption when cutting branches from fallen trees. This disadvantage is explained not only by the fact that the design involves cutting branches from the tree during its movement relative to the delimbing head of the machine under the action of the roller feed mechanism while maintaining the tree with the help of a manipulator above the soil surface, but also because the cutting area in the process tree movement there are additional resistance to the longitudinal movement of the tree. .

Целью изобретения является снижение энергетических затрат в процессе обрезки сучьев с поваленных деревьев.The aim of the invention is to reduce energy costs in the process of cutting branches from felled trees.

Для достижения этой цели сучкорезную головку перемещают вдоль ствола дерева при ее взаимодействии с поверхностью грунта.To achieve this goal, the delimbing head is moved along the tree trunk when it interacts with the soil surface.

Захватно-сучкорезная головка снабже'5 на приводом ее автономного перемещения с опорным элементом, например колесом, причем протаскивающий механизм смонтирован на конце манипулятора.The gripping-delimbing head is supplied with a 5 on the drive of its autonomous movement with a supporting element, for example a wheel, and the pulling mechanism is mounted on the end of the manipulator.

На фиг. 1 изображен один из вариантов ₂₀ машины для обработки поваленных деревьев, обеспечивающей осуществление предлагаемого способа; на фиг. 2 — то же, вид сбоку.In FIG. 1 shows one of the options ₂₀ machines for processing felled trees, providing the implementation of the proposed method; in FIG. 2 is the same side view.

Машина включает многозвенный шарнирный манипулятор 1, смонтированный на самоходном шасси 2, захватно-сучкорезную головку 3 и протаскивающий механизм 4 с приводными прижимными элементами вальцевого типа, установленные на поворотном кронштейне 5, шарнирно закрепленном на одном из конечных звеньев манипулятора 1. Кронштейн 5 со стороны, обращенной к грунту, выполнен с опорным элементом. Для снижения трения о поверхность грунта опорный элемент кронштейна может быть снабжен, наприМер, колесом, лыжей и т. п. в зависимости от времени года. Кроме того, на самоходном шасси смонтировано трелевочное оборудование 6.The machine includes a multi-link articulated manipulator 1 mounted on a self-propelled chassis 2, a gripping-delimbing head 3 and a pulling mechanism 4 with roller drive clamping elements mounted on a swivel bracket 5 pivotally mounted on one of the end links of the manipulator 1. Bracket 5 on the side, facing the ground, made with a support element. To reduce friction on the soil surface, the support element of the bracket can be equipped with, for example, a wheel, ski, etc., depending on the time of year. In addition, skidding equipment 6 is mounted on a self-propelled chassis.

Для осуществления предлагаемого способа манипулятором 1 наводят захватносучкорезную головку 3 на поваленное дерево, захватывают его элементами сучкорезной головки 3 и зажимают приводными прижимными элементами протаскивающего механизма, например приводными прижимными, рябухами. В процессе обработки деревьев и особенно крупномерных деревьев с сучьями больших диаметров захватносучкорезная головка 3 перемещается посредством протаскивающего механизма 4 на кронштейне 5 вдоль ствола дерева автономно от шасси 2 машины, в пределах рабочей зоны манипулятора 1, и очищает ствол от сучьев.To implement the proposed method, the manipulator 1 induces the pick-and-cutter head 3 on the fallen tree, grabs it with the elements of the delimbing head 3 and clamps with the drive clamping elements of the pulling mechanism, for example, drive clamping, rowan. In the process of processing trees and especially large trees with large branches of large diameters, the grasping head 3 is moved by means of a pulling mechanism 4 on the bracket 5 along the tree trunk independently from the chassis 2 of the machine, within the working area of the manipulator 1, and clears the trunk of the branches.

При такой работе устройства и выполнении предлагаемого способа вес поднятой части дерева, захватно-сучкорезной головки 3 и протаскивающего механизма 4 не воспринимается манипулятором 1, а через кронштейн 5 передается на грунт. Потребляемая мощность полностью расходуется на выполнение обрезки сучьев и перемещение кронштейна 5. После обработки зоны ствола дерева с сучьями максимальных размеров и при обработке тонкомерных деревьев, когда потребная мощность резко сокращается, обрезка сучьев может быть совмещена с перемещением машины вдоль обрабатываемого дерева. Каждое тонкомерное обработанное дерево, а также обработанное дерево среднего размера загружается манипулятором 1 в трелевочное оборудование 6.With this operation of the device and the implementation of the proposed method, the weight of the raised part of the tree, the gripping-delimbing head 3 and the pulling mechanism 4 is not perceived by the manipulator 1, but is transmitted to the ground through the bracket 5. The power consumption is completely spent on cutting the knots and moving the bracket 5. After processing the tree trunk zone with the maximum branches and when processing thin trees, when the required power is sharply reduced, the cutting of knots can be combined with moving the machine along the processed tree. Each thin-sized treated tree, as well as a medium-sized treated tree, is loaded by the manipulator 1 into the skidding equipment 6.

