RU2240971C2 - Crane-manipulator unit - Google Patents

Abstract

FIELD: mechanical engineering; load-lifting facilities.

SUBSTANCE: proposed crane-manipulator unit is designed for loading, unloading and mounting operations in combustion with specialized load-handling facilities. Proposed crane-manipulator unit has slewing gear with outriggers, single-section boom with hydraulic load-lifting hoist placed inside, hydraulic system, corresponding electromechanical and hydraulic safety devices and electric system. Outriggers of proposed unit are optimized to simplify design and improved performance characteristics, as well as design of slewing part of slewing gear, boom, hydraulic system and electric system and other units. Unit is furnished with headlights-searchlights to illuminate hook and working site which are installed on slewing part of slewing gear and head of boom.

EFFECT: improved conditions of operation.

14 cl, 53 dwg

Description

The invention relates to the field of lifting equipment, and in particular to crane systems for carrying out, mainly as part of specialized lifting and handling vehicles, loading and unloading and installation works.

A number of analogues of the invention are known, both domestic and foreign development (see, for example, RU 2037464, B 66 C 23/10, 06/19/65, RU 2107655C1, B 66 C 23/86. 03/27/98, RU 2167803 C2, B 66 C 23/00, 05/27/99, as well as hydraulic jib self-propelled cranes for general and military purposes KMTs-10, KS-6874, KS-557Kr of Odessa OJSC “Krayan”, KS-45716, KS-6476 -1 Kamyshinsky OAO Gazaks, KS-3574M Ivanovo OAO Avtokran, on-board crane device of the Japanese company Tadano, hydraulic truck crane 4056 and LTM 1030 of the German company Liebherr, the general views of which are given respectively the back side of the cover page cover and page 19 of the magazine “Construction and road machines” No. 3 for 1996, the back side of the cover page cover of the magazine “Construction and road machines” No. 4 for 1996, page 8 of the same magazine No. 8 for 1998 year, fig. 16 p. 75 of the book by M. I. Griff, R. A. Zatvan, V. F. Trofimenkov “Motor vehicles with lifting devices for transporting goods in containers and bags”, M., “Transport”, 1989 ., UDC 629.114.4: 656.135.073.235, Fig. 33a p. 47 of the book of M. Alexandrov “Hoisting-and-transport machines”: Textbook for universities. - 5th ed., Revised. and add. - M .: “Higher School”, 1979. LBC 39.9. A46, UDC 621.86 / 87 (075.8), Fig. 1, p. 12 of the magazine “Construction and road machines” No. 10 for 1988, etc.).

The first of these analogues (RU 2037464, RU 2107655C1, RU 2167803C2) are the corresponding crane-manipulator units with multi-section arrows. Moreover, part of the sections included in the composition of such arrows are articulated between themselves, and the last of them is usually equipped with a corresponding telescopic link with a working member suspended at its end, mainly controlled by a hydraulic channel, for example, of a clamshell type.

As part of this type of crane-manipulator installations there are no hoisting winches, and the lifting and longitudinal movement of the load in the vertical plane are carried out only by means of the corresponding manipulations made by the boom.

To date, these installations have found widespread application in world practice, both as a part of various kinds of specialized hoisting vehicles, and as appropriate stationary hoisting equipment. To a considerable extent, this was facilitated by their special consumer qualities, as well as a significant increase in the range of the corresponding replaceable working bodies of the mounted type with hydraulic drive developed for them.

However, most of the known crane systems with boom equipment of this type are quite complex in design and have a high cost. In addition, due to the specifics of the design, the use of such plants for a number of loading and unloading and installation works requiring extreme caution and low landing speed, for example, when moving explosive objects, as well as loading them in high-sided ground vehicles and holds of the corresponding water transport and unloading from them is very difficult or even impossible.

The indicated works can be carried out using self-propelled jib cranes with a direct multi-section telescopic boom equipped with corresponding hydraulic hoisting winches, on the end of the flexible traction organ of which a hook is fixed.

In contrast to the aforementioned crane-manipulator installations, the movement of cargo by means of cranes of this type can be carried out both by corresponding lifting, lowering and telescoping of the boom, and by a hoisting winch.

However, most of the general industrial and military jib cranes currently manufactured by the industry have a large lifting capacity, a rather complex and spatially developed slewing ring with the external location of the hoist hoist on its rotary part and the laying of its flexible traction unit outside, above or below the boom, using appropriate deflecting rollers and stops, a multi-section boom and equipped with microprocess-based safety devices ssornoy element base having a complex branched structure of hardware and software. As a rule, they are controlled from the cab located on the rotary part of the rotary support device, and this is associated with a direct threat to the life of the operator when moving explosive objects.

Due to its bulkiness and large mass, the hoisting devices included in the jib cranes almost completely occupy the entire free part of the chassis, designed to accommodate vehicles with full demand for its bearing capacity, making it impossible to simultaneously place and transport various kinds of cargo on them, technological and other equipment and tools.

As shown by the practical requests of the respective consumers for moving a number of particularly dangerous goods of relatively small sizes and masses over relatively small distances and performing individual installation works, the use of this kind of complex and expensive cranes is not practical.

Such work can be successfully performed with the help of compact lifting devices with a simpler design and support slewing device, a single-section all-welded boom of the required length with a small-sized hydraulic hoisting winch with a one-handed hook integrated into its design and the corresponding low-cost electromechanical and hydraulic safety equipment types and remote control.

Of the known analogues of the claimed technical solution, the closest (prototype) can be a lifting device from a hydraulic truck crane 4056 designed to perform the corresponding loading and unloading and installation works, a general view and description of which are shown in Fig. 33a and pages 46-48 of the textbook for universities Alexandrova M.P. “Hoisting-and-transport machines”, - 5th ed., Revised. and add. - M., “Higher School”, 1979, LBC 39.9, A46, UDC 621.86 / 87 (075.8).

The specified installation contains a spatially developed support and rotary device with a rotation mechanism based on a gear transmission and four remote outriggers, pivotally mounted on its rotary part, with the possibility of angular movement in the vertical plane, a single-section all-welded box-section boom with a drive hydraulic cylinder, the stem of which is fixed with the corresponding way in its connectors, and the body in the ears of the indicated rotary part, located on the last outside hydraulic a hoisting winch with a one-handed hook suspended on the end of a flexible towing member wound over its drum, laid over the boom, using the appropriate deflecting rollers and stops, placing it on a freely rotating end block installed in the boom head and storing the branch coming off from it through a similar movable block hook clips on the metal structure of the specified head according to the tackle scheme, the hydraulic drive and control mechanisms and the crane operator’s cabin, as well as the corresponding tools and security, spotlights to illuminate the hook and place of work in the dark and the electrical system, ensure the functioning of the hosted on slewing jib and electrical equipment, with appropriate switching and control equipment and cabling.

However, many of the above disadvantages are also inherent in it. It also has a spatially developed and massive slewing ring device and occupies almost the entire free part of the chassis of the vehicle used for its placement. The placement of the rotation mechanism and the hydraulic hoist winch outside, on the outer surface of the rotary part of the slewing ring, is not entirely rational, since it helps to increase the corresponding dimensions of this part and worsens the appearance of the installation and the conditions of their operation due to direct exposure to the atmosphere. The open laying of a flexible traction unit of a hydraulic hoisting winch above the boom is dangerous, since in case of emergency breakage it can hit directly on the windows of the inspection windows of the crane operator’s cabin, etc.

The objective of the present invention is to simplify the design of the inventive crane-manipulator and improve its technical and operational qualities.

In accordance with the invention, the task is achieved by a specific set of essential features of the inventive crane-manipulator.

The specified set of essential features characterizing the claimed crane-manipulative include:

- the presence in it of a rotary support device, which is made with the corresponding hydraulic drive and gear transmission, one of the kinematic links of which is formed on the rotary part, and the other on the fixed frame base of the rotary support device;

- the presence in its composition pivotally mounted on the rotary part of the support-rotary device with the possibility of angular movement in the vertical plane, a single-section all-welded boom of box section with a drive hydraulic cylinder, the stem of the rod of which is fixed accordingly in its connectors, and the body in the ears of the indicated rotary part;

- the presence of remote outriggers;

- the presence in its composition of a hydraulic hoisting winch with a hook suspended at the end of a flexible towing member wound around its drum, mounted on a freely rotating end block mounted in the boom head;

- the presence in its composition of a hydraulic system;

- the presence of a limiter for the height of the hook;

- the presence in its composition of a limiter for the hoist capacity;

- the presence in it of headlights, spotlights to illuminate the hook and the place of work;

- the presence in its composition of an electrical system that ensures the functioning of electrical equipment located on the rotary support and boom, with the corresponding switching and control equipment and cable wiring;

- supplying it with limiters of the limit pressure in the hydraulic cylinders of the movement of the self-supporting supporting heels of the remote outriggers and the load moment of the boom;

- supplying it with anti-loading devices of the rotation mechanism of the slewing ring, boom and winch from the action of dynamic forces on them arising from a sharp change in the speed of movement of the load;

- supplying it with an indicator of the inclination of the slewing ring;

- supplying it with a horn for giving warning sound signals;

- supplying it with indicators of the electric type of the degree of contamination of the replaceable filter elements of the pressure and drain filters for cleaning the hydraulic fluid;

- placement of remote outriggers on retractable beams that are connected to the frame base of the slewing ring through flexible safety ropes, the length of the half-loop of which sag does not exceed the working stroke of these beams;

- support of the rotary part of the rotary support of the solid cast in the form of a stepped pipe configuration made of steel having good weldability with its body, and one of the kinematic links of the gear mechanism of the rotation mechanism located on it — in the form fixed by pressing and additional locking from rotation by radial tight-fitting pins, a removable cylindrical sleeve with a corresponding gear rim from high-strength hardened steel;

- the formation in the region of the upper cut of the support of the rotary part of the support-rotary device of the belt from two outer frames spaced apart in height, closed to each other by vertical ribs discretely arranged in the circumferential direction;

- the implementation of the ears of the rotary part of the slewing ring with holes in them under the axis of attachment of the housing of the boom hydraulic drive cylinder is integral with the body of the aforementioned support belt of the indicated part with spatial placement between its frames, which are laterally asymmetrically developed in the radial direction with flat branches having configuration of horizontally oriented rib-shaped struts;

- the execution of the boom head from two spaced apart in a transverse direction and cantileverly fixed in the inner cavity of the housing with corresponding overlap along the length of the flat cheeks with eyes tilted downwards with holes for the axis of attachment of a rotating end block, rigidly closed to each other by means of located between them, within their outer contour, jumpers and covering eyes in front, in the plane of installation of the rotating end block, bracket-shaped limiter of lateral displacement whom of the traction body of the hoisting winch, with their welding at the place of interfacing with the indicated cheeks;

- the formation inside the back of the boom of the tail compartment with a slotted opening between the upper cut of its front wall and the ceiling shelf of its body, equipped with a removable cover for the access hatch;

- embedding boom connectors with holes for the shaft end of the shaft of its drive hydraulic cylinder into the side walls of the boom body behind the tail section with the formation of a pocket deep inside and facing upside down and the gap opening between it and the ceiling shelf of the specified body is identical in passage section, with a similar opening in the area of the tail compartment;

