RU2252909C2 - Crane-manipulator plant hydraulic system - Google Patents

Abstract

FIELD: materials handling equipment.

SUBSTANCE: proposed hydraulic system contains actuating members of drives of corresponding mechanisms of crane-manipulator plant made in form of hydraulic motors, pump, tank with drain filter for cleaning working fluid, electrohydraulic distributing and protective-and-safety and regulating devices with corresponding hydraulic connecting main lines, two-circuit overload safeguard and control system with cables. Pump of hydraulic system is made adjustable, with possibility of stepless change of power and is furnished with sensitive-to-load unit maintaining constant pressure differential between pump output and pressure pipeline of most loaded actuating member, and main distributor to control actuating members of drive of mechanisms of above-indicated plant is made in form of sectional electrohydraulic distributing module sensitive to load. Hydraulic system is made for increasing load capacity of crane-manipulator plant. Arrangement and other decisions and remote control system of hydraulic drive are optimized.

EFFECT: improved performance and other characteristics of hydraulic system.

3 cl, 33 dwg

Description

The invention relates to hydraulic systems of crane manipulators and other lifting machines.

A number of analogues of the invention are known both in domestic and foreign development (see, for example, SU 411030, B 66 C 23/86, B 60 P 1/16, 1/15/1974; Pat. 5421155 USA, F 16 D 31 / 02.06.06.95 / Hirata Toichi, Sugigama Genroku, Jshikawa Koji, Ochiai Masami, Hitachi Construction Machinery Co., Ltd. No.211417, Announcement 08.25.93, Priority 08.25.92 No.4-226031 /; ISS hydraulic system 4032, the details of which are given in “Manuals for operators (operators) on the safe operation of cranes”, compiled by N.A. Shishkov, M., NPO OBT, 1995. LBC 32.816N, P62, UDC [621.856. 8- 5: 658/382/3]: 658.386.06, pp. 40-66, Fig. 15, etc.).

The vast majority of the well-known hydraulic systems of crane manipulators and other lifting machines are built on a traditional elemental base and relatively outdated technical solutions that do not allow achieving the necessary control perfection and safety of work that meets the modern technical level and, consequently, the competitiveness of the machines of this class.

This issue has been discussed in sufficient detail in the articles of A. V. Rustanovich (OJSC VNIIstroydormash) and V. I. Doroshenko, A. A. Ginzburg (GKSTB GA, Gomel), published on pages 13-20 and 34-38 SDM magazines No. 10 for 1995 and No. 5 for 1998, M., ed. "Engineering", "Construction and road machines."

In addition, in many of the well-known crane-manipulator installations, hydraulic connecting lines and electric cables of the control system are laid directly on the metal structure of the machine with the formation in the necessary places of the corresponding half-loops (slack) of their sagging.

However, this technical solution is imperfect. The presence of mechanical connections between the stationary and moving parts of the machine in the form of corresponding hydraulic and cable bundles of relatively small length, with a certain rigidity, significantly limits the angle of a possible relative rotation or linear movement of these parts, which significantly reduces the technical capabilities of the machine. An increase in the length of the half-loop of the sagging of the indicated communication paths can lead to damage if they are accidentally grazed over the metal elements of the machine or the transported load and creates a well-defined danger for the operating personnel, as well as worsen its presentation.

One of the most effective ways to overcome technical difficulties associated with this circumstance is the use of load-sensitive hydraulic systems, in which the input parameters of the hydraulic drive (flow and pressure in the pressure line) are controlled based on feedback on the output parameters of the system (maximum pressure in the actuators and their total consumption), equipping them with appropriate safety devices, optimization of circuit layout and other technical solutions, as well as system control topics using the latest microprocessor technology and related software.

Hydraulic systems of this kind can be built on the basis of modern, for example, commercially available Pnevmostroimashina OJSC (Yekaterinburg) and Gomel GSKTB GA controlled axial piston pump mods. 313 with infinitely variable power, equipped with a load-sensitive unit for maintaining a constant differential pressure in the control line and load-sensitive electro-hydraulic distributors MPAM section type, providing the possibility of proportional control of the hydraulic actuator both remotely and directly in manual mode, integrating appropriate protective safety and regulatory equipment and the use of promising developments, for example, NK Uralter CJSC inalmash "(Miass), for the transfer of the problems of the working fluid flow and electrical signals from a stationary machine parts to podvizhnm and back, as well as the creation of modern hydraulic drive control systems on the basis of the above-mentioned components.

Among the known analogues of the claimed technical solution, the closest (prototype) can be the hydraulic system of the crane-manipulator unit MKS-4032, the circuit diagram and description of which are shown in Fig. 15 and pg. 40-66 “Manuals for operators (operators) on the safe operation of cranes”, compiled by N.A. Shishkov, M., NGO OBT, 1995

The specified hydraulic system is built according to an open single-pump circuit based on a traditional elemental base and relatively outdated technical solutions and therefore does not fully meet the current level.

To supply the working fluid to the actuators of the paws of the remote outriggers and the drive of the mechanism of rotation of the support of the support-rotary device, as well as the lifting, remote and telescopic sections of the lifting boom of the crane-manipulator installation and the hydroficated worker suspended on it, made on the basis of rectilinear motion hydraulic motors (hydraulic cylinders) tools in it used an unregulated axial piston pump of constant performance with a tank and a built-in standard ivnym filter cleaning of said liquid, provided with a replaceable through a relatively small regulated intervals of filter normal capacity and contaminant capacity and clogging indicator gauge type.

Hydraulic systems with pumps of this type do not adapt to the load and significantly limit the functional and technical capabilities of the machines.

The absence of electronic type level and temperature sensors in the tank, as well as the design features of the indicator of the contamination of the replaceable filter element used in its drain filter, practically deprive the crane operator of the ability to quickly receive relevant information about the critical state of the machine in this group parameters of her work.

The corresponding fluid flows in this hydraulic system are controlled by two series-connected main hydraulic distributors of traditional design with a manual drive and one additional two-position electro-hydraulic distributor that communicates the pump output with the tank.

At the same time, the working cavities of the executive bodies of the drive mechanism for the rotation of the support of the slewing gear, the lifting, remote and telescopic sections of the boom are connected with one of the main distributors using the appropriate supply lines, and with the other, the cavities of the executive bodies of moving the legs of the remote outriggers and suspended on the boom hydroficated work tool.

Hydraulic systems with the main valves of this design are insensitive to load and do not provide effective control of the machine.

The use of the main distributors based on traditional manual and circuit designs and technical solutions as a part of the prototype allows you to adjust the speed of loaded actuators that provide the necessary movements of the boom and remote outriggers only in a relatively small area of movement of the spools of the corresponding working sections of these distributors (control handles). Moreover, the greater the load, the correspondingly smaller the indicated area will be (see Fig. 32).

In the initial section of the movement of the spools, hydraulic valves of this type have a sufficiently large insensitivity, and the control by these organs is carried out too sharply.