Таким образом, предлагаемый способ и устройство для его осуществления позволяют обрабатывать поваленное дерево, не перемещая его.Thus, the proposed method and device for its implementation allow you to process a fallen tree without moving it.

При этом сила резания создается не тяговым усилием машины, которое в значительной степени определяется рельефом местности й условиями, характеризующими коэффициент сцепления шасси с грунтом, а усилием, развиваемым приводными прижимными элементами механизма подачи. Получаемая таким образом сила резания в основном зависит от коэффициента сцепления прижимных элемеентов протаскивающего механизма с поверхностью ствола дерева, имеющего более высокие и постоянные значения, чем коэффициент сцепления машины с грунтом. Усилие, развиваемое механизмом подачи, может достигать больших значений, чем максимальное тяговое 5 усилие машины, за счет возможности уменьшения скорости перемещения сучкорезной головки 3 до минимального значения.In this case, the cutting force is created not by the pulling force of the machine, which is largely determined by the terrain and the conditions characterizing the coefficient of adhesion of the chassis to the ground, but by the force developed by the drive clamping elements of the feed mechanism. The cutting force obtained in this way mainly depends on the coefficient of adhesion of the clamping elements of the pulling mechanism to the surface of the tree trunk, which has higher and more constant values than the coefficient of adhesion of the machine to the ground. The force developed by the feed mechanism can reach greater values than the maximum traction force 5 of the machine, due to the possibility of reducing the speed of movement of the delimbing head 3 to a minimum value.

При автономном перемещении кронштейна 5 по поверхности грунта обеспечиваются условия, при которых манипулятор 1 и ки^,0 нематически связанные с ним звенья максимально разгружены от веса дерева и технологического оборудования.When the bracket 5 is independently displaced over the soil surface, conditions are provided under which the manipulator 1 and ki ^{, 0, the} links that are nematically connected to it are unloaded as much as possible from the weight of the tree and technological equipment.

Кроме того, благодаря этому создаются оптимальные условия для перемещения суч₁₅ корезной головки 3 по поверхности поваленного дерева без перемещения последнего относительно грунта.In addition, thanks to this, optimal conditions are created for moving the knots _{15 of the} cutter head 3 over the surface of a fallen tree without moving the latter relative to the ground.

Использование предлагаемого способа и устройства для его осуществления позволяет снизить в 2—3 раза непроизводитель20 ные энергозатраты, а также повысить производительность при обработке деревьев.Using the proposed method and device for its implementation allows to reduce by 2-3 times unproductive energy costs, as well as to increase productivity in the processing of trees.

Предлагаемый способ и устройство для его осуществления наиболее эффективно можно использовать при осуществлении ₂₅ работ по обработке деревьев с диаметрами в комлевой части до 1,0 м и средним объемом хлыста до 0,8 м³ в районах Сибири и Дальнего Востока.The proposed method and device for its implementation can most effectively be used in the implementation of ₂₅ work on processing trees with diameters in the butt part of up to 1.0 m and an average volume of a whip of up to 0.8 m ³ in the regions of Siberia and the Far East.

Ожидаемый экономический эффект от применения изобретения может составлять 30 3,0—5,0 тыс. руб. в год.The expected economic effect of the application of the invention may be 30 3.0-5.0 thousand rubles. in year.

