Design of manipulator crane on Ural 4320 chassis

Contents

Introduction

1. General information about manipulator cranes

2. General calculation of the manipulator crane

2.1.Valuation of technical level

2.2. Calculation of hydraulic mechanisms parameters

2.3 Calculation of hydraulic mechanism of the second boom section

3. Calculation of operating equipment of the manipulator crane

3.1.Compute boom

3.2.Section selection

3.3. Calculation of hook shank

4. Labor protection during operation of the manipulator crane

Literature

Appendix A Specifications

Project Description

Design of the manipulator crane on the truck chassis: course project/Gaidur A., gr. PTM28, kaf. PTSDMO.- Makeevka: DonNASA, 2015. - 36s., 4 Fig., 2 Table, 2 approx., 4 source, 2 sheet A1.

The purpose of the course project is to design a crane-manipulator on the chassis of a truck. General information on manipulators is given. General calculation of crane, parameters of hydraulic mechanism, operating equipment of crane-manipulator is performed.

CRANE-MANIPULATOR, LIFTING CAPACITY, LOAD TORQUE, LIFTING HEIGHT, BOOM DEPARTURE

Introduction

Modern trucks are one of the bases for creating

special manipulator cranes. The wide popularity of this relatively new type of lifting equipment is due to the significant variety of technologies and types of work performed in various sectors of the economy (construction, transport, agriculture, etc.) [2].

The use of manipulator cranes allows solving in construction

such an important task as the creation of additional mechanized workplaces. Russian factories are increasing the production of manipulator cranes. Currently, a sufficient amount of technical information has been accumulated to reveal some trends and features of the use of manipulator cranes in construction and transport.

Installation of the manipulator itself is allowed on a wide range of trucks, of a variety of sizes. At the moment, there are several different types of such manipulators. All of them are distinguished by their own specificity and capabilities. One of the main criteria for dividing into use classes is the capabilities of a working "boom," such as its

departure, the value, the maximum weight of the working load, as well as the type of car used. The manipulator is a universal solution to many problems, since through the manipulator the driver performs all the work without using additional equipment.

Understanding Manipulator Cranes

A manipulator crane is a technical means that is an unloading and loading apparatus that simulates the functions of a human hand. The term "manipulator" itself refers to a technical means for controlling the spatial position of tools and objects of labor. The simplest and most understandable analogue is the human hand, which has many degrees of freedom with great power and a simple device. It is not so difficult to recreate a device similar to the work of a human hand in technology. Similar devices have been known since the beginning of the 20th century. It was in the 20th century that the science of robotics actively developed, which today has been transformed into a rather complex theory of automatic control.

Cranes-manipulators are both a lifting and a vehicle with great technological capabilities. This allows you to use the car to transport the crane manipulator plant (CMU) itself to the place of loading and unloading, but also to transport goods.

Crane-manipulator - a lifting machine consisting of a crane-manipulator plant (CMU) mounted on a vehicle.

Crane manipulator unit (CMU) is a lifting device including boom equipment, load gripping elements, mechanisms, control system and support frame.

A manipulator crane is a universal car that can be installed on any truck.

Manipulator cranes are classified by vehicle type:

on automobile, pneumatic wheeled, short-phase, tracked, on a special chassis, on the chassis of wheeled and tracked tractors, rail, railway, rearranged, trailed, self-aligning, installed on the foundation.

By boom equipment type

with a rigid (hinged) suspension of the load-gripping element - the load-gripping element (hook, grip, etc.) is hinged to the boom tip;

with flexible (rope) suspension of load-gripping element (hook, grip, etc.) - with cargo winch.

Purpose of manipulator cranes

The crane-manipulator unit can be mounted both behind the car cabin and behind the body. Such a vehicle can also tow a trailer, and the area for handling is increased. The location of the crane manipulator behind the body is often used for the configuration of emergency vehicles.

The manipulator crane can be installed on a tracked chassis - such a machine is suitable for off-road work.

Manipulator cranes are designed for handling, loading and unloading of the vehicle on which they are installed. They are compactly folded in a transport position, have a light weight and are mounted on almost all trucks. The weight of the manipulator, as a rule, does not exceed 2025% of the useful carrying capacity of the base car, which ensures the effective use of the car for its intended purpose - for the transportation of goods.

