Experimental research of modes of movement of manipulator crane with load at combination of movements

Abstract

In order to increase the productivity and reliability of a hydraulic-powered loader crane, according to the normative-technical documentation regulating the safe operation of multi-link cranes, it is allowed to combine movements with the simultaneous movement of several links of the boom system. As a result, the paper considers a technique for conducting experimental studies in the plane of changing the boom system of a loader crane with a load. Experimental studies were carried out under the condition of simultaneous angular movement of the jib and a decrease in the linear movement of the telescopic section. To carry out experimental studies, an experimental installation of a hydraulic-driven loader crane was designed and manufactured. Measuring and recording equipment has been selected and adjusted. In the framework of experimental studies of the dynamics of movement of the boom system of a loader crane with a load, a control system for drive mechanisms has been developed, which makes it possible to realize the optimal modes of movement of the links of the boom system. As a result, experimental studies were carried out under the condition of the simultaneous movement of the jib and the telescopic section with a load at the end of the boom system. A package of data on real and optimal modes of movement of the links of the boom system of the loader crane was received. The processed data are presented in graphical form and a comparative analysis with real and optimal modes of movement is carried out. The developed method of experimental research has made it possible to determine the effect of the simultaneous movement of the boom and jib on the oscillations of the load, and the effect of the oscillations of the load on the dynamic loads arising in the boom system and the drive mechanisms of the loader crane.