Claims

(54) METHOD FOR PROCESSING FALLED TREES AND A MACHINE FOR ITS IMPLEMENTATION The invention relates to the logging industry. The closest to the present invention is a method of treating fallen trees, which consists in pointing the grab-delimbing head to a tree trunk, grabbing the latter and cutting the branches by stirring, gripping the delimbing head 1. The disadvantage of this method. The high energy intensity of the branch cutting process is caused by the fact that the tree moves relative to the delimbing head during the branch cutting process and is supported above the ground surface. Closest to the present invention is a machine for processing fallen trees, which contains a chassis, a manipulator with a gripping delimbing head, and a pulling mechanism 1. The disadvantage of this machine is the high energy consumption when cutting branches from fallen trees. This disadvantage is explained not only by the fact that this structure involves cutting the branches from the tree during its movement relative to the delimbing head of the machine under the action of a roller-type feeder with the tree maintained by means of a manipulator above the ground surface, but also because of that. In the cutting area, in the process of moving the tree, additional resistance to the longitudinal movement of the tree occurs. . The aim of the invention is to reduce energy costs in the process of cutting branches from fallen trees. To achieve this goal, the delimbing head is moved along the trunk of the tree when it interacts with the ground surface. The gripping head is equipped with a drive for its autonomous movement with a supporting element, for example a wheel, and the dragging mechanism is mounted on the end of the manipulator. FIG. 1 shows one of the variants of the machine for processing fallen trees, which ensures the implementation of the proposed method; in fig. 2 - the same, side view. The machine includes a multi-link articulated arm 1 mounted on a self-propelled chassis 2, a delimbing head 3 and a pulling mechanism 4 with driving roller-type clamping elements mounted on a swivel bracket 5 hinged on one of the end links of the manipulator 1. Bracket 5 with the side which is worn to the ground is made with the supporting element. To reduce friction on the ground surface, the support element of the bracket can be provided, for example, with a wheel, ski, etc., depending on the time of year. In addition, the skidding equipment 6 is mounted on the self-propelled chassis. To implement the proposed method, the manipulator 1 directs the grappling head 3 at the fallen tree, is captured by the elements of the delimbing head 3 and clamped by the driving clamping elements of the pulling mechanism, for example, the clamping arms. In the process of treating trees and especially large-sized trees with large-diameter limbs, the gripper head 3 is moved by means of a pulling mechanism 4 on the bracket 5 along the tree trunk, independently of the machine chassis 2, within the working area of the manipulator 1, and clears the branches from the branches. With this operation of the device and the implementation of the proposed method, the weight of the raised part of the tree, the gripping delimbing head 3 and the pulling mechanism 4 is not perceived by the manipulator 1, and through the bracket 5 is transmitted to the ground. The power consumed is completely spent on performing the pruning of the branches and moving the bracket 5. After processing the tree trunk zone with the maximum limbs and when processing small trees, when the power required is sharply reduced, the limb pruning can be combined with the mashine along the treated tree. Each small-sized processed tree, as well as a medium-sized processed tree, is loaded by the manipulator 1 into the skidding equipment 6. Thus, the proposed method and device for its implementation allow the felled tree to be processed without moving it. At the same time, the cutting force is created not by the pulling force of the machine, which is largely determined by the terrain and conditions that characterize the chassis adhesion coefficient to the ground, but by the force developed by the drive clamping elements of the feed mechanism. The cutting force thus obtained mainly depends on the coefficient of adhesion of the clamping elements of the pulling mechanism to the surface of the tree trunk, which are higher and more constant than the coefficient of adhesion of the machine to the ground. The force developed by the feed mechanism can reach higher values than the maximum pulling force of the machine, due to the possibility of reducing the speed of movement of the delimbing head 3 to a minimum value. During the autonomous movement of the bracket 5 over the soil surface, conditions are provided under which the manipulator 1 and the kinematically associated links are maximally unloaded from the weight of the tree and the process equipment. In addition, due to this, optimal conditions are created for moving the delimbing head 3 along the surface of the felled tree without moving the latter relative to the ground. The use of the proposed method and device for its implementation allows reducing the non-productive energy consumption by 2-3 times, as well as increasing the productivity when processing trees. The proposed method and device for its implementation can be most effectively used when carrying out work on treating trees with diameters in the butt part up to 1.0 m and an average amount of whip up to 0.8 m in areas of Siberia and the Far East. The expected economic effect from the application of the invention may be 3.0-5.0 thousand rubles. in year. Claim 1. A method for treating felled trees, consisting in hovering a grappling head on a tree trunk, capturing the latter and cutting off branches by moving a gripping-delimbing head, characterized in that, in order to reduce the energy intensity of the process, the delimbing head is moved along the tree trunk during its interaction with the ground surface.

2. A machine for processing felled trees, containing a self-propelled chassis, a manipulator with a gripping delimbing head and a dragging mechanism, characterized in that, in order to reduce the energy intensity of the process, the gripper is equipped with a drive for its autonomous movement with a supporting element, for example a wheel , and the dragging mechanism is mounted on the end of the manipulator torus. Sources of information taken into account during the examination 1. USSR Author's Certificate No. 435100, cl. In 27 L 1/00, 1972 (prototype).