- placing the hoisting winch in the tail section of the boom with rigid bolting on its bottom, wiring the flexible traction body to the inside of the latter through the aforementioned slotted openings and the corresponding through hole in the vertically oriented rear jumper of its head and locking the rotating end block in the stream by means of a deflecting locking finger the first of which is installed under a flexible traction body with an elevation above the bottom of the pocket and securing with its ends in the side st nkah boom body, and the second - in the head of the latter, above the rotating end block, with fixing holes in its cheeks a freely-rotating around its own axis and protruding from the formation of cantilevered outboard ends;

- implementation of the hydraulic system according to a double-pump open circuit with the main adjustable axial piston and auxiliary removable pumps, with the possibility of implementing combined control of the hydraulic gear drive of the rotation mechanism, the hydraulic boom of the boom and the hoisting winch both remotely, via an electric cable, using a belt-type remote control, and in manual mode, for which it includes the corresponding multi-section spool electro-hydraulic distribution divider, equipped with a block of control electromagnets built into it and removable mechanical handles for moving its spools, and only manual control of hydraulic cylinders for moving self-supporting supporting heels of remote outriggers and switching of operating modes from the latter to activating the hydraulic drive of the above gear, the boom hydraulic cylinder and the hoisting winch and vice versa using the handles of the corresponding hydraulic distributors and a three-way crane with a handle management;

- laying connecting hydraulic lines along the shortest routes with the formation of the corresponding slack and discrete fastening them to the metalwork and ensuring the supply of the working fluid from the fixed frame base of the slewing ring to its rotary part and back through a removable single-channel unit centrally fixed on the lower cut of the hollow body of the specified base movable connectors of a rotary type with one degree of freedom;

- fixing the height limiter for lifting the hook and the hoisting winch at one of the cantilever ends of the locking finger installed in the boom head with its coverage by a hanging sinker coming down from a rotating end block, with self-orientation along the gravitational vertical, branches of its flexible traction body;

- the implementation of limit pressure limiters in the hydraulic cylinders for moving the self-supporting supporting feet of the remote outriggers, the load moment of the boom and the lifting capacity of the winch in the form of self-contained safety valves, one of which is installed directly in front of the hydraulic control valves for the hydraulic cylinders for moving the specified supporting feet, and the rest are integrated into the corresponding sections of the electro-hydraulic distributor hydraulic systems for power lines of the piston cavity of the boom cylinder and hydraulic motor winch drum when rotating it to lift loads;

- implementation of the aforementioned anti-overload devices in the form of self-contained safety valves integrated into the corresponding section of the electro-hydraulic distributor of the hydraulic system along the power lines of the hydraulic gear drive of the rotation mechanism, as well as the boom of the drive hydraulic cylinder mounted directly at the inlet of the piston and rod cavities and directly closed in the hydraulic circuit of the winch valves with controlled locking elements, the first of these brakes GOVERNMENTAL valves configured and half is rigidly fixed by means of bolts on the bedplate transitional connection adapter fixedly clamped on the housing of the drive cylinder by means of arrows releasable coupling collars;

- installation of headlights-spotlights to illuminate the hook of the hoisting winch and the place of work on the housing of the rotary part of the slewing ring and the boom head, with the possibility of adjusting the spatial position, and the headlight-spotlight located on the boom head is rigidly fixed, with the face facing down to the other from the cantilever ends of its locking finger, from the side opposite to the location of the hoist hook height limiter;

- execution of cable wiring of the electrical system in a single-wire circuit, with the connection of negative leads from external current sources to the metal structure of the slewing ring and boom, in the form of a combination of detachable cable inserts, in a modular design, with the corresponding end connectors connecting the electrical equipment located on the boom and supporting - a rotary device, with the last switching equipment in the block version located on the frame base, equipped with connecting e power connectors for connecting to it power cables from the remote control and current sources, as well as cable inserts from the specified electrical equipment, and cable inserts coming from the winch hook height limiter and the headlight-spotlight mounted on the boom head are laid inside the protective boom that is welded to the ceiling shelf tunnel pipe and together with cable inserts from the horn and other spotlight through a fixed in the tail compartment on the ceiling shelf of the specified housing with the sole block and the inner cavity of the rotary part of the rotary support device are brought out in the lower cut of this rotary part to the outside, and the cable inserts from the control electromagnet block of the said electro-hydraulic distributor and indicators of the electrical type of the degree of clogging of the filter elements of the pressure and drain filters for cleaning the hydraulic fluid are laid according to the metal structure of the frame the base of the specified device next to the corresponding connecting hydraulic m highways, with the formation of weaknesses in the necessary places and garter to them with the help of bandage bandages;

- performing axial fixation of the rotary part of the slewing ring device in the mounting sockets of the housing of its frame base in the lower direction by installing between the lower end of the kinematic link of the gear of the rotation mechanism fixed thereto and the upper end of the lower mounting socket of the thrust bearing housing adjacent to it, consisting of a flat ring made of hardened steel and a spacer of an appropriate configuration made of high-strength antifriction located under it ionic material, and axial fixation from moving in the upper direction - by means of a split spring retaining ring mounted on the support of the indicated part, interacting with the corresponding end face of the flat thrust ring fixed to the lower cut of the frame base body;

- reinforcement on the outside of the side walls of the boom housing from the rear side profiled along their outer contour with overlapping the area of the tail compartment and the connectors for the shaft axis of the drive shaft of the drive hydraulic cylinder with corresponding flat welded amplifiers provided with centrally made through holes for forming in these areas additional reinforcing annular welds;

- execution in the shanks of the cheeks of the boom head open from their ends curvilinear cuts, providing an increase in the total length of the corresponding welds in the zones of welding to the side walls of the boom body;

- execution in the lower shelf of the boom body, in the region of the tail compartment, between the front wall of the specified compartment and the pocket for the shaft end of the boom drive hydraulic cylinder and directly behind the pocket, through drainage holes for condensate drain from its respective cavities;

- the implementation of a flexible traction body hoisting winch in the form of a steel rope double lay with a linear touch of the wires in strands with one organic core;

- installation at the free end of the flexible traction body of the winch, in the area of connection of its hook to the passive tensioning mechanism of the gravity type;

- the implementation of each of the single-channel rotary-type movable connectors brought into a single hydraulic system unit, which supply the working fluid from the frame base to the movable part of the support-rotary device in the form of a hollow sleeve-type housing, with a lateral external connecting threaded fitting and a square neck located above it, inside of which it is installed with the possibility of rotation around its own axis and the formation of a sealed slit-like cavity, thinned in its average height a cylindrical pin with a corresponding axial connecting threaded fitting and a blind central drilling, communicating its passage through the through holes in the walls of the thinned part of the finger and the specified slot-like cavity with the side threaded fitting of the housing located in front of them, fixed in the latter using the corresponding thrust bearings made of antifriction material and split snap ring rings, and they are suspended by the necks of their bodies in profiled by them and discretely spaced in the circumferential direction of the rectangular grooves of a flat disk, with fixing in them against failure by means of corresponding wire twists, equipped with removable tabs for bolting it to the lower cut of the hollow body of the frame base of the support-rotary device;

- making the connection of the auxiliary removable pump to the hydraulic system through the built-in behind the pressure filter for cleaning the working fluid, at the entrance to the lifting winch, end connectors having push-off valves with ball-type locking mechanisms;

- the implementation of the indicator of the inclination of the pivoting device in the form of a pendulum-type single-axis mechanical pivot type mechanical pivot type pivotally mounted on a horizontal housing pin with a reference scale on the wall of the said housing facing it, on which distinguishable visually corresponding benchmarks are formed that fix the boundaries of its working position;

- implementation of the horn in the form of a corresponding electro-acoustic device and fixing it with the possibility of adjusting the spatial position on the housing of the rotary part of the support-rotary device opposite the corresponding spotlight;

- electrical communication of the housing of the rotary part of the slewing ring with the housing of the boom through the appropriate cable insert;

- supplying the remote control panel of the electrical system with a personalized key for turning on the power, two manipulator-type handles for submitting the appropriate commands to the control electromagnets of the electro-hydraulic distributor of the hydraulic system with a horn control button integrated in the head of one of them, as well as a two-position autonomous switch for switching on and off the headlights and corresponding light indicators indicating the presence in the power supply network and the fact that con- cern of filter pressure and drain the working fluid of said hydraulic filters;

- the implementation of the passive tension mechanism of the gravitational type in the form of a hollow body of the corresponding mass with eyes in its lower part under the axis of the articulation of the hook and installed in it through the thrust ball bearing of the thrust bearing with eyes in the upper part of the last under the axis of attachment of the free end of the flexible traction unit of the hoisting winch .

The same in the prototype and the claimed invention are the first nine of the essential features listed in this list, and the rest are distinctive.

Moreover, all of these signs are significant, since each of them accordingly (to one degree or another) affects the technical result achieved by the implementation of the claimed invention, i.e. are in a causal relationship with him.

The distinctive essential features listed in the list that characterize the claimed crane manipulator installation in the most general form express the corresponding optimization of the design of its slewing ring, boom, layout of the hydraulic hoisting winch, as well as the hydraulic system, safety equipment, electrical system and other constituent parts .

The nature of the aforementioned influence, in relation to each of the essential features, is discussed in detail below in the text when explaining the essence of the claimed invention.

The invention is illustrated by drawings, which depict:

Figure 1 is a General view of the inventive crane-manipulator installation (the boom and hook of the winch are raised to the highest position, the remote outriggers of the slewing ring are turned by the heels of the foot down, and the latter are lowered to the extreme lower position).

Figure 2 - Cross-section aa (see figure 1), a crane-manipulator installation at the place of attachment of the housing of the hydraulic drive cylinder boom in the ears of the rotary part of its supporting-rotary device.

Figure 3 is a General view of the inventive crane-manipulator installation (the boom is in the horizontal position, the winch hook is in the highest position, the remote outriggers of the support-rotary device are turned by the support heels up, and the rods of the hydraulic cylinders for moving the latter are pulled into the internal cavities of their bodies) .

Figure 4 - View B (see figure 3) from above on the crane-manipulator.

Figure 5 - Remote element B (see figure 4) with an enlarged fragment of the rotation mechanism of the rotary part of the support-rotary device of the inventive crane-manipulator, made on the basis of a gear with a corresponding hydraulic drive.

In Fig.6 - Cross section GG (see Fig.3) crane-manipulator installation at the attachment of the shank of the stem of the drive hydraulic cylinder of its boom.

In Fig.7 - View D (see Fig.3) on the back of the boom of the crane in the area of its articulation with the rotary part of the support-rotary device.

On Fig - View E (see figure 3) on the rotary part of the support-rotary device of the crane-manipulator in the area of the indicator of its inclination.

In Fig.9 - View G (see Fig.4) on the support-rotary device of the crane-manipulator from the location of the two-console balancer of its frame base.

Figure 10 - View And (see figure 9) from above on the frame base of the support-rotary device of the crane-manipulator installation (the rotary part of the support-rotary device is conventionally not shown).

