Control of the movement of the felling head with the cutter of the feller buncher

The article are presents materials on the control features of the manipulators of the feller buncher LP-19 and John Deere 800M series. These machines are equipped with special devices - felling heads with a milling cutter and a storage device. A feature of the operation of machines with such attachments is the need to control the position of the cutter during the process of cutting trees. For the most efficient work, the operator needs to guide the cutter parallel to the ground, with a slight deviation towards itself. Since the drive allows you to cut several trees one by one, it is not convenient for the operator to control the position of the felling head stand, boom and handle. For this, the feller buncher LP-19 was equipped with a divertor - a device that connects the hydraulic cylinders of the boom and arm in one line. At the same time, the machine operator has the ability to control the plane-parallel movement of the manipulator with one hand, and with the other hand to adjust the tilt of the felling head stand. Management is simplified. Our task is to compare the feller buncher LP-19 and the John Deere 800M series from the point of view of the possibility of using a diverter on the second machine. To do this, we analyzed the kinematic diagram of the manipulators and the location of the hydraulic cylinders. The number of hydraulic cylinders used to drive the boom and arm is taken into account. The order of their work is determined. The volumes of the piston and rod cavities are determined. A method for calculating the kinematics of an articulated manipulator of a feller buncher has been developed. The direct and inverse problem is solved. The conditions for the plane-parallel movement of the felling head with a cutter for the feller buncher LP-19 and John Deere series 800M are determined. A method is proposed for ensuring plane-parallel movement of the felling head with a milling cutter for feller buncher John Deere series 800M.

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