INCREASING THE EFFICIENCY AND EXPANDING THE TECHNOLOGICAL CAPABILITIES OF THE UNIVERSAL EARTH-MOVING MACHINERY BY IMPROVING THE KINEMATICS OF THE MOVEMENT OF THEIR OPERATING ELEMENT IN THE SOIL

Abstract

This article addresses the creation and optimization of designs for Universal Continuous-Action Earthmoving Machines (UCAEM) capable of excavating extensive trenches of various widths, depths, and shapes without structural changes to the operating equipment. The paper provides a detailed rationale for the relevance and practical feasibility of developing continuous-action universal earthmoving machines. Analytically, the required trajectory of movement for the soil excavation operating element of UCAEM in the process of constructing wide trenches (excavations) in the soil is determined. This trajectory resembles a Bernoulli lemniscate, along which the operating element of UCAEM moves to excavate the soil in evenly thick planar chips. This enables the construction of trenches in the soil with maximum work productivity, minimizing external loads on the earthmoving machine's operating element. To implement the above, a physical model of the rotary operating equipment of UCAEM was created, and experimental studies were conducted. The design of the UCAEM operating element movement drive is based on a two-circuit lever mechanism with fifth-class rotary pairs, providing the delivery of the soil-excavating operating element to the soil face. Soil excavation is carried out in the mode of fan-linear feed of the operating element to the face. The movement of the operating element in the face is performed by a lever mechanism with three degrees of freedom, each link of the mechanism is provided with an individual turning drive using a pair of hydraulic cylinders relative to the hinge of its attachment. An algorithm for the operation of the drive for the movement to the face of the two-circuit soil-excavating rotary operating equipment of continuous-action UCAEM has been synthesized, providing soil excavation with chips of uniform thickness in plan, regardless of the width of the trench, and consequently, increasing the productivity of the machine's operation. Equalization of the chip thickness in plan is achieved by turning the intermediate frame of the operating element at the end of each half-cycle of the working process. An algorithm for the movement of the operating element during the construction of entry and exit ramps during the construction of trenches in the soil over several passes of the operating element has been justified.