In addition, in a number of cases, for example, when moving explosive objects, when the crane operator must be at an appropriate distance from the specified work place or in a special shelter, the use of direct control is problematic.

It is extremely inconvenient even when loading materials into high-sided vehicles, for example, railroad cars, and unloading them from them, as well as in various kinds of construction and other works due to the limited visibility of the cargo capture or unloading and installation area, especially with a long length lifting boom of a crane.

Features of the circuit connection of the main distributors to each other along the pressure line make it possible at intermediate positions of the spools of one of them to simultaneously supply the working fluid to the other.

In this regard, there may be a combination of the movements of the remote outriggers and the boom, which in the absence of appropriate blocking can in some cases lead to an emergency, namely to loss of stability and overturning of the crane.

For these, as well as ergonomic, reasons, the aforementioned switching of executive bodies with the main distributors is not entirely successful. In the constructions of most of the known crane-manipulator installations, as a rule, the possibility of controlling the executive bodies of the hydroficated work tool suspended on the boom and the external outriggers from the one distributor that is part of the slewing ring is excluded.

Implemented in the design of the prototype manual drive to move the retractable beams of the remote outriggers is only suitable for machines with a relatively small load capacity. In heavy-duty crane systems with a sufficiently large mass of these beams with outriggers fixed at their ends, it is preferable to use the appropriate hydraulic drive for this.

As part of the known hydraulic system there is a double-circuit limiter of the carrying capacity of a crane-manipulator, made of two independent from each other and different in execution and principle of operation of the protective units.

One of these units is an automatic pressure regulator made in the form of a conventional direct-acting primary safety valve located in the valve section controlling the movements of the boom of the main distributor, and the other is an electronic safety device formed on the basis of a working fluid pressure meter with a discrete electrical output signal. The specified meter is a conventional pressure switch connected via an electric channel to an additional electro-hydraulic distributor, which communicates the pump output with the hydraulic tank.

Both the primary safety valve and pressure switches are episodic protective units designed to limit the possibility of increasing the pressure of the working fluid in excess of the set value.

The design of both of them is based on the corresponding mechanical spring-type sensitive elements. In this case, in one case, balanced by an external force (spring), the pressure of the working fluid acts on the valve tightly overlapping the corresponding passage channel, and in the other, on a special movable plunger that interacts with the pusher of the microswitch of the relay.

With a certain compression of the spring corresponding to the required pressure, the valve opens in the first case, and the necessary high-pressure cavity communicates with the drain, and in the other, the microswitch pusher closes the electric circuits of the additional hydraulic distributor and activates the sound signal of the vehicle on which the crane is mounted . An additional distributor automatically informs the pressure line of the pump with the tank, and a sound signal alerts the operator about a critical situation.

However, safety valves of this design have a sufficiently large non-linearity in transients. The indicated nonlinearity of the safety valves is mainly due to the corresponding hydrodynamic forces acting on them. In this case, the excess pressure on the safety valve when passing through it the corresponding flow rate of the working fluid to the pressure drop realized when it is opened, can be about 10% or more.

The pressure switches used in the design of the electronic safety device of the load limiter of the known hydraulic system have a well-known drawback due to the fact that the dependence of the movement of the spring of their sensitive element on the applied force (pressure) is linear only in a relatively small range of its deformation. The sensitivity of protective devices of this type depends mainly on the stiffness of the spring and a number of other factors and can fluctuate over a very wide range - from 3 to 10%.

A significant drawback of the hydraulic system under consideration is that in it the electronic safety device is installed only in the supply line of the piston cavity of the actuator of the boom lifting section drive, while with a certain configuration of the spatial position of its links, the maximum load capacity can be exceeded not only along the lifting line, but also along extension sections of the boom.

The use of a conventional episodic pressure switch with a discrete electrical output signal as a working fluid pressure meter in this device does not fundamentally solve in this hydraulic system the problem of the current display of relevant information characterizing the operation of a crane-manipulator, and prompt notification of the driver about the approach and occurrence of a critical condition due to exceeding its carrying capacity. Moreover, in the event of such a condition, the operator can, if necessary, by blocking (disconnecting) the contacts of the pressure switch microswitch by pressing the appropriate buttons on the control system. In this case, the sound signal is accordingly turned off and the additional electro-hydraulic distributor of the hydraulic system is switched off with the isolation of the pump and tank output.

After that, the driver, in principle, can perform a work operation in excess of the permissible carrying capacity of the crane, despite the presence of a risk of overturning the machine. Such a threat may arise if, for some reason, for example, due to jamming, the primary safety valve does not work, located in the valve section of the main distributor that controls the movements of the boom.

The hydraulic system MKS-4032 does not allow in extreme situations to briefly force the hydraulic drive power within the permissible limits (lifting capacity of a crane-manipulator). This feature is extremely important when loading and unloading materials of an disordered structure and size, such as scrap metal, as well as when dismantling rubble in places of natural or man-made disasters, and in a number of other, mostly extreme, cases when lifting a load is more important (sometimes just vital necessary) rather than the speed of the operation.

The indicated drawback of this hydraulic system is due to the fact that it has an automatic pressure regulator of a double-circuit load limiter of a crane-manipulator installation made in the form of a conventional primary safety valve located in the valve section of the main distributor that controls the movements of the boom.

Such a single primary safety valve is usually adjusted only to one pre-selected value of the pressure of the working fluid, corresponding, as a rule, to the normal operation of the crane.

For this reason, it is not possible to quickly change directly the pressure of the working fluid in the hydraulic system under consideration, which is limited by the specified valve, for example, if it becomes necessary to force the crane's handling capacity, it is not possible.

The protective and safety equipment of the hydraulic system in question is made in the form of one-way hydraulic locks installed behind the main distributor that controls the movements of the paws of the remote outriggers in the piston supply lines of their executive bodies.

When installing this truck on the supporting heels of the paws of the remote outriggers, the spring-loaded locking elements of such hydraulic locks pass the working fluid into the piston cavities of the corresponding actuators, and after stopping the supply of this fluid, the passage channels are automatically locked, preventing its reverse current. To drain the working fluid from the piston cavities of the executive bodies, it is necessary to apply it to their rod cavities. At the same time, under the influence of the pressure of the specified liquid, the locking elements of the hydraulic locks are forced to open and the free exit of the liquid from the piston cavities of these organs is ensured.

Owing to the considered design features, such hydraulic locks cannot provide power unloading of the legs of the outriggers in automatic mode without the participation of the operator as the transportation platform of the specified truck is filled with immersed material. In the event of an overload, they may become unstable and fail.

It is also well known that the operation of one-way hydraulic locks can be accompanied by the occurrence of self-oscillations, a characteristic manifestation of which is the uneven course (jerking) of the retractable paws of the outriggers.

The protective and safety equipment built in the power supply line of the actuator of the drive mechanism for the rotation of the rack of the support-rotary device MKS-4032 is made in the form of a valve block with two bypass safety valves connecting them to each other.