Manipulator cranes are designed primarily for the mechanization of loading and unloading operations: lifting and moving loads both single and in containers, packages and pallets, as well as small-piece, forest assortments and other long-numbered meters, metal scraps and others. The manipulator crane on the car is effectively used in the performance of installation work, in low-rise construction, in repair and restoration work, in dispersed objects, when working in cramped conditions.

Having high maneuverability, accuracy of movements, the car, having a crane-manipulator simplifies the process of loading and unloading operations. Combining the car and the crane-manipulator saves money and time.

The use of manipulator cranes allows to halve the number of vehicles for cargo delivery by eliminating unproductive outages in anticipation of loading and unloading, accelerate delivery and in most cases abandon the use of boom, tower and other cranes in loading and unloading operations.

Cargo transportation of large-capacity cargo cannot be carried out without the involvement of a crane. Trucks equipped with manipulator units allow you to transport a wide variety of goods: from building materials to households, equipment and equipment.

The manipulator crane can be effectively used in low-rise construction.

Having high maneuverability, accuracy of movements, the car, having a crane-manipulator simplifies the process of loading and unloading operations.

The only disadvantage that cranes have should be considered a small or medium load capacity. According to these indicators, cranes-manipulators of the autonomous type are significantly inferior to stationary construction equipment. But it should be borne in mind that in their purpose the two types of special equipment differ significantly from each other.

Field of application of manipulator cranes:

transporting trees, transporting household goods, transporting machine tools, transporting shells;

Loading and unloading and transportation of various large goods;

transportation of oversized goods;

transportation of domestic appliances;

transportation of machines, various equipment and special equipment;

transportation of trees, garages, trading tents, etc.

the carriage of glass;

emergency and faulty vehicles.

Additional equipment

Manipulator cranes can be equipped with various replaceable equipment, hydraulic grips for piece loads and containers, grapes for loose and finely chunked materials, cradle for lifting people, etc. Manipulator cranes are effectively used in public utilities, low-rise construction, repair and restoration work, at dispersed facilities and in cramped conditions, successfully replacing boom self-propelled cranes and car lifts (towers).

One or more hooks can be installed on the crane-manipulator for carrying out lifting operations. The main hook of the highest load capacity is fixed on the retractable section of the boom and serves to work with large loads within the cargo characteristics of the crane. On the end sections of the boom extensions of the manipulator crane, additional hooks can be installed for working with small loads and at large flights. It is strictly forbidden to exceed the lifting capacity of the hooks of the crane-manipulator in order to avoid crane breakage or cargo drop.

Depending on the vehicle on which the crane manipulator is installed, it is equipped with single-stage or two-stage remote supports with a base of up to 5.6 m, in addition to two more hydraulic supports. By order, work operations are controlled from the ground from one of the two consoles located on both sides of the vehicle, or from the column, where in this case the operator's seat is installed. Also, the manipulator cranes can be equipped with an electrohydraulic remote control system that allows controlling the manipulator crane from a distance.

Basic truck crane-manipulator

The basic vehicle of the manipulator crane undergoes the following modifications:

• An additional power intermediate frame is installed on the truck's own frame.

• The vehicle body is shortened or displaced .

• Power take-off box (PTO) of manipulator crane with hydraulic pump is installed on gearbox.

• The pneumatic and electrical systems of the car have been reworked (an electro-pneumatic valve, a button for switching on the PTO and the manipulator crane have been installed ).

Care of crane manipulators.

Competent maintenance of any equipment is the key to productivity, profitability of equipment, which is literally in the hands of its owner. Cranes manipulators are rather unpretentious technical means that most modern self-propelled construction machines are equipped with in Europe and the West. But even in temperate climates, they can be exposed to significant temperature swings. The operating instructions always specify the operating conditions and recommendations for machine care for the operator. It provides detailed maintenance of all drive systems and units, main units and mechanisms.

Serviceability check shall be performed regularly. If necessary, some simple operations must be performed daily. This can be a check of lubrication of hydraulic cylinder seals, check of actuator serviceability, check of wiring, oil level in the hydraulic pneumatic system, etc. Over time, experience appears and the most frequent problems that arise in the manipulators are detected, so inspection will not take much time.

Depending on the type of manipulator actuator, care may vary. For each individual type of engine, there are different operating conditions and operating parameters. Timely and correct maintenance throughout the manipulator life will significantly extend the service life and maintain a high level of operability.