Figure 11 - Remote element K (see figure 1), explaining the essence of the operation of the removal of outriggers.

On Fig - General view of the rotary part of the slewing ring of the crane-manipulator installation.

On Fig - View L (see Fig) from the side to the rotary part of the support-rotary device.

On Fig - Remote element M (see Fig.13), explaining the design of the support of the rotary part of the support-rotary device.

On Fig - View N (see Fig) from above on the support of the rotary part of the support-rotary device (the housing of the rotary part is not shown conventionally).

In Fig.16 is a Cross-section OO (see Fig.14) support the rotary part of the support-rotary device.

On Fig - Cross section PP (see Fig.13) support the rotary part of the support-rotary device.

On Fig - Remote control element P (see Fig), explaining the design formed on the rotary part of the support-rotary device of the kinematic link of the gear mechanism of its rotation (the rotary part is not shown conventionally).

In Fig.19 is a longitudinal section CC (see Fig.4) of the tail section of the boom with a hydraulic lifting hoist installed in it.

In Fig.20 is a longitudinal section TT (see Fig.19) of a hydraulic hoisting winch (flexible traction body of the winch and closing its corresponding end in the eye of its drum are conventionally not shown).

On Fig - View U (see figure 4) on one of the retractable beams of the remote outriggers of the support-rotary device in the area of installation of a flexible safety rope, connecting it with the frame base of the specified device.

On Fig - Remote element F (see Fig. 9), explaining the features of fixing the rotary part of the support-rotary device in the housing of its frame base from unauthorized movement in the mounting slots of the specified housing in the upper direction and mounting the removable block of single-channel movable rotary connectors .

On Fig - Cross section XX (see Fig.22) block single-channel movable connectors.

In Fig.24 is a longitudinal section of the C-C, (see Fig.23) of one of the single-channel movable connectors included in the removable unit.

In Fig.25 is a Cross section Ш-Ш (see Fig.24) of one of the single-channel movable connectors included in the removable unit, at the location of the neck of the square section in the body of its hollow body with a lateral external connecting threaded fitting (cylindrical pin of the specified connector with axial connecting threaded fitting conditionally not shown).

In Fig.26 - Remote element Sh (see Fig.23), explaining the features of fastening single-channel movable connectors in the rectangular grooves of a flat disk (the other three connectors of four are not conventionally shown).

On Fig - Remote element E (see figure 3), explaining the features of mounting the mounted brake valve on the housing of the drive hydraulic cylinder boom.

In Fig.28 is a Cross section of Yu-Yu (see Fig.27) of the boom hydraulic drive cylinder in the area of fastening on its body of the brake valve.

On Fig - Cross section Ya (see Fig.9) of the frame base of the slewing ring of the crane-manipulator in the area of attachment to it of a multi-section spool electro-hydraulic distributor of the hydraulic system.

On Fig - Cross section A ₁ -A ₁ (see Fig.19) of the back of the boom in the area of fastening outgoing from its tail compartment of the corresponding hydraulic lines.

On Fig - View B ₁ (see figure 3) from above on the boom head in the area of fastening of the cable inserts from the hoist hook and the spotlight suspended from it.

On Fig - View B ₁ (see Fig.9) side view of the horn.

On Fig - General view of the boom.

In Fig.34 - Cross section G ₁ -G ₁ (see Fig. 33) of the boom at the place of installation of the deflecting finger in it, minimizing the sagging of the flexible traction body of the hoisting winch in the vicinity of the pocket under the shaft end of its drive hydraulic cylinder.

On Fig - Cross-section D ₁ -D ₁ (see Fig.33) of the boom head at the place of fastening in it a rotating end block.

On Fig - View E ₁ (see figure 3) from the end to the boom head.

On Fig - General view of the body of the boom.

In Fig.38 - View W ₁ (see Fig.37) from below to the body of the boom.

In Fig.39 is a Cross section And ₁ -I ₁ (see Fig.37) of the boom body in the area of welding to its ceiling shelf protective tunnel pipe.

On Fig - Cross section K ₁ -K ₁ (see Fig.37) the body of the boom in the area of the vertically oriented rear jumper of its head.

On Fig - Cross section L ₁ -L ₁ (see Fig. 38) of the rear of the boom.

In Fig. 42 is a schematic diagram of a hydraulic crane-manipulator installation.

On Fig - General view of the remote control panel crane-manipulator installation in a perspective view.

On Fig - Figure of the operator of the crane-manipulator with a remote control in the working position.

On Fig - General view of the remote control in orthogonal projection.

On Fig - View M ₁ (see Fig.45) on top of the remote control.

On Fig - General electric installation diagram of electrical equipment located on the boom and slewing ring of the crane-manipulator.

On Fig - Cargo-height characteristic of one of the possible options for the implementation of the inventive crane-manipulator.

On Fig - General view of one of the possible options for using the inventive crane, as part of a specialized truck.

In Fig. 50 - Cross section H ₁ -H ₁ (see Fig. 49) of a specialized truck at the attachment point of the inventive crane, on its chassis.

In Fig.51 - Cross section O ₁ -O ₁ (see Fig. 49) specialized truck at the place of attachment of the inventive crane, on its chassis.

On Fig - Remote element P ₁ (see Fig.33), explaining the features of the design of the gravitational mechanism of tension of the flexible traction unit of the hoisting winch and fastening its hook.

On Fig - View P ₁ (see Fig) side view of the hook lifting hoist.

The inventive crane-manipulator 1 is designed to perform, mainly in the composition of specialized lifting vehicles 2, loading and unloading and installation works. In principle, it can also be used as an appropriate stationary hoisting equipment.

Structurally, the crane-manipulator installation comprises a pivoting device 3 with remote outriggers 4, 5 pivotally mounted on its pivoting part 6 with the possibility of angular movement in the vertical plane of a single-section all-welded boom 7 of a box section with a driving hydraulic cylinder 8, the shank 9 of the rod 10 of which is fixed with the corresponding way in its connectors 11, 12, and the housing 13 in the ears 14, 15 of the indicated rotary part, a hydraulic hoisting winch 16 with a hook 17 suspended at the end of the wound on it a drum 18 of a flexible traction member 19 brought to a freely rotating end block 21 installed in the boom head 20, a hydraulic system 22, appropriate safety features as part of a contact type hook height limiter 23 with an electric limit switch normally closed by means of a suspended weight 24, automatically opening when lifting the sinker with a hook in its highest position, limiters 25 ÷ 27 the maximum pressure in the hydraulic cylinders 28, 29 moving the self-supporting supporting heels 30 stem outriggers, load moment of the boom and lifting capacity of the winch, anti-overload devices 31 ÷ 33 for protecting structural elements of the rotary mechanism included in the support and rotary device 34 of its corresponding part, made on the basis of gear 35 with the corresponding hydraulic drive 36, one 37 of the kinematic links which is formed on the rotary part, and another 38 on the fixed frame base 39 of the slewing gear, as well as the boom and winch from the action of dynamic forces on them, lizable with a sharp change in the speed of movement of the load, the tilt indicator 40 of the slewing device and the horn 41 for supplying warning sound signals installed on the housing 42 of the rotary part of the slewing device and the boom head with the possibility of adjusting the spatial position, spotlights 43, 44 for lighting of the hook and the place of work and the electrical system 45, which ensures the functioning of the electrical equipment located on the rotary support and the boom with the corresponding switch control and control equipment 46, 47 and cable wiring 48.

The frame base 39 of the rotary support device 3 of the crane-manipulator installation 1 is made of two spaced apart in the longitudinal direction and kinematically connected to each other by means of a cylindrical hinge 49 of the transverse box-shaped guide 50 of the beam type with a vertically oriented hollow body 51 and a two-console balancer 52 with the corresponding support installation base and mounting and connecting elements 53 ÷ 56. Such a design of the frame base 39 of the pivoting device 3 provides a good fit of the supporting surfaces 57, 58 of the box guide 50 and the double-beam balancer 52 at four points to the plane of the corresponding mounting platform due to the possibility of relative rotation of the latter around the axis of the cylindrical joint 49 connecting them.

Remote outriggers 4, 5 of the pivoting device 3 are made in the form of a box-shaped guide 50 of its frame base 39 that are telescopically mounted in the inner cavity 59, with the possibility of moving in opposite directions and locking in extreme positions using two-position latches 60 of the crossbar type, two retractable beams 61 , on the outer ends of which pivoting legs 62 with self-supporting support heels 30, fixed to the extreme ends, are pivotally suspended formed on the basis of double-acting hydraulic cylinders 28, 29 x positions pintles 63, 64. When this sliding beam 61 extension outriggers 4, 5 are connected to the frame 39 of the base of positioner 3 through the flexible tethers 65, half-loops sag length not exceeding the stroke of said beams.

The pivoting part 6 of the pivoting device 3 is a two-support cantilever beam mounted in respective mounting sockets 66, 67 of the hollow body 51 of its frame base 39 with the possibility of rotation around its own axis, consisting of a box-shaped housing 42 welded together and provided with corresponding hollow supports 68 the upper end connector 69 and the ears 14, 15.

The support 68 of the rotary part 6 of the rotary support device 3 is made of cast steel in the form of a stepped pipe configuration of steel having good weldability with its body 42.

This feature of the structural design of the support allows to significantly simplify the manufacturing technology and improve its weight perfection in comparison with the known technical solutions (see, for example, US Pat. No. RU 2085471, B 66 C 23/84, 07.27.97).

Located on the support 68, one of the kinematic links 37 of the gear 35 of the rotation mechanism 34 is made in the form of a removable cylindrical sleeve, relatively small in height, secured by pressing and additional locking from turning by the radial pin pins 70, with a corresponding gear rim 71 made of high-strength hardened steel.

At the same time, a power belt 72 of increased strength is formed in the region of the upper cut of said support 68 from two outer frames 73, 74 spaced apart in height and closed by vertical ribs 75 discretely arranged in the circumferential direction. Ears 14, 15 with holes 76 for the axis 77 fastenings of the housing 13 of the drive hydraulic cylinder 8 of the boom 7 are made in one piece with the body of the power belt 72 and spatially placed between its frames 73, 74, covering them laterally with their asymmetrically radially developed planes my branches 78, 79 having a configuration of horizontally oriented rib-shaped struts.

In the design of crane-manipulators of this type, the rotary part of their supporting-rotary devices occupies a special position. An arrow of a crane-manipulator unit with a corresponding drive hydraulic cylinder is mounted on it. Kinematically, it is directly related to the mechanism of its rotation. Under the influence of sufficiently large operational loads, the design of the indicated part of the slewing ring device experiences a complex stress-strain state.

Therefore, the optimization of the power circuit and the specifics of the indicated technical solutions implemented in it, in addition to the above-mentioned positive aspects, provide high load-bearing ability and almost completely eliminate the possibility of its breakdown during operation of the inventive crane-manipulator installation.

Another kinematic link 38 of the gear 35 of the rotation mechanism 34 is made in the form of its first kinematic link 37 of the gear rack conjugated with the ring gear 71, the ends of which are articulated with the shanks of the rods 80, 81 of the two single-acting hydraulic actuators 36, providing alternately moving the rail in opposite directions.

