RU189827U1 - HYDRAULIC CRANE MANIPULATOR MOBILE MACHINE - Google Patents

Abstract

The utility model relates to the field of lifting and transport machinery, namely, the structures of crane-manipulators installed on mobile transport-technological machines and performing loading and unloading of piece goods. The hydraulic crane-manipulator of the mobile machine, mounted on the chassis of the mobile machine, contains supplied the rotary support column around the vertical axis, on the upper end of which a hinged articulated boom consisting of a root is fixed by means of a hinge th section and leads into reciprocating pivoting motion in a vertical plane of the hydraulic power cylinder with the fixed end section at its end opposite lifting body. Differs in that the root section has no mechanism of movement and is made of two links of equal length, connected by a hinge, and the hinge connecting the root and end sections performs reciprocating motion along the guide along the vertical axis using a vertically mounted power hydraulic cylinder. As an option, the end section is made telescopic.

Description

The invention relates to the field of lifting and transport machinery, namely, the design of crane-manipulators installed on mobile transport and technological machines and performing loading and unloading works with piece goods.

A known design of a three-link hydraulic crane-manipulator (Patent RU No. 104167, VS66C 23/00, 2011), consisting of a rotary bearing structure mounted on the frame of the base vehicle and an articulated boom connected to it, consisting of two sections, on the upper part of which a load gripping body is fixed, as well as a reciprocating movement equipped with power cylinders of the reciprocating and pivoting movements and both boom sections [1].

The closest in technical essence to the proposed utility model and adopted for its prototype is a three-link hydraulic crane-manipulator (Patent RU №2312057, В66С 23/44, В66С 23/78, 2007), mounted on the vehicle chassis and containing the rotation mechanism around the vertical axis is a supporting and rotating structure and two sections (a boom and a knee with a telescopic rod) in series and pivotally connected, a lifting body at the end of the knee; and columns, the boom hoist drive, the knee pivot drive and the drive extension of the telescopic arm in the form of power cylinders [2]. To ensure the vertical rotation of the boom in the vertical plane, the power cylinder of the boom movement mechanism is located between the rotary support structure and the boom, the stationary hydraulic cylinder body being pivotally connected to the rotary support body, and the end of the movable hydraulic cylinder rod is pivotally connected to the boom housing. When reciprocating movement of the rod of the power cylinder under the action of the pressure of the working fluid supplied to the cylinder from the pumping station of the vehicle, the angle between the longitudinal axes of the rotary support and the boom changes. Increasing this angle leads to the lifting of the boom and, accordingly, the transported cargo.

A significant disadvantage of the considered prototype is the unsuccessful (from the point of view of the direction of operating loads) orientation of the power cylinder, which provides a reciprocating rotation of the boom together with a knee and a load transported in a vertical plane relative to the longitudinal axis of the boom. A specific structural feature of the prototype (and analogue) is that the line of translational movement of the rod of a given hydraulic cylinder, i.e. the line of action of the driving force developed by the hydraulic cylinder always forms an acute angle with the longitudinal axis of the boom being moved by it. In the process of turning the boom, this angle changes, and when lifting it decreases and reaches its minimum value when the boom is in its upper position. For currently operating hydraulic loader cranes, the minimum angle value can be α = 8 ... 12 °, as a result of which the driving force required to rotate the boom developed by the power hydraulic cylinder should be no less than 1 / sinα = 5 ... 7 times the sum of the weight of the transported load and the weight of the metal structure of the boom and the knee [3].

The technical problem to which the proposed utility model is aimed at is to increase the energy efficiency of the hydraulic drive of the crane-manipulator (reducing the power of its pumping station) due to a significant decrease in the magnitude of the driving force that the booster hydraulic cylinder of the back-and-forth movement of the boom should perform to perform the required return - turning movement with required passport speed.