This technical solution does not provide for the possibility of replenishing with the working fluid the corresponding cavities of the actuator of the drive mechanism of the rack rotation mechanism when reduced pressure occurs in them, for example, during sudden braking of the load moving in the circumferential direction. And the greater the angular velocity of the braked load, the greater the likelihood of rarefaction in the indicated cavities. The specified vacuum leads to uneven movement of the rack and the formation of cavitation, contributing to the corresponding damage to the working surfaces of the aforementioned actuators.

In the prototype in the power lines of the executive bodies of the drive lifting and remote sections of the boom installed shut-off and brake valves. These valves perform the function of one-way hydraulic locks and provide smooth lowering of the lifting and remote boom sections in the automatic throttling mode of the working fluid flow from the piston cavities of the actuators.

This type of protection is used mainly at relatively low speeds of movement of the rods of the executive bodies. At loads close to ultimate, for example, realized during the process of abrupt braking of the load to be lowered, each time, obviously, the pressure relay of the double-circuit capacity limiter will automatically activate each time, after which it is necessary to turn off the electromagnet of the additional distributor with special buttons of the control system in order to restore the hydraulic system to work.

Some of the actuators of the drive of the boom's retractable sections are built according to the telescopic scheme, and the protective and safety equipment built into their supply line is made in the form of a two-way hydraulic lock, thermal emergency and two pressure valves. At the same time, a double-acting hydraulic lock locks both cavities of the executive organs and opens automatically when the working fluid is supplied to one or another cavity. The thermal valve eliminates a significant increase in pressure in the rod cavities of the actuators due to the expansion of the working fluid during heating, when both of their cavities are locked. The emergency valve prevents spontaneous extension of the telescopic actuator stem when the flexible hose is damaged. Pressure valves serve to provide the necessary sequence for extending and retracting telescope sections.

In general, this fragment of the known hydraulic system is quite complicated in execution and, therefore, less reliable in operation.

The main distributor communicates with the executive bodies of the latter directly through the corresponding power lines without controlling any protective and safety equipment that controls the movement of the paws of the remote outriggers and the operation of the hydroficated tool suspended on the boom of a crane-manipulator installation. In this case, the pressure of the working fluid in the respective cavities of the actuators of the drive of the specified tool is limited only by the primary safety valve located in the valve section of the second of the main distributor. This circumstance significantly narrows the possibility of using purchased hydroficated work tools designed for different pressures as part of a crane-manipulator installation. The absence of special back-pressure relief valves in the indicated supply lines does not allow automatic replenishment of the corresponding cavities of the executive organs of the drive of working tools with liquid during a sharp change in the speeds of operations performed with their use, as a result of which cavitation may occur in them.

Fragments of the hydraulic connecting lines and electric cables stationary mounted on the fixed part of the rotary support device, which is its base, are interfaced with their counterparts located on the moving part of the specified device, which is its stand, and moving together with it in the circumferential direction using the corresponding flexible compensation inserts.

The same technical solution was used in the prototype for supplying the working fluid to the executive bodies of hydraulic tools on the boom telescoping section. The disadvantages of such solutions are discussed above in the description of analogues of the invention.

The prototype control system is also built on a traditional elemental base and relatively outdated technical solutions with all the ensuing consequences.

The objective of the present invention is to eliminate the aforementioned disadvantages of the known analogues and the prototype of the inventive hydraulic system of a crane-manipulator installation, namely the improvement of its technical and operational and other qualities, which allows to achieve a modern technical level and competitiveness of lifting machines of this class.

In accordance with the invention, it is achieved by a specific set of essential features of the claimed hydraulic system.

The essential features that characterize the claimed hydraulic system of a crane-manipulator installation include:

- the presence in it of hydraulic motors of the executive bodies for moving the paws of the remote outriggers, the drive mechanism for the rotation of the rack of the support-rotary device, the lifting, remote and telescopic sections of the lifting boom and the hydroficated working tool suspended on it;

- the presence in it of an axial piston pump with a tank and a drain filter for cleaning the working fluid built into it;

- the presence in it of two main sectional control valves that control the executive bodies with protective and safety aggregates built into their valve sections, which are automatic episodic pressure regulators of the valve type, and one additional two-position electro-hydraulic distributor that communicates the pump output with the tank;

- the presence in it of a two-circuit limiter of the carrying capacity of a crane-manipulator installation made of two independently protective and safety units, one of which is an automatic pressure regulator located in the valve section of the main distributor controlling the boom equipment, adjusted to the maximum pressure value admissible in the corresponding circuit equivalent to the limit value of the carrying capacity, and to others - an electronic safety device containing measurements a body pressure fluid in the piston cavity of the actuator of the lifting section of the boom with an electrical output signal;

- the presence in it of protective and safety and control equipment with hydraulic connecting lines, made in the form of a combination of rigid pipelines and compensated inserts made of flexible hoses docked with them, providing the necessary ease of installation and unimpeded movement of the movable links of the crane-manipulator unit;

- the presence in it of a control system with cables;

- the presence in it of two hydraulic autonomous executive bodies, ensuring the extension of the beams of the outrigger paws;

- the execution of the axial piston pump is adjustable, with the possibility of stepless changes in power and the supply of a load-sensitive unit to maintain a constant pressure drop between the pump outlet and the pressure pipe of the most loaded actuator;

- the implementation of one of the two aforementioned main valves controlling boom equipment in the form of a load-sensitive electro-hydraulic distribution module with proportional control, in which an automatic pressure regulator located in its inlet valve section is made in the form of an indirect pressure relief valve, consisting of a primary and secondary safety valve valves, and installation in the same section of the valve the pressure difference and the corresponding limiter races ode, as well as adding two additional sections to the existing working sections of the distributor, connected by means of the corresponding supply lines with the executive bodies of the drive of the hydroficated working tool, and each of the working sections has an adjustable pressure difference valve and a non-return valve installed in the load-sensitive path , and the shut-off spools located in these sections are controlled by two pressure reducing valves with proportional electromagnets with measures to ensure that their linear position is fixed by an inductive sensor having a high degree of resolution, and the drain hole of the closing cover of the specified distributor is plugged;

- execution of another main distributor with an inlet valve section and a closing cover similar in design, as well as with three working sections, which are made with electric actuators for linear movement of spools with two direct-acting relay electromagnets;

- communication of one of the working sections of the second main distributor directly with the help of power lines parallel to each other with pistons and rod cavities of the hydraulic actuating bodies for moving the sliding beams of the outrigger fastening;

- connecting both main distributors to the pressure line through an auxiliary two-position electro-hydraulic distributor for switching the operating modes of the crane-manipulator with the use of the mechanism of rotation of the support of the slewing ring and boom equipment with hydraulic working tools to engage remote outriggers and vice versa, in the absence of a control command on the pilot’s electromagnet whose spool is in the open position and connects the outlet pump with the first of the major distributors and drain - and the second, on the contrary, by sending a command to the solenoid drain connected to the first distributor and pressure - the second of them;

