Rostov-na-Donu, Rostov-on-Don, Russian Federation
Voronezh, Voronezh, Russian Federation
Russian Federation
Russian Federation
Voronezh State University of Forestry and Technologies named after G.F. Morozov (aspirapnt)
Voronezh, Russian Federation
UDK 630 Лесное хозяйство. Лесоводство
The variety of design options for hydraulic drive systems of technological machines makes it necessary to analyze the advantages and limitations of existing and promising technical solutions. It has been established that in the research and design of machines and equipment, mathematical modeling of their operating modes is widely used, which makes it possible to justify and optimize design and technological parameters already at the design stage of promising energy recovery schemes in hydraulic drives of manipulators, drive wheels and traction devices of timber vehicles. The purpose of the work is to reduce the energy intensity and dynamic load of the column rotation mechanism of the auto-sortiment truck manipulator based on modeling the operation of the column rotation mechanism of the auto-sortiment truck manipulator, taking into account the volumetric rigidity of the energy-saving hydraulic drive. The column rotation mechanism of the serial forestry manipulator Atlant S100 based on the KamAZ-680247 off-road vehicle was chosen as the object of study. When upgrading the column rotation mechanism, it was proposed to disconnect one pair of double hydraulic cylinders from the pump and connect it to a hydraulic accumulator. Moreover, the hydraulic accumulator does not have a hydraulic connection with the pump for recharging, and when fully charged, the recovery hydraulic cylinders communicate through additional check valves with the unloading valve and distributor to switch the pump to idle mode. The differential equation for the rotational motion of the column takes into account the moments of driving forces and resistance forces. When modeling the working processes of an energy-saving hydraulic drive, differential equations for the flow of working fluid at the inlet and outlet of individual sections of the design hydraulic circuit were compiled. The compiled mathematical model in the form of a system of differential equations is solved using the SimInTech modeling environment. Theoretical dependences of the pressure of the working fluid at various points of the hydraulic system using an energy-saving device have been obtained, on the basis of which it is possible to substantiate the optimal parameters and operating modes of the mechanism for turning the column of a manipulator equipment used in the forest complex.
manipulator, lifting mechanism, energy-saving hydraulic drive, kinematics, short-cut truck, fluid flow, rigidity
1. Avdeeva E. V., Poletaykin V. F. Issledovanie nagruzok na gidrocilindry manipulyatora // Hvoynye boreal'noy zony. 2020; 28 (5-6): 305–309. Rezhim dostupa: https://elibrary.ru/vknnjg.
2. Kuznecova V. N., Romanenko R. V. Issledovanie energeticheskih harakteristik elektromehanicheskoy transmissii gusenichnoy mashiny // Vestnik SibADI. 2021; 18 (1): 12–29. DOI: https://doi.org/10.26518/2071-7296-2021-18-1-12-29.
3. Romanenko R. V., Sergeev V. V. Modelirovanie krivolineynogo dvizheniya robotizirovannoy voennoy gusenichnoy mashiny s elektromehanicheskoy transmissiey // Robototehnika i tehnicheskaya kibernetika. 2020; 8 (1): 34–40. Rezhim dostupa: https://www.elibrary.ru/item.asp?id=45645617&ysclid=lur32uqew8754088880.
4. Savinkin V. V. Issledovanie effektivnosti pereraspredeleniya moschnosti silovogo privoda neftedobyvayuschego kompleksa // Izvestiya Tomskogo politehnicheskogo universiteta. Inzhiniring georesursov. 2021; T. 332. № 2. 229–244. Rezhim dostupa: http://lestehjournal.ru/sites/default/files/journal_pdf/131-142.pdf.
5. Savinkin V. V., Kolisnichenko S. N., Ivanova O. V., Zhumekenova Z. Z., Sandu A. V., Vizureanu P. (2021) Investigation Of The Strength Parameters Of Drilling Pumps During The Formation Of Contact Stresses In Gears Applied Sciences (Switzerland). T. 11. № 15. DOI: DOI:https://doi.org/10.3390/app13053153.