To solve this technical problem in a hydraulic crane-manipulator of a mobile machine, mounted on the chassis of a mobile machine and containing a rotary column with a rotary mechanism around a vertical axis, at the upper end of which a hinged articulated boom consisting of a root section and attached in the reciprocating movement in the vertical plane by the power cylinder of the end section with a load gripping body fixed at its end, the root section does not have a mechanism and movement and is made of two links of equal length, connected by a hinge, and the hinge connecting the root and end sections performs a reciprocating motion along the guide along the vertical axis with the help of a vertically mounted power hydraulic cylinder. As an option, the end section of the crane is made telescopic.

The utility model is explained in more detail using the drawings. All elements not required for direct understanding of the utility model are excluded (in particular, elements for axial fixation of parts, threaded fasteners, fittings and pipelines for supplying working fluid to hydraulic cylinders, etc.). FIG. 1 shows the kinematic scheme of the proposed hydraulic crane; in fig. 2 - a general view of the crane-manipulator (side view); in fig. 3 is a view A of FIG. 2; in fig. 4 is a view B in FIG. 2; in fig. 5 is a section of the EE of FIG. 2; in fig. 6 is a section of the LF in FIG. 2; in fig. 7 is a sectional view BB in FIG. 2; in fig. 8 - section GG in FIG. 3; in fig. 9 is a section DD in FIG. 4 (turned); in fig. 10 is a sectional view 3-3 of FIG. 4 (turned); in fig. 11 is a radial section of the working area of service crane loader; in fig. 12 shows design schemes for loading a power cylinder for a prototype and a proposed utility model; in fig. 13 is a radial section of the working area of service crane crane with a telescopic end section.