- communication of inputs located in valve sections of the main distributors of flow limiters by means of control lines with a load-sensitive pump unit, and outputs - with a drain line;

- the implementation of each of the valves with the possibility of remote control by using their control electromagnets and manually control by manually moving the spools using the appropriate lever type handles;

- sequential installation at the outlet of the pump in front of the auxiliary valve of the non-return valve with a pressure filter for cleaning the working fluid and a pressure valve built into the pressure line between the filter and the additional valve distributor, connected through the two-lip spool of the load-sensing pump unit with a working cavity of the drive of its power regulator;

- the implementation of protective and safety equipment in the form of two hinged type brake valves with muffled inputs of their OR valves, installed behind the second main distributor in the piston power lines of the executive bodies for moving the paws of the remote outriggers, normally equipped with normally working fluid supplied to the rod cavities of these organs closed locking elements configured for the perception by the paws of the maximum values of operating n and their labor efforts, and automatically opening when they are exceeded;

- implementation of the turn-gear support device and the telescopic retractable boom sections of the safety and security equipment integrated in the power supply line of the actuators of the actuators of the actuator of the support arm in the form of back-safety valves grouped into a separate sectional type valve block located behind the first main distributor;

- embedding the corresponding back-safety valves in the valve block in the mains supplying the working fluid to the actuating fluid of the hydroficated tool located in the valve block, the same as that installed in the mains of supplying the executive organs of the drive mechanism for turning the stand of the slewing gear and telescopic retractable boom sections of protective and safety equipment;

- implementation installed in the piston and rod mains supply executive bodies of the drive lifting and remote sections of the boom protective and safety and regulatory equipment in the form of two autonomous units, each of which contains two safety valves, hydraulic lock, differential pressure valve, backup and two check valves, and a hydraulic lock, a differential pressure valve and one of the safety valves are sequentially integrated into the piston line with the message of the outputs of the safety valve and valve the pressure difference with the drain, and the control chamber of the hydraulic lock with the rod line, the backup and the second of the safety valves are sequentially built into the rod line with the output of the last of them with the drain, one of the check valves is installed in the piston line bypassing the hydraulic lock and the differential pressure valve, and the other in the stock line bypassing the backup valve;

- execution of hydraulic actuating actuators for all telescopic boom sections in the form of autonomous double-acting power cylinders with single-sided hollow rods, with the exception of shorting rods, through which passageways are sealed from each other, successively communicating through the corresponding external connecting hydraulic lines, piston and rod cavities each of these hydraulic cylinders to each other to ensure the passage of the working fluid in them and back, pr than back-safety valves are built into each of the external stock arteries, the safety valves of which are adjusted, taking into account the corresponding friction forces in the movable joints of the telescopic sections, to the same pressure drop such that the total resistance to movement of the first pull-out section is minimal, and then increases to the maximum values when moving the closing section;

- the implementation of the pistons and rods of the actuators of the drive of all telescopic boom sections of the boom are the same in diameter, and their internal tracts and external hydraulic lines, sequentially communicating the working cavities of these organs, are equal in the flow sections;

- supply of a double-circuit capacity limiter with a second automatic pressure regulator, disconnected from the first, made in the form of an autonomous safety valve installed in the pressure line between the additional distributor and the drain filter for cleaning the working fluid, which is set to a marginal pressure equivalent to the marginal pressure in comparison with the first one allowable load capacity for normal operation of the crane;

- implementation of the double-circuit load limiter of the liquid pressure meter in the piston cavity of the actuator of the lifting section of the boom, which is part of the electronic safety device, in the form of an analog type pressure sensor integrated into the protection unit of the specified actuator, electrically connected via a corresponding cable to the control system;

- the introduction of the same meter to control the pressure of the working fluid in the piston cavity of the actuator of the actuator of the remote boom section and as part of the other protection unit integrated in the power line of this actuator of the other protection unit with its identical connection to the specified cavity and control system;

- the pair of fragments of the hydraulic connecting lines and control system cables fixedly mounted on the fixed part of the rotary support device, which is its base, with corresponding counterparts placed on the moving part of the specified device, which is its stand, and their response fragments moving together with it in the circumferential direction with the help of a crane mounted during the assembly in the internal cavity of the rack, a removable multi-channel electro-hydraulic th rotary type communication connector;

- embedding in the supply line of each of the executive bodies of the drive of the hydraulic tool at the telescoping section of the boom of a two-channel hydraulic rotary connector with a tension drum for winding the flexible hoses of the corresponding compensation inserts of the indicated lines, the free ends of which are equipped with connectors made in the form of rigidly fixed on the console part closing telescopic retractable boom squeeze valves with locking mechanisms mothers of fixing the ball type of removable mating end connectors of the executive bodies of the specified tool docked to them;

- supplying the tank with electronic sensors for level and temperature of the working fluid built into it;

- installation of filter elements with indicators of their clogging of electronic type and safety bypass valves in the drain and pressure filters for cleaning the working fluid;

- the presence in the control system of the hydraulic system of the receiving-command electronic modules located on the rotary support device and a portable remote control panel, built on a microprocessor basis, the specified panel is equipped with a warning sound signals button, a two-position button for switching operation modes of the crane-mounted installation “Stand, boom - outriggers ”, with the control keys of the executive bodies of the drive mechanism for turning the rack, the corresponding sections of the boom, hanging the hydroficated working tool on it and the movement of the retractable beams and paws of the remote outriggers, the emergency stop button, backup switches, a liquid crystal display to reflect visual information about the ambient temperature and the working fluid in the tank, the current operating mode, worked hours, filter clogging degree cleaning of the working fluid, with an indication of a clogged filter, a drop in the liquid level in the tank below the permissible norm, and the achievement of the corresponding load of the time in the main mode and boost mode, load capacity, and a remote control signal light has red indicator and buzzer for audible signals to attract the attention of the operator when necessary.

Matching in the prototype and the claimed invention are the first six of the essential features listed in this list, and the rest are distinctive.

