Machinery & Energetics

In order to improve the performance and reliability of the hydraulic loader crane according to the regulatory and technical documentation governing the safe operation of multi-link loader crane, it is allowed to combine movements with simultaneous movement of several links of the jib system. As a result, the paper considers the method of constructing a mathematical model in the plane of change of departure of the jib system of a link loader crane with a load. The functions of changing the kinematic and dynamic characteristics of the jib system while simultaneously moving its links are calculated. The construction of a mathematical model is performed using the Lagrange equations of the second kind. In this case, for the generalized coordinates of the model of a loader crane, the angular coordinates of the position of the links of the jib system and the angular deviation of the load. And the mechanical characteristics of the drive, presented in the form of quadratic dependencies between the acting forces and the speeds of movement of the hydraulic-cylinder rod. The control of the drive elements is represented as equations of the working fluid flow rate with a change in the flow area of the spool hydraulic distributor according to a linear law. As a result, the equation of motion of the loader crane was obtained, taking into account the influence of the inertial component of each link of the jib system and the influence of the oscillatory movement of the load on the dynamic loads of the metal construction and the hydraulic drive elements. The developed mathematical model makes it possible to theoretically determine the effect of the simultaneous movement of the jib and arm on the oscillations of the load, and the effect of the oscillation of the load on the dynamic loads arising in the jib system and elements of the loader crane drive.

mathematical model, varying the radius, combination of movements, loader crane, Lagrange equations of the second kind, dynamic loads, load oscillations