The hydraulic crane-manipulator of the mobile machine consists of a vertically supported rotary structure 1 (Fig. 1-5, 11-13) fixedly fixed with its base 2 (Fig. 1-4, 11, 13) on the chassis of the mobile machine at point A (Fig. 1-4, 12, 13). To the upper end of the rotary support structure 1 (Fig. 1-5, 11-13) with the help of a swivel 3 (Fig. 1-4, 11-13) the root section of the boom 4 (Fig. 1) is attached. It consists of two links 4a (Fig. 1-6, 11-13) and 4b (Fig. 1-4, 6, 9, 11-13) of equal length. Swivel 3 (Fig. 1-4, 11-13) is formed by two pairs of eyelets 5 (Fig. 3-5) and 6 (Fig. 3-5) made from thick-walled sheet metal, for example, the first of which is fixed using welding) at the free end of the slewing bearing structure 1 (Fig. 1-5, 11-13), and the second at the lower end of the link 4a (Fig. 1-6, 11-13). A hinge pin 7 (Fig. 3-5) is inserted into the coaxial holes of these lugs, which provides a kinematic connection between the turntable support 1 (Fig. 1-5, 11-13) and link 4a (Fig. 1-6, 11- 13) the root section of the boom 4 (Fig. 1). In turn, the links 4a (Fig. 1-6, 11-13) and 4b (Fig. 1-4, 6, 9, 11-13) are interconnected by means of a hinge connection 8 (Fig. 1-4, 11 -13), which allows them to make a reciprocating movement relative to each other in a vertical plane. Swivel 8 (Fig. 1-4, 11-13) is formed by two pairs of lugs 9 made of thick-walled sheet metal (Fig. 3, 4, 6) and 10 (Fig. 3, 4, 6), the first of which is fixed (for example, by welding) at the upper end of the link 4a (Fig. 1-6, 11-13), and the second at the lower end of the link 4b (Fig. 1-4, 6, 9, 11-13). A hinge pin 11 (Fig. 3, 4, 6) is inserted into the coaxial holes of these lugs, which provides a kinematic connection between the links 4a (Fig. 1-6, 11-13) and 4b (Fig. 1-4, 6, 9, 11-13) the root section of the boom 4 (Fig. 1). By the end of the link 4b (Fig. 1-4, 6, 9, 11-13) with the help of a swivel 12 (Fig. 1-4, 11-13) is fixed end section of the boom 13 (Fig. 1-4, 10), consisting of two links 13a (Fig. 1, 2, 11-13) and 13b (Fig. 1, 2, 10-13). Swivel 12 (Fig. 1-4, 11-13) is formed by one pair of lugs made of thick-walled sheet metal (Fig. 3, 4, 7, 8), which are fixed (for example, by welding) at the upper end of the link. 4b (FIGS. 1-4, 6, 9, 11-13), and the holes in the side walls 15 (FIGS. 7, 8, 10) of the box-shaped cross section of the end section of the boom 13 (FIGS. 1-4, 10). In the coaxial holes of these lugs and side walls of the end section of the boom 13 (Fig. 1-4, 10) a hinge pin 16 is inserted (Fig. 3, 4, 7, 8), which provides a kinematic connection between link 4b (Fig. 1-4 , 6, 9, 11-13) and the end section of the boom 13 (Fig. 1-4, 10). The links 13a (Fig. 1, 2, 11-13) and 13b (Fig. 1, 2, 10-13) are rigidly interconnected, and their longitudinal axes form a blunt angle β (Fig. 2). At the free end of the end section of the boom 13 (Fig. 1-4, 10) is mounted a load gripping body 17 (Fig. 1-3, 12) for securing the transported cargo. The rotary support structure 1 (Fig. 1-5, 11-13) is equipped with a power hydraulic motor (conventionally not shown), which provides for its reciprocating and rotary movement relative to the vertical axis AB (Fig. 1-4, 12, 13). The supporting hydraulic cylinder 18 (Fig. 1, 3, 4, 11-13) of the reciprocating mechanism of the end section of the boom 13 (Fig. 1-4 , ten). The longitudinal axis of the power cylinder 18 (Fig. 1, 3, 4, 11-13) is vertical and parallel to the vertical axis AB (Fig. 1-4, 12, 13). The end of the rod of the power cylinder 18 (Fig. 1, 3, 4, 11-13) through the stud 19 (Fig. 3, 4, 7, 8) is pivotally connected with the hinge pin 16 (Fig. 3, 4, 7, 8). The hinge pin 16 itself (Fig. 3, 4, 7, 8) is fixed by means of a bearing cage 20 (Fig. 7, 8) in a groove 21 (Fig. 2, 7) of a vertically mounted guide 22 (Fig. 2, 4, 5 , 7, 8), which is fixedly mounted on a pivoting structure 1 (Fig. 1-5, 11-13). The longitudinal axis of the guide 22 (Fig. 2, 4, 5, 7, 8) is parallel to the vertical axis AB (Fig. 1-4, 12, 13). Guide 22 (Fig. 2, 4, 5, 7, 8) has a longitudinal groove 21 (Fig. 2, 7) for reciprocating movement of the hinge pin 16 (Fig. 3, 4, 7, 8). Guide 22 (Fig. 2, 4, 5, 7, 8) passes through the end section of the boom 13 (Fig. 1-4, 10), therefore, in the steel sheets of its upper and lower zones are made rectangular notches 23 (Fig. 7, 8) to ensure the free swing of the end section of the boom 13 (Fig. 1-4, 10) within the limits of the established maximum allowable angle of its return-swivel movement. To ensure the strength and stiffness of the cross sections of the end section of the boom 13 weakened by cuts (Fig. 1-4, 10), stiffening ribs 24 are welded along the perimeter of the cuts 23 (Fig. 7, 8). The power cylinder 25 (Fig. 1, 2, 4, 9, 11-13) of the mechanism for the reciprocating movement of the end section of the boom 13 (Fig. 1-4, 10) with its body by means of the shackle 26 (Fig. 4, 9), a pair of lugs 27 (fig. 3, 9) and hinge pin 28 (fig. 9) are hingedly attached to link 4b (fig. 1-4, 6, 9, 11-13) of the boom root section 4 (fig. 1), and with its rod using the earring 29 (Fig. 10) and the hinge pin 30 (Fig. 4, 10), passed through the holes in the side walls 15 (Fig. 7, 8, 10), is pivotally attached to the free end of the link 13b (Fig. 1, 2, 10-13) the end section of the boom 13 (Fig. 1-4, 10).