6. Savinkin V. V., Zhumekenova Z. Z., Kolisnichenko S. N., Ivanova O. V., Sandu A. V., Vizureanu P., Savinkin S. V. Coatings.Study Of Wear And Redistribution Dynamic Forces Of Wheel Pairs Restored By A Wear-Resistant Coating 15CR17NI12V3F 2021. T. 11. № 12. DOI:https://doi.org/10.3390/coatings11121441.
7. Lagerev I. A. Modelirovanie rabochih processov v gidroprivode kranov-manipulyatorov / I. A. Lagerev, A. V. Lagerev // Innovacionnoe razvitie pod'emno-transportnoy tehniki. materialy vserossiyskoy nauchno-prakticheskoy konferencii. 2019. s. 74-77. URL: https://www.elibrary.ru/item.asp?edn=qwxevm&ysclid=lur3ln1yyx185211858.
8. Lagerev A. V. Modelirovanie rabochih processov v drossel'no-reguliruemom gidroprivode manipulyacionnyh sistem mobil'nyh mashin pri sovmestnom dvizhenii zven'ev / A. V. Lagerev, I. A. Lagerev // Nauchno-tehnicheskiy vestnik Bryanskogo gosudarstvennogo universiteta. 2019. № 1. S. 59-82. URL: https://www.elibrary.ru/item.asp?id=37289352&ysclid=lur3nj5m7g876441504.
9. Posmet'ev V. I., Nikonov V. O. O vliyanii tradicionnyh konstrukciy gidromanipulyatorov na effektivnost' lesovoznogo avtomobil'nogo transporta // Problemy ekspluatacii avtomobil'nogo transporta i puti ih resheniya na osnove perspektivnyh tehnologiy i nauchno-tehnicheskih resheniy: materialy Vserossiyskoy nauchno-tehnicheskoy konferencii. 2022: 24-31. DOI: http://doi.org/10.58168/PRTOW2022_24-31.
10. Posmetev, V. I. Imitating modeling results of a recuperative hydraulic subsystem of the timber truck manipulator / V. I. Posmetev, V. O. Nikonov, V. V. Posmetev // IOP Conf. Series : Earth and Environmental Science. 2019; 39: 2012038. DOI: http://doi.org/10.1088/1755-1315/392/1/012038.
11. Posmet'ev V. I., Nikonov V. O., Manukovskiy A. Yu., Posmet'ev V. V. Komp'yuternoe modelirovanie raboty rekuperativnogo povorotnogo konikovogo ustroystva lesovoznogo tyagacha s pricepom-rospuskom // Izv. vuzov. Lesn. zhurn. 2022 № 5. S. 85–99. DOI: https://doi.org/10.37482/0536-1036-2022-5-85-99.
12. Posmet'ev V. I., Zelikov V. A., Nikonov V. O., Posmet'ev V. V., Chuykov A. S., Avdyuhin A. V. Vliyanie rezhimov dvizheniya lesovoznogo avtopoezda pri vyvozke lesomaterialov na effektivnost' rekuperacii energii v pnevmogidravlicheskom sedel'no-scepnom ustroystve // Lesotehnicheskiy zhurnal. 2022; 12 (4): 114–129. URL: https://elibrary.ru/heyhbu.
13. Vorozhcov O. V. Gidroprivod rekuperacii energii transportnogo sredstva // Matematicheskoe modelirovanie sistem i processov : materialy Mezhdunarodnoy nauchno-prakticheskoy konferencii. Pskovskiy gosudarstvennyy universitet. – Pskov, 2022: 57-62. URL: https://istina.msu.ru/publications/article/621413357/?ysclid=lur3sq0jtw8....
14. Jensen K. J., Ebbesen M. K., Hansen M.R. Novel Concept for Electro-Hydrostatic Actuators for Motion Control of Hydraulic Manipulators // Energies. 2021; 14 (20): 6566. DOI: https://doi.org/10.3390/en14206566.
