Currently known designs and technical solutions of continuous earthmoving machinery (EM) have a fundamental drawback - low universality. Moreover, the research results, published in regard to creating universal continuous earthmoving machinery (UEM), are non-systematic and do not fully take into account the peculiarities typical for this type of machinery. As a rule, compared to single-bucket universal excavators, traditional machinery designs have high energy consumption of soil development, higher metal capacity, lower reliability. Unless the specified disadvantages are eliminated, it is impossible to create effective designs of the continuous earthmoving machinery operating equipment and to optimally load it when developing the soil. As a result, it makes it impossible to ensure high productivity of soil development of different complexity.
The creation of fundamentally new designs of continuous earthmoving machinery capable with the same activator, without its structural changes, to excavate long trenches of different linear sizes (by UEM) in different soil conditions is an urgent problem. Solving this problem will greatly expand the scope of the use of highly efficient earthmoving machinery when constructing the facilities of various technological purposes, when reclamating the soils on contaminated territories, fortifying the area and facilities. It will also improve the efficiency of machinery manufacture due to the increase in serial production of the same type machinery for dual use.
The scientific novelty of the obtained results:
A mechanism and algorithm for moving the two-link, two-swivel soil development actuator of the UEM in the face have been developed for the first time, ensuring soil development with shavings of uniform thickness regardless of the width of the excavation.
A mathematical model for the continuous UEM operation has been created for the first time in accordance with the developed algorithm for the actuator movement in translational and rotational supply of the operating equipment to the face.
The functional dependence of the duration of the intermediate frame additional rotation of the soil development rotor actuator at the end of each half-cycle when digging wide trenches in the soil on the speed of the operating equipment supply has been established for the first time.
The scheme and the mechanism for adaptive movement of the UEM rotor actuator in the face have been improved depending on the speed of the machinery supply.
When determining the spatial load of the UEM operating equipment during soil digging, the methods of physical and physical and mathematical modeling have been further developed based on tensometric testing of the UEM actuator model with the use of a physical and mathematical modeling testbed and a universal tensometric mounting.
The practical significance of the obtained results implies the following:
- the development of a technical proposal for creating a design of the UEM operating equipment which operates in the mode of translational and rotational supply to the face with the ability to dig wide, long excavations of various linear sizes without constructive reconfiguration;
- improving the efficiency of the UEM operating equipment by perfecting the movement drive kinematics of the two-link, double-swivel actuator in the face, which ensures the digging of wide, long excavations in the soil with soil shavings of uniform thickness and the minimization of the machinery external load;
- the development of a mechanism for moving the UEM two-link double-swivel soil development rotor actuator in the face with adaptive control when digging wide excavations in the soil.
Key words: universal earthmoving machinery, continuous earthmoving machinery, rotor actuator, universal earthmoving equipment, earthmoving machinery, soil, soil digging, trajectory planning, motion control, model, mathematical model, physical model, scale, experiment, displacement, speed, movement speed, transverse plane, force, load, torque, efficiency, design parameters, kinematic parameters, algorithm, process, rotor, hitch.