The utility model works as follows. A vertically mounted support-swivel structure 1 (Fig. 1-5, 11-13) using the hydraulic drive of its reciprocating-turning mechanism (not shown) provides rotation of the support-rotary structure 1 itself (Fig. 1-5, 11-13) and kinematically connected with it root 4 (Fig. 1) and end 13 (Fig. 1-4, 10) boom sections of the crane-manipulator together with fixed in the load gripping body 17 (Fig. 1-3, 12) transported cargo around the vertical axis AB (Fig. 1-4, 12, 13). Of the two boom sections of the crane-manipulator, only one is driven - the end section of the boom 13 (Fig. 1-4, 10), while the other - the root section of the boom 4 (Fig. 1) does not have its own individual mechanism of movement. Its functional purpose is to provide an inseparable kinematic connection between the drive end section of the boom 13 (Fig. 1-4, 10) and the turntable support 1 (Fig. 1-5, 11-13), as well as in the placement of the power cylinder 25 ( Fig. 1, 2, 4, 9, 11-13) the mechanism of the reciprocating movement of the end section of the boom 13 (Fig. 1-4, 10). The power cylinder 18 (Fig. 1, 3, 4, 11-13) due to the reciprocating displacement of its stem under the action of the working fluid supplied to its working cavities (pipelines for supplying the working fluid conventionally not shown) provides vertical reciprocating movement as a single the whole end section of the boom 13 (Fig. 1-4, 10). Strictly vertical movement of the end section of the boom 13 (Fig. 1-4, 10) is ensured by the fact that strictly vertical movement has a hinged connection 12 (Fig. 1-4, 11-13). To do this, on the hinge pin 16 (Fig. 3, 4, 7, 8) there is a bearing housing 20 (Fig. 7, 8), which moves in the longitudinal groove 21 (Fig. 2, 7) of the guide 22 (Fig. 2, 4 , 5, 7, 8), fixedly mounted on a pivotal design 1 (Fig. 1-5, 11-13), with its longitudinal axis parallel to the vertical axis AB (Fig. 1-4, 12, 13) of the crane . The power cylinder 25 (Fig. 1, 2, 4, 9, 11-13) due to the reciprocating displacement of its rod under the action of pressure supplied to its working cavity working fluid (pipelines for supplying working fluid conventionally not shown) provides a reciprocating-turning movement in the vertical plane of the end section of the boom 13 (Fig. 1-4, 10) as a whole with respect to the longitudinal axis of the swivel 12 (Fig. 1-4, 11-13). Power cylinders 18 (Fig. 1, 3, 4, 11-13) and 25 (Fig. 1, 2, 4, 9, 11-13) can work both separately and simultaneously, resulting in a lifting device 17 (Fig 1-3, 12) together with the transported cargo can make either translational or rotary movement in the vertical plane, or a complex translational-rotary movement in vertical stability. In this case, the working area of service of the crane-manipulator, i.e. the geometrical position of the points of location of the lifting body 17 (Figs. 1-3, 12) at all possible positions of the rods of the power cylinders of the mechanisms of movement of the crane-manipulator will have a cylindrical shape with the cross-sectional shape shown in FIG. eleven.

