“Methods of keeping an earth-moving machine on the planned trajectory of movement”

Abstract

One of the promising areas of improvement of earth-moving machinery, in particular earthmoving machines and loading machines, is to increase their road-holding ability during movement
along the planned trajectory.
Consequences of the departure of earth-moving machines from the trajectory of movement
can be: a decrease in the productivity of the machine, an increase in the cost of the work performed,
and the occurrence of emergency situations.
Deviation of the real trajectory of movement from the planned one occurs due to the
appearance of additional disturbing forces both in the transport mode of movement of earth-moving
machines and loaders, and during the execution of technological operations.
The review of the scientific and technical literature made it possible to determine the main
methods of ensuring road-holding ability of earth-moving machines and loaders. These methods
should include:
- automated control of the position of the machine and its working equipment using external
tracking systems;
- automated control of the position of the machine and its working equipment on the basis of
information received from the sensors installed on the earth-moving machine itself;
- the introduction of additional devices into the construction of earth-moving machines and
loaders that change the parameters of the machine itself, the load parameters of the working
equipment, the parameters of the environment, etc.
On the basis of the analysis of the designs of modern earth-moving machines and loading
machines, as well as the patent search, the main areas of improvement of the machines with the aim
of enhancing road-holding ability indicators have been determined and classified. The main modern
trends in improving the road-holding ability indicators of earth-moving machines and loaders are
the use of such constructive means as satellite systems, laser guidance systems, position control
systems by external copier, systems for changing the angle of rotation of steered wheels in the
horizontal plane, systems for changing the angle of rotation of wheels in vertical plane, systems for
changing the position of the center of gravity of earth-moving machines and loaders, systems for
increasing the coupling coefficient, systems for reducing disruptive forces, systems for
compensating disruptive forces with additional working forces.
The conducted analysis made it possible to develop several constructive proposals for
keeping the machine on the planned trajectory of movement. A comparison of the costs of using
certain methods of keeping the machine on the planned trajectory showed that the cheapest one is
the use of additional devices that allow changing the parameters of the earth-moving machine and
loaders.