Similar well-known turning mechanisms based on single rack and pinion gears with the corresponding hydraulic drive (see, for example, ed. Certificate SU 704888, B 66 C 23/86, 12/28/79, and SU 1009988, B 66 C 23/86, 07.04 .83, as well as Pat. RU 2096308, B 66 C 23/84, 11/20/97, etc.) are widely used in slewing rings of crane manipulators. This circumstance is mainly due to the presence of well-developed industry elemental base, relatively small dimensions of these mechanisms in the longitudinal direction and other factors.

At the same time, the last of the noted factors makes it possible to substantially reduce the corresponding sizes of the support and installation base of the crane-manipulator installation and to free on this basis a rather large place on the chassis of a specialized truck for other purposes.

Axial fixation of the rotary part 6 of the rotary support device 3 of the inventive crane-handling device 1 in the seating sockets 66, 67 of the housing 51 of the frame base 39 in the lower direction is made by installing between the lower end 84 of the kinematic link 37 of the gear 35 of the rotation mechanism 34 and adjacent to it the upper end 85 of the lower seat socket of the specified thrust bearing housing 86, consisting of a flat ring 87 made of hardened steel located above and a bronze spacer 88 located under it, respectively tweaking configuration.

From unauthorized movement in the mounting slots 66, 67 of the housing 51 of the frame base 39 of the slewing ring device 3 in the upper direction, its rotary part 6 is fixed by means of a split spring retaining ring 89 mounted on its support 68, interacting with the corresponding end face 90 fixed to the lower cut flat thrust ring housings 91.

This technical solution is not difficult to implement and provides a relatively small friction loss between the corresponding movable and fixed parts of the structure of the support-rotary device of the inventive crane-manipulator installation.

The housing 92 of the boom 7 of the inventive crane-manipulator installation 1 is made approximately equal strength from flat sheet profiles of the corresponding shape and size with local reinforcement in places of concentrated loads, and the head 20 is made of two spaced apart in the transverse direction and cantilevered in the internal cavity 93 of the housing , with a corresponding overlap in length, of the flat cheeks 94, 95 with eyes tilted downwards with holes 96 for the axis 97 of the fastening of the rotating end block 21.

The cheeks 94, 95 of the head 20 of the boom 7 are rigidly closed to each other by means of local jumpers 98 ÷ 100 located between them, within their outer circumference, and covering the eyes in front, in the plane of installation of the rotating end block 21, of the bracket-shaped limiter 101 of lateral movement of the flexible traction body 19 of the hoisting winch 16, with welding them at the interface with the indicated cheeks.

These features of the design of the boom of the inventive crane-manipulator installation allow to achieve maximum relief while maintaining the necessary bearing capacity and use for its manufacture the widely available standard sheet metal and simple technologies.

Inside the rear of the boom 7, a tail section 102 is formed with corresponding connecting holes 103 in the bottom 104 and a slotted opening 105 between the upper cut of its front wall 106 and the ceiling shelf 107 of its body 92, provided with an access hatch 109 that is overlapped by a removable cover 108.

The presence of such a compartment makes it possible to rationally use the internal space of the boom to place its corresponding equipment there, providing convenient access to it.

The connectors 11, 12 with holes 110 for the axis 111 of the shank 9 of the rod 10 of the drive hydraulic cylinder 8 of the boom 7 are mounted directly into the side walls 112, 113 of its body 92 behind the tail compartment 102, with the formation of a pocket 115 deepened inward and turned upside down 114 and a slit-like aperture 116 between it and a ceiling shelf 107 of the said casing, identical in cross section with a similar aperture 105 in the area of the tail compartment 102.

This technical solution allows for a given angular movement of the boom and limiting the corresponding transport dimension of the inventive crane-manipulator installation in a vertical plane to optimize the working stroke and the length of its drive hydraulic cylinder, as well as the structural strength in the region of the shank of its rod.

The side walls 112, 113 of the housing 92 of the boom 7 from the rear are reinforced externally with profiled along their outer contour, with a relatively small downward displacement and overlap of the location of the tail section 102 and connectors 11,12 under the axis 111 of the shank 9 of the shaft 10 of the rod 10 of its drive hydraulic cylinder 8 corresponding welded amplifiers 117, 118 provided with centrally made through them developed through-holes in diameter 119, providing the formation in these zones of additional reinforcing ring Varna 120 stitches.

The presence of these amplifiers allows a relatively simple way to significantly increase the actual moment of resistance of the rear part of the boom structure of the inventive crane-manipulator installed in the area concentrated loads.

In the shanks of the cheeks 94, 95 of the head 20 of the boom 7, curved cutouts 121 are made open from their ends, providing an increase in the total length and optimization of the configuration of the corresponding welds 122 in the zones of welding of the cheeks to the side walls 112, 113 of the boom body 92.

In the lower shelf 123 of the housing 92 of the boom 7, in the region of the bottom 104 of the tail compartment 102, between the front wall 106 of the specified compartment and the pocket 115 for the shank 9 of the rod 10 of the hydraulic drive cylinder 8 of the boom and directly behind the pocket, through drainage holes 124 ÷ 126 are made to drain the condensate from its respective cavities.

The winch 16 of the inventive crane-manipulator installation 1 is made in the form of a compact lifting module with a rotating drum 18, driven by a gerotor hydraulic motor 127, and a planetary gearbox 128 integrated into it, a disc brake 129 and corresponding hydraulic valves 130, 131, one of which is a brake and the other is of the “or” type. As a flexible traction body 19 of said winch 16, a double twist steel rope with a linear touch of wires in its locks of the LK-R type with one organic core was used.

Such a rope weakly unwinds under the action of a tensile load (or after removing it) around its own axis, when the hook is suspended on one branch.

The presence in the inventive crane-manipulator installation of a hydraulic hoisting winch allows you to perform loading, unloading, or installation, work requiring high accuracy and a smooth landing of moving objects, including those associated with lowering them to a great depth.

Structurally, the hoisting winch 16 is located in the tail compartment 102 of the boom 7 with rigid bolting 132 on its bottom 104, by wiring the flexible traction member 19 to the inside of the body 92 of the latter through the above slotted openings 105, 116 and the corresponding through hole 133 in the vertically oriented rear jumper 100 of it the head 20, by minimizing its sagging in the vicinity of the pocket 115 and by additional blocking in the stream 134 of the rotating end block 21 by means of the corresponding deflecting and locking fingers zev 135 and 136. The first of these fingers 135 is installed under the flexible traction body 19 with the elevation above the bottom 114 of the pocket 115 and securing with its ends in the side walls 112, 113 of the housing 92 of the boom 7, and the second - in the head 20 of the latter, above the rotating end block 21, with fixing in the holes 137 of its cheeks 94, 95 with the possibility of free rotation around its own axis and the formation of cantilevered protruding outward from them.

Such a placement of a hoisting winch with wiring of a flexible traction body the passage inside the boom body allows to reduce the corresponding dimensions of the boom and make its appearance more perfect.

The design used in the boom of the inventive crane-manipulator to streamline the location of the flexible traction body of its hoisting winch of the deflecting and locking elements is extremely simple, and their installation does not cause any difficulties. At the same time, the boom housing provides reliable shielding of the indicated flexible traction body, minimizing the likelihood of injury to the staff in case of emergency breakage.

At the free end of the flexible traction body 19 of the winch 16, in the area of connection of its hook 17 to it, a passive tensioning mechanism 138 of the gravity type is installed.

The hydraulic system 22 of the inventive crane-manipulator installation 1 is made according to a two-pump open circuit with the main adjustable axial piston and auxiliary removable (with manual or electric drive) pumps 139, 140, with the possibility of implementing combined control of the hydraulic drive 36 of the gear 35 of the rotation mechanism 34, driven a hydraulic cylinder 8 of the boom 7 and a hoisting winch 16, both remotely, for example, via an electric cable 141, using a remote control 142 of the belt type, and directly, in manual mode, for which purpose it includes the corresponding multi-section spool electro-hydraulic distributor 143, equipped with a block of control electromagnets integrated in it 144 and removable mechanical handles 145 for moving its spools 146, and only for manually controlling hydraulic cylinders 28, 29 for moving the self-supporting supporting heels of the remote outriggers 4 , 5 and switching operating modes from activating the latter to activating the hydraulic drive of the aforementioned transmission, the hydraulic drive cylinder boom and hoist winch and vice versa with the help of handles 147 ÷ 149 of the corresponding hydraulic distributors 150, 151 and three-way crane 152 with direct control, laying of hydraulic connecting lines 153 along the shortest routes, with the formation of the corresponding slacks and their discrete fixing in the necessary places on the plant metalwork at using mechanical clamps 154 and providing a supply of working fluid from a fixed frame base 39 to the rotary part 6 of the support-rotary device 3 and it is clear through a removable block 155 of standard single-channel movable connectors 156 of a rotary type with one degree of freedom, centrally fixed on the lower cut of the hollow body 51 of the indicated base.

Each of the single-channel movable connectors 156, assembled into a single hydraulic unit 155 of the hydraulic system 22, is made in the form of a hollow sleeve housing 157, with a lateral external threaded fitting 158 and a square neck 159 located above it, inside of which it is mounted, with the possibility of rotation around its own axis and forming a sealed slit-like annular cavity 160, thinned in its middle height portion, a cylindrical pin 161 with a corresponding axial connecting threaded fitting 162 and a blind price by drilling 163, which communicates its passage through the through holes 164 in the walls of the thinned part of the finger and the indicated slit-like annular cavity located opposite them with a lateral threaded fitting of the housing, fixed in the latter by means of corresponding thrust bearings 165, 166 of antifriction material and a split snap ring ring 167.

At the same time, single-channel movable connectors 156 are suspended by the necks 159 of their housings 157 in rectangular grooves 168 flat on them and discretely spaced apart in the circumferential direction, securing them from capturing by means of corresponding wire twists 170 provided with removable tabs 171 for bolting 172 of it on the lower cut of the hollow body 51 of the frame base 39 of the slewing device 3.

Such a design of the hydraulic system of the inventive crane-manipulator installation is rational both in terms of operation and in terms of optimizing its cost. This is due to the fact that the operations associated with the removal of the outriggers of the slewing ring device, transferring them to the transport position for this type of installation and switching the operating modes of the latter without special difficulties can be performed using direct (lever) control of the corresponding equipment of the specified hydraulic system, and direct production particularly dangerous loading or unloading or installation, works - using remote control, when the operator may be at some distance ie their place of or in specially equipped shelter.

The use of an adjustable axial piston pump in its composition allows during the operation of the inventive crane-manipulator installation by changing its working volume to accordingly vary the flow of working fluid to its actuators depending on the power they consume.