To assess the effectiveness of the proposed utility model compared to the prototype (and similar) consider the loading conditions of the power cylinder 18 (Fig. 1, 3, 4, 11-13) for the known and proposed designs of the hydraulic crane of the mobile machine. Calculated loading schemes are presented in FIG. 12. During the operation of the prototype crane-manipulator, the power hydraulic cylinder of the boom lifting mechanism of the prototype 31 (Fig. 12) should develop such a driving force on its rod F ₃₁ that could overcome the operating loads arising from the weight of the transported load G, the weight of the root section of the prototype boom 32 (FIG. 12), the weights of the links G _13a and G _{13b of the} end section of the boom. From the equilibrium condition of the root section of the boom of the prototype 32 (Fig. 12) with respect to the swivel 3 (Fig. 1-4, 11-13), you can determine the desired force by the dependence

where h is the shoulder of the action of the weight of the load relative to the swivel 3 (Fig. 1-4, 11-13); h ₃₂ - shoulder action of the weight of the root section of the boom of the prototype 32 (Fig. 12) relative to the swivel 3 (Fig. 1-4, 11-13); h _13a , h _13b is the shoulder of the weight of the links 13a (Fig. 1, 2, 11-13) and 13b (Fig. 1, 2, 10-13), the end section of the boom relative to the swivel 3 (Fig. 1-4, 11 -13); h ₃₁ - the shoulder of the action of the force developed by the power cylinder of the boom lifting mechanism of the prototype 31 (Fig. 12), relative to the swivel 3 (Fig. 1-4, 11-13).

Analysis of the design scheme of loading the prototype (Fig. 12) and formula (1) shows that the value of the force F ₃₁ changes during the operation of the crane and reaches its maximum value F ₃₁ , _max at the maximum raised position of the root section of the boom of the prototype 32 (FIG. 12), since in this position the arm h _{31 of the} action of the force developed by the power cylinder of the boom lifting mechanism of the prototype 31 (FIG. 12), relative to the swivel 3 (FIGS. 1-4, 11-13), is minimal. The data known in the literature [3] suggests that when lifting an arrow, the value of F ₃₁ may change 4 ... 6 times or more. The power of the power cylinder of the mechanism for lifting the boom of the prototype 31 (Fig. 12) according to [4] is approximately determined by the dependence

where ν is the passport speed of movement of the hydraulic cylinder rod; η - the efficiency of the hydraulic drive.

In the case of the proposed utility model during its operation, the power cylinder 18 (Fig. 1, 3, 4, 11-13) of the mechanism for reciprocating the end section of the boom 13 (Fig. 1-4, 10) should develop such a driving force on its a rod F ₁₈ that could overcome the operational loads arising from the weight of the transported load G, the weight of the links G _{4 a} and G _{4b of the} root section of the boom 4 (Fig. 1), the weight of the links G _{13 a} and G _{13b of the} end section of the boom 13 (Fig. 1-4, 10). From the equilibrium condition of the projections of the forces reduced to the hinged connection 12 (Fig.), Relative to the vertical axis AB (Figs. 1-4, 12, 13), it is possible to determine the required force by the dependencies:

Analysis of the calculated loading scheme of the utility model (FIG. 12) and formula (3) shows that the magnitude of the force F ₁₈ does not change during the operation of the crane-manipulator and remains constant regardless of the position of the boom. Thus, the utility model provides stable loading conditions for the power cylinder 18 (FIGS. 1, 3, 4, 11-13) during work, which has a positive effect on the reliability (durability and reliability) of the crane-manipulator as a whole. The power of the power cylinder 18 (Fig. 1, 3, 4, 11-13) is also approximately determined by the dependence, similar to the formula (2):

The advantage of the proposed utility model over the prototype (and analogue) in the energy efficiency of the hydraulic crane-manipulator can be quantitatively expressed using a relative energy efficiency ratio equal to the ratio of the required power of the power cylinders of the prototype and the proposed utility model:

Calculations show that in all cases the coefficient K _er ≥1. As an example, let us consider the AST-4-A mobile energy machine for welding of trunk pipelines [5] manufactured by the domestic industry and equipped with a hydraulic crane-manipulator with a nominal capacity G = 7.5 kN. The kinematic scheme of the crane-manipulator of this machine is similar to the considered prototype and analog (Fig. 1, 12). According to the available calculations [6], the maximum force at the rod of a power cylinder is F _{31, max} = 78 kN. The magnitude of the force F ₁₈ calculated by the formula (3) on the basis of the passport characteristics of the machine AST-4-A is F ₁₈ = 12.3 kN. Thus, to the crane of said mobile machine efficiency coefficient K _er = 6.3, i.e. The use of a crane of the new design would make it possible to reduce the power of the hydraulic cylinder of the boom raising mechanism approximately 6 times and, thus, significantly reduce the total capacity of the crane hydraulic station. In absolute figures, this is expressed by the following values: the power of the crane hydraulic station (the total power of the three power cylinders of the movement mechanisms) of the AST-4-A machine is 33 kW, whereas the power of the crane installation could be 22 kW, i.e. 33% less.

As an embodiment, the link 13a (fig. 1,2, 10-13) of the end section of the boom 13 (fig. 1-4, 10) is made telescopic. As can be seen from the analysis of FIG. 13, this allows, during the operation of the mobile machine, to change the length of the link 13a (FIGS. 1, 2, 10-13) and, thus, increase the working area of the crane-manipulator.

The main technical and economic result from the introduction of the utility model is achieved by increasing the energy efficiency of the hydraulic installation of the crane-manipulator by reducing the required power of the hydraulic drive movement mechanisms. An additional effect is associated with an increase in the reliability of operation of the crane-manipulator due to the stability of the magnitude of the operational load acting on the most loaded power cylinder of the reciprocating mechanism of the end section of the boom.

Information sources

1. Pat. 104167 Russian Federation, IPC В66С 23/00. Three-link hydraulic crane / Lagerev I.A., Lagerev A.V .; applicant and patent holder Bryansk State Technical University. - №2010153018 / 11; declare 12/23/2010; publ. 05/10/2011, Byul. №13.

2. Pat. 2312057 Russian Federation, IPC В66С 23/44, В66С 23/78. Crane-manipulator / Zvolinsky V.P., Saldaev A.M., Saldaev G.A., Saldaev D.A .; Applicant and patent holder of the Caspian Research Institute of Arid Agriculture of the Russian Academy of Agricultural Sciences. - # 2005137754/11; declare December 5, 2005; publ. 10.12.2007, Bull. 34

3. Lagerev, I.A. Dynamics of three-link hydraulic cranes-manipulators / I.A. Lagerev, A.V. Lagerev. - Bryansk: BSTU, 2012. - 196 p.

4. Lagerev, A.V. Design of pump hydraulic drives of lifting and transport equipment / A.V. Lagerev. - Bryansk: BSTU, 2006. - 232 p.

5. Lagerev, A.V. Optimization of the design of a crane-manipulator for welding pipelines during modernization / A.V. Lagerev, I.A. Lagerev // Lifting and transport. - 2013. - №1 (71). - p. 4-7.

6. Lagerev, A.V. Modeling of working processes in the throttle-regulated hydraulic actuator of the manipulation systems of mobile machines with separate movement of links / A.V. Lagerev, I.A. Lagerev // Scientific and Technical Bulletin of Bryansk State University. - 2018. - №4. - p. 355-379.

Claims (2)

1. Hydraulic crane of the mobile machine, mounted on the chassis of the mobile machine and containing a turntable column equipped with a turning mechanism around a vertical axis, at the upper end of which, using a hinge, an articulated boom is fixed, consisting of a root section and driven into reciprocating and turning movement in the vertical plane by the power cylinder of the end section with a load gripping body fixed on its end, characterized in that the root section has no movement mechanism and is made of two links of equal length, connected by a hinge, the hinge connecting the root and end sections reciprocates along the guide along the vertical axis with the help of a vertically mounted power cylinder. 2. The hydraulic crane-manipulator of the mobile machine according to claim. 1, characterized in that the end section is made telescopic.

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