Moreover, all of these distinguishing features 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 nature of this effect in relation to each of the distinguishing 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 schematic hydraulic diagram of the inventive hydraulic system (spools of all valves are in the initial position);

In Fig.2 - Fragment A (see Fig. 1) of a hydraulic system explaining the features of a typical circuit commutation of the working cavities of one of the executive bodies (a hydraulic motor for the drive mechanism for turning the stand of the support-rotary device of a crane-manipulator installation) with a shut-off and control valve of the corresponding working section the main load-sensitive distributor (the spool of the indicated section is moved from the neutral position to the right);

In Fig.3 - The same fragment A as in Fig.2 (the spool of the working section of the main load-sensitive distributor is moved from the neutral position to the left);

Figure 4 - Fragment B (see figure 1) of the hydraulic system, explaining the features of a typical circuit switching of the working cavities of the hydraulic cylinders of the outrigger of the support-rotary device of the crane-manipulator with a shut-off control valve of the corresponding working section of the main load-sensitive distributor (spool indicated sections moved from neutral to the left);

In Fig.5 - the same fragment B as in Fig.4 (the spool of the working section of the distributor is moved from the neutral position to the right);

In Fig.6 - Fragment B (see Fig.1) of the hydraulic system, explaining the features of switching its main distributors with the spool of the auxiliary distributor (the spool is moved from the initial position to the right);

In Fig.7 - Fragment G (see Fig.1) of a hydraulic system explaining the features of switching an autonomous safety valve of a double-circuit capacity limiter with pressure and drain lines through the corresponding movement of the spool of the additional distributor (the spool is moved down from its original position);

On Fig - Scheme of hydraulic connections of the inventive hydraulic system (TC - brake valve);

Figure 9 is a General view in axonometric projection of a crane, in which the inventive hydraulic system is used, in a working position, with a hook version of a working tool suspended on its boom;

In Fig.10 - View D (see Fig.9) from above on the slewing ring of the crane;

In Fig.11 - View E (see Fig.9) in a perspective view on the pressure filter for cleaning the working fluid and the auxiliary two-position electro-hydraulic dispenser for switching operating modes of the crane-manipulator installation;

In Fig.12 is a vertical section FJ (see Fig.10) of the support-rotary device of the crane-manipulator in the plane of the arrangement of the mechanism of rotation of the rack and multi-channel electro-hydraulic communication connector of the rotary type;

In Fig.13 is a longitudinal section II (see Fig.12) of an electro-hydraulic multi-channel communication connector of a rotary type (hydraulic lines and cables connected to the connector are not conventionally shown);

On Fig - Remote element K (see Fig), explaining the nature of the kinematic connection of the carrier racks of the support-rotary device with a lead sleeve electro-hydraulic multi-channel communication connector rotary type;

On Fig - Remote element L (see Fig), explaining the features of the kinematic connection of the hydraulic motor with an external open gear mechanical transmission of the rotation mechanism of the rack of the support-rotary device of the crane-manipulator through a gear planetary gear;

In Fig.16 is a longitudinal section MM (see Fig.13) built-in multi-channel electro-hydraulic communication connector rotary type multi-channel current-insulated rotary sliding current collector;

On Fig - Cross-section NN (see Fig.16) current collector;

In Fig.18 - View O (see Fig.9) from above on the lifting boom of the crane;

In Fig.19 - View P (see Fig.18) on the side of the lifting boom from the location on it of a two-channel hydraulic rotary connectors of the drum type for supplying the working fluid to the actuators of the hydroficated working tool;

In Fig.20 is a General view of a fragment of the cantilever part of the lifting boom of a crane-manipulator with a hydroficated working tool suspended on it;

In Fig.21 - View P (see Fig.20) in front of a fragment of the cantilever part of the lifting boom of the crane-manipulator with a suspended hydraulic tool;

On Fig - Cross section CC (see Fig. 19) of the lifting boom of the crane-manipulator at the location on it of a two-channel hydraulic rotary connectors of the drum type for supplying the working fluid to the executive bodies of the hydroficated working tool;

In Fig.23 - View T (see Fig.22) from the back to the two-channel hydraulic rotary connector of the drum type for supplying the working fluid to the actuators of the hydroficated working tool;

In Fig.24 - View U (see Fig.20) front of the closing telescopic retractable section in the zone of fastening on it of the connectors wound on the tension drums of the two-channel hydraulic rotary connectors of the flexible hoses of the compensation inserts of the supply lines of the working fluid of the executive bodies of the hydroficated working tool;

On Fig - Section Ф-Ф (see Fig. 24) along one of the fixing points on the cantilever part of the closing section of the boom of the crane-manipulator installation of the flexible hose connectors of the compensating inserts of the supply lines for the working fluid of the executive bodies of the hydroficated working tool;

On Fig - Scheme of loading the telescopic part of the boom of a crane-manipulator with a vertical concentrated force F applied to its free end, with diagrams of the corresponding bending moments (upper diagram - for the indicated part of the arrow with all its telescopic sections extended to the extreme position, lower diagram - for the same part of the boom with its closing telescopic section extended to the extreme position, A is the point of application of the vertical concentrated force F to the free end of the boom with extended the extreme position with all its telescopic sections, B is the pinch point of the first telescopic telescopic boom section in the cavity of its remote section, l is the telescopic boom extension, M is the bending moment);

On Fig - side view in axonometric projection on the tank of the inventive hydraulic system (in the upper and lower foreshortenings with the corresponding external elements);

On Fig - General view of the drain filter of the inventive hydraulic system;

On Fig - General view of the pressure filter of the inventive hydraulic system;

On Fig - View X (see Fig.29) from above on the pressure filter;

On Fig - General view in axonometric projection of a remote control;

On Fig - a graphical dependence of the speed of the output shaft of the hydraulic motor of the rotation mechanism of the rack of the support and rotary device of the crane-manipulator from the movement of the spool of the hydraulic distributor of traditional design with direct control (n is the speed of rotation of the output shaft of the hydraulic motor, rpm; Xz - movement of the spool , mm; M _1,2 - load moments, M ₂ > M ₁ );

On Fig - a graphical dependence of the speed of the output shaft of the hydraulic motor of the rotation mechanism of the rack of the support and rotary device of the crane-manipulator from the movement of the control key of the remote control of the inventive hydraulic system (n is the speed of rotation of the output shaft of the hydraulic motor, rpm; XP - moving the keys, mm; 1 - the nature of the change in the indicated dependence, due to the features of the circuit design of the electronics of the control system; 2 - one of the possible options for changing the specified dependence With appropriate programming of the control electronics).

The inventive hydraulic system 1 of the crane-manipulator installation 2 comprises actuators 3-13 of the paw movements 14, 15 of the remote outriggers 16, 17 of the drive of the turning mechanism 18 of the rack 19 of the supporting-rotary device 20, lifting, remote and telescopic sections 21- made in the form of hydraulic motors of the corresponding type 26 of the lifting boom 27 and the hydroficated working tool 28 suspended thereon, for example, a double-jaw grab rotating in a horizontal plane around its axis, an axial piston pump 29 with a tank 30 and the built-in drain filter 31 for cleaning the working fluid, the two main ones that control the actuators of the distributor 32, 33 of the sectional design with the protective and safety aggregates 35 built into their valve sections 34, which are automatic episodic pressure regulators of the valve type and one additional two-position electro-hydraulic distributor 36, informing the output of the pump with the tank, a double-circuit limiter of the carrying capacity 37 of the crane-manipulator, made of two independent protective and safety aggregates, one of which is an automatic pressure regulator 35 located in the valve section 34 of the boom control equipment of the main distributor 32, which is set to the maximum allowable pressure in the corresponding circuit, equivalent to the maximum load capacity, and the other is electronic safety device 38, comprising a pressure meter 39 of the working fluid in the piston cavity 40 of the actuator 6 of the lifting gear drive 6 there are 21 arrows with an electric output signal, protective and safety and control equipment with hydraulic connecting lines, made in the form of a combination of rigid pipelines and compensating inserts made of flexible hoses joined to them, providing the necessary ease of installation and unimpeded movement of the movable links of the crane, and control system 41 with cables 42.