A regulator specially provided for in the design of this pump ensures a stepless change in its working volume in proportion to the working pressure in the hydraulic system of a crane-manipulator. For a relatively small number of hydraulic channels, in this case four, and a limited rotation angle of the boom of the inventive crane-manipulator installation in the circumferential direction, the method of supplying working fluid from the stationary frame base to the rotary part of the slewing ring and back is used as part of its hydraulic system. Standard single-channel movable connectors of a rotary type with one degree of freedom are quite simple in design and well mastered by the industry. The layout option of the block of the indicated connectors proposed for solving this problem is distinguished by ease of assembly and disassembly, as well as ease of access when the corresponding external hydraulic connecting lines are connected to it.

The auxiliary removable pump 140 is connected to the hydraulic system 22 through quick-acting end connectors 174 built into it behind the pressure filter 173 at the inlet of the winch 16, based on squeeze valves with ball-type locking mechanisms, which exclude the discharge (discharge) of the working fluid from the hydraulic system during removal specified pump.

The limiter 23 of the lifting height of the hook 17 of the hoist winch 16 is mounted on one of the cantilever ends of the locking pin 136 installed in the head 20 of the boom 7 with the coverage of it by a hanging weight 24 descending from the rotating end block 21, with self-orientation along the gravitational vertical, branch 175 of its flexible traction body 19 .

Limiters 25 ÷ 27 of the maximum pressure in the hydraulic cylinders 28, 29 of the movement of the self-supporting support heels 30 of the remote outriggers 4, 5, the load moment of the boom 7 and the load capacity of the winch 16 are made in the form of independently configured safety valves 176 ÷ 178, one of which is installed immediately before hydraulic distributors 150, 151 for controlling hydraulic cylinders 28, 29 for displacing said support heels, and the rest are integrated into respective sections 179, 180 of electro-hydraulic distribution the distributor 143 of the hydraulic system 22 along the power lines of the piston cavity 181 of the boom hydraulic cylinder 8 and the winch hydraulic motor 127 while rotating its drum 18 to lift the load.

The aforementioned anti-overload devices 31 ÷ 33 are made in the form of appropriately adjusted self-contained safety valves 182, 183 integrated into the corresponding section 184 of the electro-hydraulic distributor 143 along the supply lines of the hydraulic cylinders 82, 83 of the hydraulic drive 36 of the gear 35 of the rotation mechanism 34, as well as installed at the entrance to piston and rod cavities 181, 185 of the drive hydraulic cylinder 8 of the boom 7 and built-in directly into the hydraulic circuit 186 of the winch 16 normally closed hydraulic valve valves 187 and 130 with controllable locking elements.

In this case, the first of these brake valves 187 is mounted and rigidly fixed by means of bolts 188 to the base plate of the adapter-adapter 189, which is fixedly mounted on the housing 13 of the drive hydraulic cylinder 8 of the boom 7 with easily detachable coupling clamps 190.

This technical solution makes it possible to use the boom of the inventive crane-manipulator unit to be commercially produced by specialized enterprises to equip the drive hydraulic cylinder, which means that it is quite well-developed and reliable functionally mounted protective and regulating equipment of the mounted type in a modular design and, on this basis, greatly simplifies the design of the hydraulic cylinder itself and significantly improve its quality indicators. At the same time, mounting the brake valve mounted in this way on the hydraulic cylinder does not cause any difficulties.

Mounted on the head 20 of the boom 7, the spotlight 44 is rigidly fixed, with the front facing downward, on the other of the cantilever ends of its locking finger 136, from the side opposite to the placement of the height limiter 23 of the hook 17 of the winch 16.

Such fastening of the spotlight ensures automatic synchronization of its spatial position with the height limiter of the lifting hook of the hoisting winch under the action of the corresponding tensile force of its suspended weight.

In the inventive crane-manipulator installation, it is possible to adjust the spatial position of both headlight spotlights. In this case, the light spot located on the rotary part of the support-rotary device of the spotlight is focused in the direction of the place of work (to the boom head), and the other on the hook of the hoisting winch and located below the load gripping zone. Moreover, this adjustment of the first of these headlights is carried out immediately before the operation of the crane-manipulator, and then its spatial position during the production process is practically not adjusted.

Correction of the spatial position of another headlight, located on the boom head, due to its ability to self-orientation, occurs automatically during the operation of the crane-manipulator.

The inclination indicator 40 of the slewing-rotary device 3 of the inventive crane-manipulator installation 1 is made in the form of a pivot-type single-coordinate mechanical roll meter pivotally mounted on a horizontally located pin 191 of the housing 42 with a reference scale on the wall of the said housing facing it, on which are well formed distinguishable visually corresponding benchmarks 192, fixing the boundaries of its working position.

The indicator of such a design is extremely simple and cheap to manufacture, reliable in operation and convenient in operation.

Klaxon of the claimed crane-manipulator installation 1 is made in the form of a corresponding electro-acoustic device in a planless manner and is mounted, with the possibility of adjusting the spatial position, on the housing 42 of the rotary part 6 of its supporting-rotary device 3, opposite the corresponding spotlight 43. It has small dimensions and mass and is controlled by an electric channel. Its sound signal is clearly audible within the work site.

The cable wiring 48 of the electrical system 45 of the inventive crane-manipulator 1 is made in a single-wire circuit, with the connection of negative leads from external power sources to the metal structure of the slewing ring device 3 and boom 7, in the form of a combination of easily removable cable inserts 193 ÷ 200, in a modular design, with the corresponding terminal electrical connectors connecting the electrical equipment located on the boom and the slewing ring with the last commutator located on the frame base 39 block equipment equipped with connecting electrical connectors 201 ÷ 204 for connecting to it power cables 141, 205 from the remote control 142 and current sources, as well as cable inserts 193, 195 from the specified electrical equipment. At the same time, cable inserts 194, 199 extending from the limiter 23 of the lifting height of the hook 17 of the winch 16 and the boom 7 of the spotlight 44 mounted on the head 20, are laid inside the protective tunnel pipe 206 boiled to the ceiling shelf 107 of the boom body 92 and together with the cable inserts 196, 197 from the horn 41 and the other spotlight 43 through the connecting block 207 and the inner cavity 208 of the rotary part 6 of the rotary support device 3, which are fixed in the tail compartment 102 on the ceiling shelf of the specified housing, are brought out in the region of its lower cut and the cable insert 195 from the block of control electromagnets 144 of the electro-hydraulic distributor 143 of the hydraulic system 22 and indicators of the electric type of the degree of contamination of the replaceable filter elements of the pressure and drain filters 173 and 209 for cleaning the working fluid of the hydraulic system are laid on the metal structure of the frame base 39 of the slewing ring next to the corresponding connecting hydraulic lines 153, with the formation in the necessary places of weaknesses and garter to them with the help of bandages 210 tape type.

In connection with the aforementioned specifics of the cable wiring 48 of the electrical system 45 of the inventive crane device 1, the housing 42 of the rotary part 6 of the rotary support device 3 is electrically connected to the housing 92 of the boom 7 by means of a corresponding conductive cable insert 198.

Due to the indicated design features, it is relatively simple and cheap to manufacture, and is characterized by ease of installation and dismantling and ease of maintenance. Laying the specified cable wiring in the inner cavity of the boom body using a tunnel pipe for shielding almost completely eliminates the possibility of damage to it located near the flexible traction body of the hoisting winch.

The remote control 142 of the electrical system is equipped with a personalized key to turn on the power, two manipulator-type handles 212, 213 for supplying the appropriate commands to the control electromagnets 144 of the electro-hydraulic distributor 143 of the hydraulic system 22 with one of the horn 41 control buttons 215 embedded in the head 214, as well as an on-off autonomous a switch 216 for turning on and off the headlights-spotlights 43, 44 and the corresponding light indicators 217 ÷ 219, signaling the presence of ektropitaniya debris filter elements and the fact of the pressure and drain the filters 173 and 209 clean hydraulic fluid.

Without the specified key, no one except the operator will be able to supply the corresponding power supply to the electrical system of the claimed crane-manipulator installation. Handles of manipulator type used in the composition of this remote control are extremely simple and convenient to operate. They are perhaps most suitable for the operator, since their control movements are well associated in his mind with the corresponding working movements of the boom and hoisting winch.

One of the possible options for placing the inventive crane-manipulator 1 on the chassis 220 of an automobile vehicle 221 using the intermediate subframe 224 installed on its spinal spars 222, 223 is shown in Fig. 49.

The crane-manipulator 1 is mounted on the subframe 224 using the combination of the mounting and connecting elements 53 ÷ 56 of the box guide 50 and the double-beam balancer 52 of the frame base 39 of its support-rotary device 3 and covering the spinal side members 225, 226 of the subframe from both sides both individually, without the spars 222, 223 located under them of the chassis 220 of the automobile vehicle 221, and in a bag with them, the coupling threaded rods 227, 228, as well as the mounting washers 229, n trim strips 230 and compression and lock nuts 231, 232.

Such a mount is extremely simple in execution, has a sufficiently high weight perfection and provides the necessary stiffness of pairing and compatibility of deformation of the chassis of the vehicle and the subframe installed on it with a crane-manipulator.

To lay the boom 7 of the inventive crane, 1 in the design of such a specialized truck 2 should be provided with an appropriate rack 233.

The oil tank 234 of the hydraulic system 22 of the inventive crane-handling unit 1 is made in the form of an autonomous functional finished module installed on a subframe 224, or the chassis 220 of an automobile vehicle 221.

The axial piston pump 139 of the hydraulic system 22 of the crane 1 is placed on the subframe 224 or the chassis 220 of the automobile vehicle 221 near the engine power take-off of the indicated means used to drive it. In this case, the kinematic coupling of the drive shaft of the power take-off of the engine of the automobile vehicle 221 is carried out directly using the appropriate coupling or through an intermediate connector of the universal joint type.

The power supply of the electrical system 45 of the inventive crane-handling unit 1 when placing it on the chassis 220 of a motor vehicle 221 is carried out from its on-board power sources via cable 205.

Loading and unloading and installation work using the inventive crane-manipulator 1 is performed, as a rule, with the removal of the paws of 62 outriggers 4, 5. In the design of the inventive crane-manipulator 1, remote outriggers 4, 5 according to US Pat. RU 2124993, B 60 S 9/02, B 66 C 23/28, dated November 20, 2001

In the initial (transport) position of the paws 62 of the remote outriggers 4, 5 of the supporting-rotary device 3 of the crane-manipulator 1 are turned by the support heights 30 upwards and fixed by pivots 63, 64 inserted into the corresponding holes 235 in their body and the retractable beams 61, pushed to end into the inner cavity 59 of the box-shaped guide 50 of the frame base 39 with locking them there using two-position latches 60 of the crossbar type.

The transfer of remote outriggers 4, 5 to the working position is as follows. First, by removing the pivots 63, 64 from the openings 235 of the telescopic beams 61 and the pivots 62, the latter are unlocked. After the paws are unlocked, 62 remote outriggers 4, 5 are in a state balanced with respect to the axes 236 of their rotation. This balancing is achieved by the fact that the moments due to the weight of each of the paw legs 62 are balanced by the corresponding opposing moments realized by the elastically deformable elements 237, for example, of the spring type, kinematically linking these legs with the retractable beams 61. Then the legs 62 are rotated manually relative to the axes 236 by 180 ° supporting heels 30 down and fix them with pivots 63, 64 inserted into the holes 238 provided for this in their body and retractable beams 61.