15. Jensen K. J., Ebbesen M. K., Hansen M. R. Anti-swing control of a hydraulic loader crane with a hanging load // Mechatronics. 2021; 77: 102599. DOI: https://doi.org/10.1016/j.mechatronics.2021.102599.
16. Vyalov S. A., Rybak A. T., Cybriy I. K., Pelipenko A. Yu. Trehskorostnoy gidromehanicheskiy privod vozvratno-postupatel'nogo dvizheniya s rekuperaciey energii // Sborka v mashinostroenii, priborostroenii. 2021; 9: 397-401. URL: https://www.elibrary.ru/item.asp?edn=zmqevl&ysclid=lur3um7vby107136240.
17. Pelipenko A., Rybak A., Sarkisian D., Saakian S., Zhyravlyova A. Stand for Life Tests of Plunger Hydraulic Cylinders // Lecture Notes in Networks and Systems. 2022; 246: 198–206. DOI:https://doi.org/10.1007/978-3-030-81619-3_22.
18. Popikov P. I., Konyuhov A. V., Popikov S. K., Popikova A. V. Stend dlya ispytaniy gruzopod'emnyh mehanizmov lesnyh manipulyatorov s rekuperaciey energii // Energoeffektivnost' i energosberezhenie v sovremennom proizvodstve i obschestve: materialy mezhdunarodnoy nauchnoprakticheskoy konferencii, Voronezh, 06–07 iyunya 2022 goda. Tom Chast' II. – Voronezh: Voronezhskiy gosudarstvennyy agrarnyy universitet im. Imperatora Petra I, 2022. – S. 105-110. URL: https://www.elibrary.ru/item.asp?id=49868071.
19. Fedchenko V.B. Hakimov E.F. Analiz komponovki perspektivnogo gibridnogo forvardera s motor-kolesami // WORLD SCIENCE: PROBLEMS AND INNOVATIONS : Mater. XLV Mezhdunarodnoy nauchno-prakticheskoy konferencii. Penza, 2020. S. 42-46. URL: https://www.elibrary.ru/item.asp?id=43847657&ysclid=lur443w3fi231074063.
20. Chetverikova I. V., Zimarin S. V., Burdykin A. V. K voprosu sovershenstvovaniya gidroprivoda beschokernogo trelevochnogo zahvata // Povyshenie effektivnosti lesnogo kompleksa : mater. sed'moy Vserossiyskoy nacional'noy nauchno-prakticheskoy konferencii s mezhdunarodnym uchastiem. – Petrozavodsk, 2021. – S. 197-199. Rezhim dostupa: https://www.elibrary.ru/rouesk.
21. Vlasov E.N., Sergeevichev A.V., Dobrynin Yu.A., Sergeevichev V.V. Analiz raboty gidravlicheskogo manipulyatora lesnoy mashiny s ciklovoy sistemoy upravleniya. // Izvestiya Sankt-Peterburgskoy lesotehnicheskoy akademii. 2022. S. 99-112. DOI: https://doi.org/10.21266/2079-4304.2022.238.99-112.
22. Glushkov S., Rybak A. T., Popikov P. I., Uskov V. I., Bogdanov D. S., Konyuhov A. V. Modelirovanie rabochih processov energosberegayuschego gidroprivoda mehanizma pod'ema lesnogo manipulyatora// Lesotehnicheskiy zhurnal. – 2021. – T. 11. – № 4 (44). – S. 88–99. – Bibliogr.: s. 96–98 (13 nazv.). – DOI:https://doi.org/10.34220/issn.2222-7962/2021.4/8.
23. Sokolov A. P. Imitacionnoe modelirovanie processov zagotovki drevesiny // Izvestiya Sankt-Peterburgskoy lesotehnicheskoy akademii. 2023. Vyp. 245. S. 244–260. DOI:https://doi.org/10.21266/2079-4304.2023.245.244-260.