For the removal of paws 14, 15 outriggers 16, 17 in the inventive hydraulic system 1, there are two hydraulic autonomous executive bodies 43, 44, providing extension of the beams 45, 46 of the mounting of the legs of the outriggers.

The specified technical solution fundamentally facilitates the implementation of this operation in heavy-duty crane-manipulator installations with a sufficiently large mass of extendable beams with paws of outriggers fixed to their ends.

Structurally, the majority of the executive bodies 3, 4, 6-11, 13, and 43, 44 that are part of the inventive hydraulic system are made in the form of autonomous single-stage double-acting power cylinders with single-sided hollow rods that are well-proven in operation, which are rectilinear reciprocating hydraulic motors .

The actuators 5 and 12 of the drive of the rotation mechanism 18 of the rack 19 of the slewing-rotary device 20 and the rotation of the hydroficated work tool 28 in a horizontal plane are respectively made in the form of reversible unregulated hydraulic motors, for example, an axial piston type and a rotator, which is a rotary hydraulic motor with limited or infinite rotation angle.

The axial piston pump 29 of the hydraulic system 1 is made adjustable, with the possibility of stepless changes in power and is equipped with a load-sensing unit 47 for maintaining a constant pressure drop, of the order of 20 kgf / cm ² , between the pump outlet and the pressure pipe of the most loaded actuator in communication with the control line 48 .

The specified pump has a fairly wide range of displacement in the range from zero to maximum. Changing the pump displacement can occur both in the direction of increase, and in the direction of its decrease.

Varying the indicated volume causes a corresponding change in the pump supply of the working fluid and the consumed (drive) moment. Moreover, the moment consumed by the pump depends not only on its working volume, but also on the corresponding pressure drop across it.

One of the two main distributors 32 mentioned above, which controls the boom equipment, is designed as a load-sensitive proportional-controlled electro-hydraulic distribution module, in which an automatic pressure regulator 35 located in its inlet valve section 34 is made in the form of an indirect pressure relief valve, consisting of a main and auxiliary safety valves 49, 50.

In the same section 34 of the distributor 32, a differential pressure valve 51 and a corresponding flow limiter 52 are installed.

The differential pressure valve 51 of the inlet valve section 34 of this valve 32 does not work statically, because has a slightly larger setting of approximately 5 kgf / cm ² with respect to the load-sensitive unit 47 of the pump 29. However, in transients, it can bypass a part of the working fluid through itself, providing the necessary stability of the inventive hydraulic system.

In its design, an appropriate adjusting screw is provided to change the setting.

To the existing working sections 53-56 of the distributor 32, used as in the prototype for controlling the actuators 5-11 of the rotary drive mechanism 18 of the rack 19 of the support-rotary device 20 and the boom equipment, two additional sections 57, 58, connected by means of the corresponding lines, are added supply 59-62 with the executive bodies 12, 13 of the drive of the hydroficated working tool 28.

The indicated working sections 53-58 of the distributor 32 are identical in design and construction and incorporate a pressure difference valve 63 of an adjustable type and a check valve 64 installed in the load-sensitive path (control line).

The valves of the pressure difference 63 support the necessary, about 8 kgf / cm ² , pressure drops on the pressure windows of the shut-off and control spools 65 of the working sections 53-58 of the distributor 32.

Using the adjusting screw available in the design of each of these valves 63, it is possible to change the setting in a sufficiently large range of (2-32) kgf / cm ² range and thus vary the flow rate of the working fluid passed through the spools 65.

In addition, each of the working sections 53-58 of the load-sensitive dispenser 32 is equipped with an autonomous electronic unit, which, together with the control system 41, allows to implement various laws of movement of the spools 65 (linear, power, with the necessary deceleration, etc.), as well as their jump-like movement from the zero position through the deadband.

These features significantly expand the capabilities of the claimed hydraulic system in terms of optimizing the management of its executive bodies. In principle, these electronic units can be disintegrated from the load-sensitive distributor 32 and are provided directly as part of the control system 41.

The design of the load-sensitive dispenser 32 provides:

- fluid supply to the working cavities of the respective executive bodies 5-13, as well as its discharge from them;

- independent parallel operation of these executive bodies 5-13 (up to four channels);

- the necessary pressure limitation when forcing the lifting capacity of a crane;

- locking fluid in the working cavities of these executive bodies 5-13.

The shut-off and control spools 65 located in the working sections 53-58 are controlled by two pressure reducing valves 66, 67 with proportional electromagnets 68, 69 to ensure that their linear position is fixed by an inductive sensor with a high degree of resolution (these sensors are conventionally not shown on the hydraulic circuit diagram).

The drain hole 70 of the closure cover 71 of said distributor 32 is plugged.

Another main distributor 33 is made with an inlet valve section 34 and a closing cover 71 similar in design. It also has three working sections 72-74, which are made with electric linear actuators of the spools 75 with two direct-acting relay electromagnets 76, 77. One of the working sections 72 of the second main distributor 33 is communicated directly by means of respective parallel supply lines 78-81 with piston and rod cavities 82-85 of the hydraulic actuating bodies 43, 44 of the movement of the retractable beams 45, 46 of the fastening of the outriggers 16, 17.

This circuit solution is extremely simple to implement and allows you to minimize the number of working sections of the distributor needed to control the two specified executive bodies, to one.

Two other working sections 73, 74 of the distributor 33 are used to control the actuators 3, 4 of the movement of the legs 14, 15 of the remote outriggers 16, 17.

The design of the indicated distributor 33 ensures the supply of fluid to the working cavities of the respective actuators 3, 4 and 43, 44 and its discharge from them, as well as the necessary pressure limitation with open spools 75.

Due to the absence in the working sections 72-74 of this distributor of 33 autonomous pressure difference valves, independent parallel operation on several channels in this case is problematic and, in principle, may even be impossible.

At the same time, both main distributors 32, 33 are connected to the pressure line 86 through an auxiliary two-position electro-hydraulic distributor 87 for switching the operating modes of the crane-manipulator 2 using the turning mechanism 18 of the rack 19 of the slewing-rotary device 20 and the boom equipment with hydraulic work tools for activating remote outriggers and back.

In the absence of a control command on the electromagnet 88 of the pilot 89 of the auxiliary valve 87, the valve 90 is in the open position and connects the output of the pump 29 to the first of the main valves 32, and the drain to the second of the main valves 33.