After that, using the two-position latches 60, the sliding beams 61 are disengaged from the box guide 50 of the frame base 39 of the support-rotary device 3 and, by moving them manually, the legs 62 of the outriggers 4, 5 are carried out in the lateral direction.

In the extreme extended position, these beams 61 are locked using on-off latches 60. When performing this operation, unauthorized ejection of the retractable beams 61 from the inner cavity 59 of the box guide 50, for example, due to emergency cutting of the crossbars of the on-off latches or jamming of their springs, is excluded by means of flexible safety rails 65, limiting the magnitude of the stroke of these beams.

After making sure that the locking legs 62 and the retractable beams 61 are locked securely, the main (axial-piston) pump 139 of the hydraulic system 22 of the inventive crane-manipulator 1 is turned on and the control handle 149 of the three-way crane 152 is moved to position I (“Moving the supporting heels 30 of the outer swing legs 62 Outriggers 4, 5 ”). While the flow of the working fluid from the pump 139 is directed towards the hydraulic cylinders 28, 29 of these legs 62.

Then, with the corresponding movements of the control arms 147, 148 of the hydraulic distributors 150, 151 of the hydraulic system 22, their spools 239 are moved in the required direction. In this case, the working fluid through them and the corresponding hydraulic connecting lines 153 enter the piston cavities 240 of the hydraulic cylinders 28, 29 of the swinging legs 62 of the outriggers 4 , 5.

Under the action of pressure of the working fluid, the pistons with rods 241 of the indicated hydraulic cylinders 28, 29 and self-adjusting support heels 30 of the rotary paws 62 rigidly coupled to them drop down to the stop of the latter on the ground surface, ensuring the corresponding stability of the specialized truck 2 from tipping over.

In this case, the lowering of the supporting heels 30 of the rotary paws 62 of the remote outriggers 4, 5 can be carried out both individually (alternately) and simultaneously.

During the installation of the supporting heels 30 of the rotary paws 62 of the outriggers 4, 5 on the ground, the pressure in the piston cavities of the 240 hydraulic cylinders 28, 29 paws, and therefore the corresponding force of the heels to it is not exceeded, is provided by the limiter 25 by bypassing the working fluid from the indicated cavities to drain with a decrease in excess pressure in them to the required value, due to the setting of the safety valve 176 of the hydraulic system 22.

In principle, instead of the remote outriggers according to the patent RU 2124993, any other, for example, according to the patent RU 2116210, B 60 S 9/02, B 66 C 23/78 dated July 27, can be used in the design of the inventive crane manipulator without any restrictions .98 g., With a crank mechanism for turning the legs, with stationary (non-rotary) legs and hydraulically extendable beams for their removal, etc.

After making sure of the correctness and reliability of the exhibition of the rotary paws of 62 remote outriggers 4, 5, the handle 149 of the three-way crane 152 is moved to position II (“Operation of the rotation mechanism 34 of the rotary part 6 of the supporting-rotary device 3, the driving hydraulic cylinder 8 of the boom 7 and the hoisting winch 16”) .

In this case, the flow of the working fluid from the pump 139 is directed towards the indicated actuators of the crane-manipulator installation.

Then, unwind the electric cable 141 and connect one of its ends to the connecting electrical connector 201 of the switching equipment 46, and the other to the socket 242 of the control panel 142. The power supply to the electrical system 45 of the inventive crane-manipulator installation is carried out by the corresponding rotation of the key 211 of the control panel 142. In this case, the front panel 243 of the control panel 142 lights up the indicator light 217, confirming the presence of power in the electrical system 45.

Loading or unloading or installation work using the inventive crane-manipulator 1 can be carried out by appropriate manipulations of both its boom 7 and the rotation mechanism 34, and the hook 17 of the hoisting winch 16.

Before starting these operations, by pressing the button 215 of the control handle 213 of the control panel 142, using the horn 41, a corresponding audible warning signal is sent, notifying people in the danger zone of the need to urgently leave it.

Having ascertained that there are no unauthorized persons in the danger zone, the operator of the crane 1 will unlock the boom 7 and, using the control panel 142, lift it from the stand 233 of the specialized truck 2 and, turning in the circumferential direction with intermediate stops in two mutually perpendicular planes , using the indicator 40 of the inclination of the slewing device 3 visually controls the correct leveling of the latter relative to the gravitational vertical. With the correct exhibition of the slewing ring 3, the pendulum plummet 244 of the indicator 40 should be in the sector of the reference scale, limited by benchmarks 192. In this case, the actual angle of inclination of the slewing ring device 3 of the crane-manipulator does not exceed the value admissible under the conditions of its operation. This actually completes the transfer of the claimed crane-handling unit 1 in the working position.

For the necessary movement of the load, the boom 7 of the inventive crane-manipulator 1 by means of appropriate lifting (lowering) and turning it in the circumferential direction is mounted directly above it and, using the winch 16, lower the hook 17 last down and hang the specified load on it.

Then, with the help of a winch 16, the load is lifted to the required height and, by means of the corresponding angular movements of the boom 7 in the vertical plane and the circumferential direction, they are transferred to the place of unloading. In the indicated place with the help of the winch 16, the load is lowered down and removed from the hook 17.

In the process of performing loading and unloading, or installation, work, the raising (lowering) of the boom 7 of the inventive crane-manipulator 1 is carried out as follows.

To raise the boom 7 with the corresponding movement of the handle 213 of the remote control 142, a control signal is supplied to the necessary electromagnet 144 of the section 179 of the electro-hydraulic distributor 143 of the hydraulic system 22. When the electromagnet 144 is activated, the spool 146 of the indicated section 179 of the electro-hydraulic distributor 143 moves accordingly and the working fluid from the pump 139 through it , bypass circuit 245 located in the power line of the piston cavity 181 of the drive hydraulic cylinder 8 of the boom 7 normally closed behind ornogo type valve element 246 of the brake valve 187 and respective connecting hydraulic lines 153 enters the piston chamber of said cylinder.

Under the action of the working fluid pressure, the piston moves correspondingly with the rod 10 of the drive hydraulic cylinder 8 being extended and the boom 7 pivotally connected to its shaft 9 is lifted. At the same time, the working fluid is removed from the rod cavity 185 of the boom 7 of the hydraulic hadro cylinder 8 through the force-opening its piston cavity 181 corresponding to the control pressure, another locking element 247 of the same brake valve 187 located in the power line of the rod cavity of the specified gy drocylinder.

The load moment of the boom 7 of the inventive crane-handling unit 1 is not exceeded when lifting the load by means of a limiter 26 by bypassing the working fluid from the piston cavity 181 of its drive hydraulic cylinder 8 to drain through the safety valve 177 with a decrease in the overpressure in it to the required value determined by its setting .

To lower the boom 7 by the corresponding movement of the handle 213 of the remote control 142, a control signal is supplied to the necessary electromagnet 144 of the section 179 of the electro-hydraulic distributor 143 of the hydraulic system 22. When the electromagnet 144 is activated, the spool 146 of the indicated section 179 of the electro-hydraulic distributor 143 moves accordingly and the working fluid from the pump 139 through it , a bypass circuit 248 located in the power line of the rod cavity 185 of the drive hydraulic cylinder 8 of the boom 7 normally closed PORN type valve element 247 of the brake valve 187 and respective connecting hydraulic lines 153 enters the rod end of said hydraulic cylinder.

Under the action of pressure of the working fluid, the piston moves accordingly with the rod 10 of the drive hydraulic cylinder 8 retracted and the boom 7 pivotally connected to its shaft 9 is lowered. At the same time, the working fluid is removed from the piston cavity 181 of the drive hydraulic cylinder 8 of the boom 7 through a forcefully opened one taken from the supply line its rod cavity 185 with the corresponding control pressure, another locking element 246 of the same brake valve 187 located in the supply line of the piston cavity is indicated th cylinder.

With a sharp change in the speed of movement of the boom 7, for example, at the time of emergency braking of the lower load, it is protected from the overload that is realized while using the corresponding anti-overload device 32 by bypassing the working fluid to drain through the brake valve shut-off element 247 that opens in this case by the excessive pressure of this fluid 187.

In the event of an emergency break in the power supply lines of the drive hydraulic cylinder 8 of the boom 7, the working fluid is automatically locked by means of the normally-closing elements 246, 247 of the brake valve 187 and unauthorized lowering of the boom does not occur.

To lift the load with the winch 16, by a corresponding movement of the handle 212 of the remote control 142, a control signal is supplied to the required electromagnet 144 of the section 180 of the electro-hydraulic distributor 143 of the hydraulic system 22. When the electromagnet 144 is activated, the spool 146 of the indicated section 180 of the electro-hydraulic distributor 143 moves accordingly and the working fluid from the pump 139 through him and the corresponding connecting hydraulic line 153 enters the working cavity 249 of the hydraulic motor 127 drive its b Raban 18, in the direction of its rotation to lift the load, and simultaneously through the valve “or” type - under the pressure piston 250 of the normally closed (inhibited) disk brake 129. Under the influence of the working fluid pressure, the pressure piston 250 of the disk brake 129, overcoming the resistance of the pressure plate the springs 251 moves away from its friction discs, ensuring their release, and the output shaft 252 of the motor 127 comes into rotation.

From the output shaft 252 of the hydraulic motor 127, rotation through the coupling 253 is transmitted to the sun wheel 254 of the planetary gearbox 128 integrated into the drum 18 of the winch 16. The sun wheel 254 rotates the planetary gearbox gearbox 255 kinematically interacting with its crown wheel 256, the teeth of which are formed on the inner surface drum 18, and the latter begins to rotate in the direction of winding on it a flexible traction body 19.

When winding a flexible traction body 19 on the drum 18 of the winch 16, it lifts the load. The discharge of the working fluid from the opposite working cavity 257 of the hydraulic motor 127 during the lifting of the load is carried out through a normally closed shut-off element of the brake valve 130 of the winch 16, which is forcedly opened by the corresponding control pressure and is taken from the supply line of its other cavity 249.

When moving the hook 17 of the winch 16 to its highest position, the suspended sinker 24 of the limiter 23 is lifted by the upper cut of the mechanism 138 running into it with the formation of the corresponding slack of the sagging of its suspensions. In this case, the contacts of the limit switch of the limiter 23 of the lifting height of the hook 17 connected via the cable insert 194 to the electrical system 45 of the inventive crane-manipulator 1 are disconnected, the corresponding control electromagnet 144 of the section 180 of the electro-hydraulic distributor 143 of the hydraulic system is de-energized and the drum 18 of the hoisting winch 16 is automatically stopped.

To stop the drum 18 of the winch 16 in any of the intermediate positions, the handle 212 of the remote control is transferred to the neutral position. In this case, the locking element of the brake valve 130 of the winch 16 is closed, motionlessly fixing the hydraulic motor 127 of the drive of its drum 18.

Thus, there is a hydraulic stop of the drum 18 of the winch 16, and therefore of its hook 17 with a load suspended on it.

