ENERGY-SAVING ADAPTATION OF THE VIBRATION-IMPACT BUCKET OF THE MANIPULATOR TO THE VARIABLE CHARACTERISTICS OF THE WORKING ENVIRONMENT

Abstract

The paper study of the vibrating bucket of the manipulator as an excavator or tunnelling shield, with energy-saving adaptation to the aspects of the working environment for use in the construction and mining industry. The use of buckets and vibro-impact devices with automated operation allows a reduction of energy consumption for the destruction of rocks and hard soils with adaptation to their properties. The article proposes an algorithm for optimal control of the vibro-impact bucket element - a vibro-impact device using restrictions on the cutting resistance force and impact energy. The range of functioning of the vibro-impact device is determined. The optimal area of switching on the device is established, depending on the variable aspects of the working environment. 
 The integral characteristic, such as the cutting resistance force of the soil, were used. It finds that this characteristic depends on the angle of rotation of the manipulator's bucket and the soil density's attribute by the number of impacts of the DorNDI impactor. The influence of thermodynamic parameters on the impact energy during the functioning of the vibration impact device in a real environment is observed by considering the polytope index of the gas compression process in the pneumatic accumulator.
 The work establishes the critical level of the force of static cutting of soils by an excavator of the IV size group for Ukrainian production and the criterion for the transition of the cutting process from static to dynamic mode depending on the variable characteristics of the working environment. The energy characteristics of the adaptive vibration-impact bucket of the manipulator are given. Introducing the vibro-impact bucket into the industrial production of Ukraine is recommended.