With this switching scheme of the pressure line 86 of the pump 29 with the main distributors 32, 33 included in the inventive hydraulic system, the simultaneous supply of working fluid from it to the specified distributors is impossible. Due to the presence in the hydraulic system of an auxiliary distributor 87, serving as the corresponding locking device, it can be supplied to them only alternately. The specified feature of the circuit design of the inventive hydraulic system, in contrast to the prototype, can completely eliminate the likelihood of an emergency for this reason when operating the crane.

When a command is given to the electromagnet 88, the drain is connected to the first, and the pressure to the second of the indicated valves 32, 33.

The inputs of the main distributors 32, 33 of the flow limiters 52 located in the valve sections 34 are communicated through control lines 48 with a load-sensing unit 47 of the pump 29, and the outputs are with a drain line 91.

Each of the distributors 32, 33, 36, 87 is made with the possibility of its remote control by using their control electromagnets 68, 69, 76, 77, 88 and 92 and manually controlled by manually moving the spools 65, 75, 90 and 93 using the corresponding handles 94 lever type. This is very convenient when operating a crane. In particular, in the event of an emergency equipment failure, it can be easily transferred from the operating state to the transport one using manual control.

At the outlet of the pump 29, in front of the auxiliary distributor 87, a check valve 95 with a pressure filter 96 for purifying the working fluid and a pressure reducing valve 97 built in the pressure line 86 between the filter and the additional distributor 36 are connected in series through the two-lip valve 98 of the load-sensing pump unit 47 with the working cavity of the drive 99 of its power regulator 100.

The presence of the non-return valve 95 allows you to connect, if necessary, if necessary, to the inventive hydraulic system corresponding autonomous emergency pump station.

The installation in the pressure line 86 of the inventive hydraulic system designed for an appropriate pressure of an additional filter 96 for cleaning the working fluid can significantly reduce the degree of contamination of various kinds of mechanical impurities and, on this basis, minimize wear or the likelihood of jamming of precision friction pairs in the actuators, pump, distribution and valve hydraulic equipment.

Schematically, the pressure reducing valve 97 is not included in the adjustable axial piston pump 29. However, it functionally allows you to steplessly generate the corresponding pressure supplied to the working cavity of the actuator 99 of the power regulator 100 of the pump 29 of the liquid, proportional to the value of the limited power.

The protective and safety equipment installed behind the second main distributor 33 in the piston lines 101, 102 of the power supply of the actuators 3, 4 of the paw movements 14, 15 of the outriggers 16, 17 is made in the form of two autonomous brake valves 103, 104 of the mounted type with muffled inputs of their valves "OR "105.

Each of the brake valves 103, 104 is equipped with normally closed shut-off elements 108, which are controlled by means of the working fluid supplied to the rod cavities 106, 107 of the said organs 3, 4 and configured to be perceived by the paws 14, 15 of the outriggers 16, 17 of the maximum values of the operating values on them labor efforts and automatically opening when they are exceeded.

Built-in power supply lines 109-112 and 59-62 of the executive bodies 5 and 8-13 of the drive of the turning mechanism 18 of the rack 19 of the slewing ring device 20, telescopic telescopic sections 23-26 of the boom 27 and the hydroficated working tool 28, the protective and safety equipment is made in the form back-safety valves 113-120, grouped in a separate sectional valve block 121 located behind the first main distributor 32.

This equipment is designed to protect the listed executive bodies from overload by means of a corresponding restriction of pressures in their working cavities and automatic replenishment of these cavities with liquid to prevent the occurrence of rarefaction in them with a sharp change in speed.

The circuit layout technical solution implemented as part of the indicated fragment of the inventive hydraulic system makes it possible to use commercially produced by specialized enterprises for its formation, and hence sufficiently well-developed and reliable equipment in a modular design, and on this basis to improve the hydraulic drive's quality indicators.

Installed in the piston and rod supply lines 122-125 of the executive bodies 6, 7 of the drive of the lifting and remote sections 21, 22 of the boom 27, the protective and safety and control equipment are made in the form of two autonomous blocks 126, 127. Each of these blocks 126, 127 is formed of two safety valves 128, 129, a hydraulic lock 130, a differential pressure valve 131, a backup valve and two check valves 132-134.

In this case, a hydraulic lock 130, a pressure difference valve 131 and one of the safety valves 128 are sequentially integrated into the piston line 122 (124) with a message of the outputs of the safety valve and the pressure difference valve with a drain, and the control cavity of the hydraulic lock with a rod 123 (125).

The backup and the second of the safety valves 132, 129 are sequentially integrated in the rod line 123 (125) with a message of the output of the last of them with a drain.

One of the check valves 133 is installed in the piston line 122 (124) bypassing the hydraulic lock 130 and the differential pressure valve 131, and the other check valve 134 is installed in the piston line 123 (125) bypassing the check valve 132.

These protection blocks provide the necessary smoothness (speed stability) of the movements performed by the relevant executive bodies, reliable protection of these bodies from overload, by limiting the pressures in their working cavities, automatic back-up of the working fluid and control of the hydraulic locks included in them.

As already noted above, the claimed hydraulic system contains autonomous double-acting power cylinders 8 and 11 with single-sided hollow rods 143, with the exception of trailing ones, which are hydraulic actuators of all telescopic telescopic sections 23-26 of the boom 27.

Piston as well as rod cavities 135-142 of the actuators 8-11 of the drive of telescopic telescopic sections 23-26 of the boom 27 are consecutively connected to each other by means of the respective internal paths 144-149 sealed from each other and the external connecting hydraulic lines laid through their rods 143 150-155 to ensure the passage of the working fluid in them (these cavities) and vice versa.

Such a schematic design solution allows to optimize the spatial laying of the power lines of the specified executive bodies and minimize their length by eliminating the need to form in this area with the provision of sagging of the corresponding compensation inserts and on this basis to significantly improve the weight perfection, appearance, ease of maintenance of the lifting boom, as well as increase work safety.

At the same time, reverse safety valves 156-158 are built into each of the external stock highways 151, 153, 155, the safety valves 159-161 of which are configured taking into account the corresponding friction forces in the movable joints of the telescopic sections 23-26 of the boom 27 for the same pressure drop of this magnitude so that the total resistance to movement of the first pull-out section 23 would be minimal, and then increase to a maximum value when moving the closing section 26.

Pistons 162 and rods 143 of the executive bodies 8-11 of the drive of all telescopic telescopic sections 23-26 of the boom 27 have the same diameters, and their internal paths 144-149 and external hydraulic lines 150-155, sequentially communicating the working cavities 135-142 of these bodies, equal bore sections.

The indicated features of the layout design of this fragment of the inventive hydraulic system are due to the need to guarantee the appropriate sequence of extension and retraction of the telescopic boom sections while supplying the working fluid to the piston or rod cavities of the actuators of their drive.