At the same time, the working fluid is discharged through the “or” valve 131 from under the pressure piston 250 and the latter is automatically moved towards the friction discs of the brake 129 under the action of the pressure disk springs 251, compressing them with the necessary force. As a result of the indicated braking of the friction discs of the brake 129, an additional mechanical blocking of the drum 18 of the hoist winch 16 from turning around its own axis occurs.

Non-exceeding the installed lifting capacity of the winch 16 when lifting the load is provided by means of a limiter 27 by passing the working fluid to the drain through the safety valve 178 with a decrease in the excess pressure in the corresponding working cavity 249 of the hydraulic motor 127 to the required value due to the setting of the specified valve.

To lower the load by the winch 16 by a corresponding movement of the handle 212 of the remote control 142, a control signal is supplied to another electromagnet 144 of the section 180 of the electro-hydraulic distributor 143 of the hydraulic system 22. When the electromagnet 144 is activated, the spool 146 of the indicated section 180 of the electro-hydraulic distributor 143 moves accordingly and the working fluid from the pump 139 through him, the bypass circuit 258 located in this power supply line of the hydraulic motor 127 normally closed locking element brake th valve 130, an “or” valve 131 and the corresponding hydraulic connecting lines 153 simultaneously enter the hydraulic motor working cavity 257 and under the pressure piston 250 of the disc brake 129. In this case, the pressure piston 250 overcomes the resistance of the pressure disk cup springs 251 under the influence of the working fluid pressure, the brakes 129 move away from its friction discs and the latter brake and the output shaft 252 of the hydraulic motor 127 starts to rotate in the opposite direction after removing this mechanical lock and, in the direction of winding the flexible traction member 19c of the winch drum 18 16. The rotation of the output shaft 252 of the hydraulic motor 127 is transmitted through the coupling 253 to the sun wheel 254 and further from it through the satellites 255 to the crown wheel 256 of the planetary gearbox 128. Since the crown wheel 256 is rigidly connected with the drum 18, the latter comes into rotation in the direction of winding the flexible traction member 19 from it. As a result of winding the flexible traction member 19, the hook 17 of the winch 16 is correspondingly lowered with the load suspended on it. The discharge of the working fluid from another cavity 249 of the hydraulic motor 127 when lowering the load is carried out along the corresponding connecting hydraulic lines 153 through the spool 146 of the section 180 of the electro-hydraulic distributor 143 of the hydraulic system 22.

With a sharp change in the speed of the load lowered by the winch, for example, at the time of emergency braking, it is protected from overloading which is realized by means of the corresponding anti-overload device 33 by passing the working fluid to drain through the locking element of the brake valve 130 that opens in this case by the excessive pressure of the specified fluid.

In the event of an emergency break in the power supply lines of the hydraulic motor 127 of the winch 16, the working fluid is automatically locked by the brake valve 130 in the corresponding working cavity 257 of the specified hydraulic motor and its output shaft 252 cannot be turned. As a result, the drum 18 stops and unauthorized lowering of the load does not occur.

To turn the boom 7 in the circumferential direction by a corresponding movement of the handle 213 of the remote control 142, a control signal is supplied to the required electromagnet 144 of the section 184 of the electro-hydraulic distributor 143 of the hydraulic system 22. When the electromagnet 144 of the indicated section 184 of the electro-hydraulic distributor 143 is actuated, its spool 146 moves accordingly and the working fluid from pump 139, depending on the required direction of rotation of the rotary part 6 of the slewing ring 3, It flows through it and the corresponding connecting hydraulic lines 153 into the working cavity 259 of one of the two, for example 82, hydraulic cylinders of the hydraulic drive 36 of the gear 35 of the rotation mechanism 34.

Under the influence of the working fluid pressure, the rod 80 of the specified hydraulic cylinder 82 and the corresponding kinematic link (rack) 37 of the gear 35 of the rotation mechanism 34 are articulated with it 34. The translational movement of the specified link (rack) 37 is converted into the rotational motion of the other link kinematically connected to it 38 (ring gear 71) of the gear 35 formed on the rotary part 6 of the slewing device 3, and with the latter the image is rotated accordingly m is pivotally fixed at its upper end 7 claimed boom crane-manipulator 1.

At the same time, the rod 81 of the other hydraulic cylinder 83 is recessed with a moving kinematic link (rail) 37 of the gear 35 inside its body 260. In this case, the working fluid from the cavity 259 of the specified hydraulic cylinder 83 is discharged through the corresponding hydraulic connecting lines 153 directly through the spool 146 of the electro-hydraulic distributor 143.

The change of direction of rotation of the rotary part 6 of the slewing gear 3 with the boom 7 fixed to it is carried out by supplying the working fluid to the cavity 259 of the hydraulic cylinder 83 of the hydraulic drive 36 of the gear 35 of the rotation mechanism 34. In this case, the kinematic link (rail) 37 of the specified gear 35 is moved by the rod 81 hydraulic cylinders 83 in the opposite direction.

With a sharp change in the speed of rotation of the boom 7 in the circumferential direction, for example, at the time of emergency braking of the transported load, the structural elements of the mechanism of its rotation 34 are protected from the effects of overloads realized by means of the corresponding anti-overload device 31 by bypassing the working fluid from the working cavities 259 of the hydraulic cylinders 82, 83 of the hydraulic drive 36 of the gear transmission to drain through the safety valves 182, 183 with a decrease in overpressure in these cavities to values due to their setting. The electro-hydraulic distributor 143 of the hydraulic system 22 of the inventive crane-manipulator 1 provides proportional control during its operation, in which the intensity of movement of the actuators is directly proportional to the corresponding deviations of the handles 212, 213 of the remote control 142.

The fact that the filter elements of the pressure and drain filters 173, 209 of the hydraulic system 22 of the inventive crane-manipulator 1 are clogged is detected by the lighting on the front panel 243 of the remote control 142 of its respective light indicators 218, 219. When the indicated indicators light up, the operation of the crane-manipulator installation is stopped and replaced clogged filter elements with new ones.

After removing the transported cargo from the hook 17 of the winch 16 of the inventive crane-manipulator 1, the tension of its flexible traction member 19 is carried out by a gravity-type mechanism 138, structurally made in the form of a hollow body 261 of the corresponding mass with eyes 262, 263 in its lower part under the hinge axis 264 the hook and installed therein with mechanical isolation through the thrust ball bearing 265 of the thrust bearing 266 with eyes 267, 268 in the upper part of the latter under the axis 269 of attachment of the free end connector 270 indicated of flexible traction organ. Due to the specifics of its design, this mechanism, in addition to ensuring constant tension of the winch’s flexible traction body, almost completely eliminates the possibility of its hook being unrolled by the flexible traction body after removing the load from it. The latter circumstance greatly facilitates the task of choosing the type of rope for the specified organ of the winch and increases the safety of its operation.

At the end of the loading or unloading or installation work, the boom of the inventive crane-handling unit 1 is installed on the rack 233 of a specialized truck 2 and fixed in this position, after which, acting in the reverse order, they are also transferred to the initial (transport) position and outriggers 4, 5.

In the event of failure of the remote control 142 to return the above actuators of the inventive crane-manipulator 1 to its original (transport) position, the necessary movements of the spools 146 of the corresponding sections 180, 181, 184 of the electro-hydraulic distributor 143 are carried out in direct (manual) control mode using removed from the set of spare parts, tools and fixtures of removable handles 145. In case of emergency breakdown of the engine of a motor vehicle 221 for lowering or lifting the load by the winch 16, use an auxiliary manual pump 140 of the hydraulic system 22. Moreover, depending on the type of the specified pump, the supply of working fluid to the hydraulic motor 127 and the disc brake 129 of the winch 16 is carried out manually by means of a reverse swing with the required frequency of its handle or using as the pump drive of the corresponding electric motor connected to the battery pack.

In stationary use, the inventive crane-manipulator installation is not placed on the chassis of an automobile vehicle, but on a special stand equipped with appropriate connecting elements. At the same time, the same frame base of its rotary support device can be used as the support and installation base of this installation. Only in this case, remote outriggers of the specified device are not involved. This allows you to use the inventive crane-manipulator without any restrictions, for any conditions of its application. In principle, for the stationary version of the inventive crane-manipulator installation, mainly at the request of the customer or for other reasons, the frame base of the slewing device of the type considered can be replaced by its modification of a simplified design, for example, with a flat mounting base in the form of a plate of the required dimensions with appropriate mounting hardware.

The inventive crane-manipulator installation has a relatively simple kinematics and low price. It is unpretentious in service, easy to manage and meets all the safety requirements provided for for this kind of equipment by relevant regulatory documents.

The design of the inventive crane-manipulator installation used domestic materials widely used in crane construction and the vast majority of components, rational technical solutions and standard manufacturing techniques.

With this in mind, as well as the relevant requirements of GOSGOR-TECHNADZOR for such products, it can be repeatedly reproduced according to the documentation developed for it in serial production at specialized engineering plants that have the necessary equipment, personnel and the appropriate regulatory and regulatory base.

Currently, NK Uralterminalmash CJSC has developed design documentation, according to which a full-size working prototype of the inventive S-75K crane-manipulator unit with a maximum reach of 6.27 m and a load capacity (at all departures) of 0.5 tons has been produced.

The effectiveness of the technical solutions incorporated in the design of the inventive crane-manipulator installation, as well as the possibility of obtaining the above-mentioned technical result when carrying out the invention, which consists in simplifying the design and improving its technical and operational qualities, are confirmed by the corresponding calculations and the results of full-scale tests of the existing prototype.

The decision on the mass production of the inventive crane-manipulator unit will be made after comprehensive testing in real conditions at the customer’s training sites as part of a specialized truck.

Claims (14)

1. A crane-manipulator installation for carrying out, mainly as a part of specialized hoisting-and-transport vehicles, loading and unloading and installation works, comprising a slewing-rotary device, which is made with the corresponding hydraulic drive and gear transmission, one of the kinematic links of which is formed on the rotary part and the other - on a fixed frame base of the slewing gear, pivotally mounted on its rotary part with the possibility of angular movement in vertical planes are a single-section, all-welded box-section boom with a drive hydraulic cylinder, the stem shank of which is fixed accordingly in its connectors, and the body - in the ears of the indicated rotary part, remote outriggers, a hydraulic hoisting winch with a hook suspended on the end of a flexible traction unit wound on its drum on a freely rotating end block installed in the boom head, hydraulic system, hook lift height limiter, winch load capacity limiter, headlights - rozhektory lighting hook and places of work and electrical system that provides operation placed on supporting-turning device and the boom Electrical with appropriate switching and control equipment and cabling, characterized in that it is provided with limiters limit value of pressure in the hydraulic cylinders moving the self-aligning bearing toe extension outriggers and load moment of the boom, anti-overload devices of the rotation mechanism of the slewing ring equipment, booms and winches from the action of dynamic forces arising upon a sharp change in the speed of movement of the load, an indicator of the inclination of the support-rotary device, a horn for the supply of warning sound signals and indicators of the electric type of the degree of contamination of the replaceable filter elements of the pressure and drain filters for cleaning the hydraulic fluid, while the outriggers are mounted on retractable beams that are connected to the frame base of the slewing ring via flexible full-time files whose sagging half-loop does not exceed the working stroke of the indicated beams, the support of the rotary part of the slewing ring is made of steel in the form of a stepped configuration pipe made of steel having good weldability with its body, and one of the kinematic gear links of the rotation mechanism located on it - in the form of a removable cylindrical sleeve with a corresponding gear in steel from high-strength hardened steel, and in the region of the upper cut of the indicated support, a belt is formed of two external frames spaced apart in height, closed by vertical ribs discretely arranged in the circumferential direction, and the ears with holes for the axis of attachment of the housing of the boom drive hydraulic cylinder are integral the whole with the body of the specified belt and spatially placed between its frames, covering them laterally with their asymmetrically radially developed flat branches with the configurations of horizontally oriented rib-shaped struts, the boom head is made of two spaced apart in the transverse direction and cantilevered in the internal cavity of the housing with corresponding overlap along the length of the flat cheeks with downward-inclined eyes with holes for the axis of attachment of the rotating end block in them, rigidly closed to each other by means of bridges located between them, within their outer contour, jumpers and covering eyes in front, in the installation plane a trailing end block, a brace-like limiter of lateral movement of a flexible traction unit of a hoisting winch, with their welding at the place of interfacing with the indicated cheeks, and a tail section with a slotted opening between the upper cut of its front wall and the ceiling shelf of its body is formed inside the back of the boom, equipped with a removable removable cover with an access hatch, and connectors with holes for the axis of attachment of the shank of the stem of the drive hydraulic cylinder of the boom are built directly into the side walls of the decree of the housing behind the tail section with the formation around them of a pocket buried inward and turned upside down and a slit-like opening between it and the specified ceiling shelf, identical in cross section with the same opening in the area of the tail section, the hoisting winch is located in the tail section of the boom with hard bolting on its bottom, by wiring a flexible traction body to the passage inside the housing of the latter through the specified slotted openings and the corresponding through hole in a vertical orientation the rested jumper of its head, and the locking in the creek of the rotating end block by means of the corresponding deflecting and locking fingers, the first of which is installed under the flexible traction body with an elevation above the bottom of the pocket and securing its ends in the side walls of the boom body, and the second in the head of the boom, above a rotating end block, with fastening in the holes of its cheeks with the possibility of free rotation around its own axis and the formation of ends cantilever protruding from them outward, the hydraulic system It was made according to a two-pump open circuit with a main adjustable axial piston and auxiliary removable pumps, with the possibility of combined control of a hydraulic gear drive of the rotation mechanism, a boom hydraulic drive cylinder and a hoisting winch both remotely, via an electric cable, using a belt-type remote control, and in manual mode, for which it includes the corresponding multi-section spool electro-hydraulic distributor, equipped with a block control electromagnets built into it and removable mechanical handles for moving its spools, as well as with the ability to manually control the hydraulic cylinders for moving the self-supporting supporting heels of the remote outriggers and switching operating modes from the latter to engaging the hydraulic drive of the above gear transmission, the boom hydraulic cylinder and the hoisting winch and vice versa using the handles of the corresponding hydraulic distributors and the controlled three-way valve ana, laying connecting hydraulic lines along the shortest routes, with the formation of the corresponding slack and discrete fastening of these lines to the metal structures and ensuring the supply of working fluid from the fixed frame base to the rotary part of the slewing ring and back through the centrally removable removable base of the hollow body of the indicated base block of single-channel movable connectors of a rotary type with one degree of freedom, height limiter for lifting the hook hook a one-piece winch is mounted on one of the cantilever ends of a blocking finger installed in the boom head with a hanging sinker covering its limit switch coming off the rotating end block, with self-orientation along the gravitational vertical, branches of its flexible traction body, limit pressure limiters in the hydraulic cylinders for moving the self-supporting supporting foot of the remote outriggers, load moment of the boom and lifting capacity of the winch are made in the form of appropriately configured autonomous safety valves, one of which is installed directly in front of the hydraulic control valves of the hydraulic cylinders for moving the indicated support heels, and the rest are integrated into the corresponding sections of the electro-hydraulic distributor of the hydraulic system along the supply lines of the piston cavity of the boom drive cylinder and winch hydraulic motor when its drum rotates to lift the load, the aforementioned anti-overload devices are made as appropriately configured standalone anitelnyh valves integrated in the corresponding section of the electro-distributor of power supply lines of a hydraulic drive gear rotating mechanism and mounted at the inlet of the piston and the rod end of the drive boom cylinder and embedded directly in the hydraulic circuits winch normally closed hydraulic brake valves with controllable shut-off elements, wherein the first of the said brake valves is mounted and rigidly fixed by means of bolts to the support There is a transition-docking adapter fixedly mounted on the housing of the boom hydraulic drive cylinder using detachable coupling clamps, spotlights for illuminating the hook and the place of work are installed on the housing of the rotary part of the support-rotary device and the boom head of the crane-manipulator with the possibility of adjusting the spatial position moreover, the headlight-spotlight located on the boom head is rigidly fixed, with the face facing downward, on the other of the cantilever ends, its blocking finger, on the side opposite to the placement of the winch hook height limiter, the cable system is made in a single-wire circuit, with negative leads connected from external power sources to the metal structure of the slewing ring and boom in the form of a set of detachable cable inserts in a modular design with corresponding end electrical connectors connecting the electrical equipment located on the boom and slewing ring, located on the frame base of the last switching equipment in block design, equipped with connecting electrical connectors for connecting to it power cables from the remote control and current sources, as well as cable inserts from the specified electrical equipment, moreover, coming from the height limiter for lifting the hook of the winch and the searchlight headlight mounted on the boom head cable inserts are laid inside the protective tunnel pipe welded to the ceiling shelf of the boom body and together with cable inserts from axon and other spotlight through the connecting block and the internal cavity of the rotary part of the rotary support mounted in the tail compartment on the ceiling shelf of the specified housing are brought out in the lower section of this rotary part to the outside, and the cable inserts from the control electromagnet block of the said electro-hydraulic distributor and electric indicators type of degree of clogging of replaceable filter elements of pressure and drain filters for cleaning the working fluid of the hydraulic system tallokonstruktsii frame base of the device next to the corresponding connecting hydraulic lines to form at necessary slacks and garter thereto by means of a belt-type bandages. 2. The crane-manipulator installation according to claim 1, characterized in that in it the axial fixation in the lower direction of the rotary part of the slewing ring in the mounting sockets of the frame base body is made by installing between the lower end of the kinematic link of the gear of the rotation mechanism fixed thereon and adjacent to it the upper end of the lower mounting socket of the specified thrust bearing housing, consisting of a flat ring of hardened steel located on top and underneath bearings of the corresponding configuration made of high-strength antifriction material, and axial locking from displacement in the upper direction - with the help of the split spring snap ring mounted on the support of the indicated part, interacting with the corresponding end face of the flat thrust ring fixed on the lower cut of the frame base body. 3. The crane-manipulator installation according to claim 1, characterized in that in it the side walls of the boom body from the rear are reinforced externally with profiled along their outer contour with overlapping the area of the tail section and the connectors under the axis of the shaft end of its drive hydraulic cylinder with corresponding flat welded amplifiers equipped with through holes centrally made in them, providing the formation in these zones of additional reinforcing ring welds. 4. The crane-manipulator installation according to claim 1, characterized in that in it in the shanks of the cheeks of the boom head there are made curved cut open from their ends, providing an increase in the total length of the corresponding welds in the zones of welding of the cheeks to the side walls of the boom body. 5. The crane-manipulator installation according to claim 1, characterized in that through it, in the lower flange of the boom housing, in the region of the bottom of the tail compartment, between the front wall of the compartment and the pocket under the shaft end of the boom drive hydraulic cylinder and directly behind the pocket, are made through drainage holes for draining condensate from its respective cavities. 6. The crane-manipulator installation according to claim 1, characterized in that in it the flexible traction body of the hoisting winch is made in the form of a double-strand steel rope with a linear touch of wires in strands with one organic core. 7. The crane-manipulator installation according to claim 1, characterized in that in it at the free end of the flexible traction body of the winch, in the area of connection of its hook to it, a passive tensioning mechanism of the gravity type is installed. 8. The crane-manipulator installation according to claim 1, characterized in that in it each of the single-channel rotary-type single-channel movable connectors coupled into a single hydraulic unit, providing a supply of working fluid from the frame base to the movable part of the slewing-rotary device, is made in the form of a hollow body sleeve type, with a lateral external connecting threaded fitting and a square neck located above it, inside which is installed, with the possibility of rotation around its own axis and the formation of sealants an aforementioned slit-like cavity, thinned in its mid-height part, a cylindrical pin with a corresponding axial connecting threaded fitting and a blind central drilling that communicates its passage through the through holes in the walls of the thinned part of the finger and the specified slot-like cavity with a lateral threaded body fitting located opposite them, fixed in the latter with the help of appropriate thrust bearings made of antifriction material and a split retaining spring ring, and they are suspended by the necks with oih housings in profiled by them discontinuously spaced in the circumferential direction of the rectangular grooves of a flat disk with fixing them by means of respective wire nevypadaniya twists provided with removable legs for bolting it to the lower section of the hollow body base frame slewing device. 9. The crane-manipulator installation according to claim 1, characterized in that in it the connection of the auxiliary removable pump to the hydraulic system is made through the built-in behind the pressure filter for cleaning the working fluid, at the entrance to the hoist winch, end connectors having release valves with lock valves ball-type mechanisms. 10. The crane-manipulator installation according to claim 1, characterized in that the tilt indicator of the rotary support device is made in the form of a pendulum type single-coordinate mechanical roll gauge pivotally mounted on a horizontal pin of the housing with a reference scale on the wall of the indicated side case on which visually relevant benchmarks are formed, fixing the boundaries of its working position. 11. The crane-manipulator installation according to claim 1, characterized in that the horn in it is made in the form of a corresponding electro-acoustic device and is fixed with the possibility of adjusting the spatial position on the housing of the rotary part of the support-rotary device, opposite the corresponding spotlight. 12. The crane-manipulator installation according to claim 1, characterized in that in it the housing of the rotary part of the slewing ring is electrically connected to the housing of the boom by means of a corresponding conductive cable insert. 13. The crane-manipulator installation according to claim 1, characterized in that the remote control for the electrical system is equipped with a personalized power switch, two manipulator-type handles for supplying appropriate commands to the control electromagnets of the electro-hydraulic distributor of the hydraulic system with a control button integrated in the head of one of them horn, as well as a two-position autonomous switch for turning on and off the headlights, spotlights and corresponding light indicators, ignaliziruyuschimi to the presence of the power supply and the fact of clogging of filter pressure and drain the working fluid of said hydraulic system filters. 14. The crane-manipulator installation according to claim 1, characterized in that the passive tensioning mechanism of the gravitational type is made in the form of a hollow body of the corresponding mass with eyes in its lower part under the axis of the articulation of the hook and installed in it through the thrust ball bearing of the thrust bearing with lugs in the upper part of the latter under the axis of attachment of the connector of the free end of the flexible traction body of the hoisting winch.

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