Under the action of external loads, the lifting boom, and therefore its telescopic sections extended to the extreme position, experience a complex stress state. Moreover, of all types of stress, bending, acting in a vertical plane, is prevailing. With this in mind, in the force plan, the telescopic part of the boom extended to the extreme position is, with a sufficient degree of approximation, a cantilever beam clamped at one end in the remote section, loaded with a vertical concentrated force F (see Fig. 26) applied to its other, free end .

As can be seen from the upper diagram shown in the indicated figure, the bending moment at the point A of its application, caused by the action of the loading force, is equal to zero and linearly increases in absolute value to the maximum value at the pinch point B of the cantilever beam.

The material and geometric dimensions of the cross sections of all telescopic telescopic boom sections are usually selected taking into account the actual change in its length of the bending moment due to the action of the corresponding operational load, and ensuring approximately equal ability of the resistance of their structure to the specified force.

This approach allows you to minimize the corresponding dimensions and weight of the structure of the considered part of the lifting boom. However, it can be implemented only with guaranteed provision of the necessary sequence of extension and retraction of the telescopic sections of the boom,

With an increase in the reach of the boom, its first telescopic section must first be advanced, and then the second, third and closing telescopic sections sequentially.

The retraction and extension of the telescopic sections of the boom with a decrease in its extension should be carried out in the reverse order, starting with the closure. If for some reason this sequence of extension or retraction of the indicated sections of the boom is violated, then the operating loads acting on a number of them can significantly exceed their bearing capacity (see the lower diagram shown in Fig. 26), which will inevitably lead to a telescopic breakdown parts of an arrow.

A way to solve this problem is discussed in detail below.

The double-circuit limiter of carrying capacity 37 is equipped with a second automatic pressure regulator 163 disconnected from the first automatic pressure regulator. The specified pressure regulator 163 is designed as an autonomous safety valve installed in the pressure line 86 between the additional distributor 36 and the drain filter 31 for cleaning the working fluid, which is set to near-limit in the direction of reduction compared to the first regulator 35 value of the maximum pressure equivalent to the maximum allowable load capacity for normal mode of crane-manipulator 2.

The pressure gauge 39 of the liquid in the piston cavity 40 of the actuator 6 of the drive of the lifting section 21 of the boom 27, which is part of the electronic safety device 38 of the double-circuit limiter of the carrying capacity 37, is made in the form of an analog type pressure sensor integrated into the protection unit 126 of the indicated actuator, electrically connected via an appropriate cable 164 with control system 41.

The same meter 39 for monitoring the pressure of the working fluid in the piston cavity 165 of the actuator 7 of the actuator of the remote section 22 of the boom 27 is part of the built-in power supply 124, 125 of this actuator of another protection unit 127 with its identical connection to the specified cavity and control system 41 .

This circuit solution, which provides for the formation of an electronic safety device of a double-circuit load limiter on the basis of two working fluid pressure measuring instruments in their piston cavities integrated in the respective executive protection units of the boom and boom sections of the boom, is preferable to the prototype, because with a certain configuration of the spatial position of the boom links ultimate load capacity can be exceeded as per lifting line, t ak and through its remote sections.

The analog type pressure sensors used as part of the specified safety device as corresponding electronic meters have greater sensitivity compared to solving the same problem in the prototype pressure switch, as well as automatic pressure regulators of a different load limiter circuit.

Together with the control system implemented in the inventive hydraulic system, they in this case can radically solve the problem of the current display of relevant information characterizing the operation of the crane-manipulator installation, and prompt notification of the driver about the approach and occurrence of a critical condition of the machine due to exceeding its load capacity.

Due to the higher sensitivity, the specified safety device 38 when exceeding the load capacity of the crane 2 will always block the corresponding actions of the operator somewhat earlier than the operation of another purely hydraulic protective and safety circuit 163 (35) of the load limiter 37.

Moreover, in the event of failure of one of the indicated circuits of the load limiter, the corresponding protection of the crane-manipulator against overturning is carried out by its other circuit. This duplication increases the safety of the machine.

Currently, various specialized firms produce a sufficiently large number of autonomous load limiters in a mounted block design, intended mainly for the corresponding equipment of hoisting cranes.

Most of them are complex in circuit design, have a fairly large size, weight and high cost, which greatly inhibits their use in crane systems.

The load limiter used as part of the inventive hydraulic system is organically integrated directly into its electro-hydraulic part and in its main technical parameters significantly exceeds known samples.

Such a layout and structural restructuring of the inventive hydraulic system, in comparison with the prototype, is due to the need to give it a purely specific new quality, namely the ability of the corresponding forcing, if necessary, the capacity of the crane-manipulator installation.

The implementation of a double-circuit limiter carrying capacity with two spatially separated from each other and having different settings of automatic pressure regulators allows you to create in it, unlike the prototype, on the basis of functionally combined with each other in a special group of safety valves 35 of the indirect action of the valve section 34 of the main distributor 32, which controls the executive bodies 5-13 of the drive mechanism of the rotation mechanism 18 of the rack 19 of the slewing ring device 20, boom equipment 21-26, a hydraulic tool 28 and an additional electro-hydraulic distributor 36 in conjunction with the control system 41 of the load-boosting system 166, which in this case provides for deliberate disconnection by means of an additional pump output distributor 29 activated by the appropriate command of the control system with a primary output 86 installed in the pressure line 86 safety valve 163 and the necessary increase in these actuators of the working fluid pressure while m proportional reduction in their performance by the respective ROIs on program specified beforehand supplied to the electromagnets 68, 69 working sections 53-58 of the distributor control command currents providing appropriate shut-deceleration displacement regulating spool 65 of said sections.

The necessary increase in pressure in these actuators is provided by the appropriate setting placed in the valve section 34 of the main distributor 32 of the indirect pressure relief valve 32 controlling them.

At the same time, a proportional decrease in the speed of the executive bodies, which is realized at the same time, can significantly reduce the dynamic loads acting on the machine.

The specified solution significantly expands the relevant technical capabilities of the machine, which is of exceptional importance in various kinds of extreme situations. The prototype due to the features of its design, there is no such possibility.

Fragments of the hydraulic connecting lines 48, 86, 91, 168 and cables 164 of the control system 41, which are stationary mounted on the fixed part of the slewing-rotary device 20, which is its base 167, are associated with the corresponding placed on the movable part of the specified device, which is its rack 19, and their response fragments moving together with it in the circumferential direction by means of a crane mounted during assembly 2 in the internal cavity of the rack of a removable multi-channel electric rogidravlicheskogo communication connector 169 swing type.

A dual-channel hydraulic rotary connector 170 with a tension drum 171 is integrated in the power supply line 59-62 of each of the actuators 12, 13 of the drive of the hydroficated working tool 28 in the telescoping section of the boom 27 for winding the flexible hoses 172 of the corresponding compensation inserts 173-176 of the indicated lines connected to it.

The free ends of the hoses 172 of the compensation inserts 173-176 are equipped with connectors 177, made in the form of booms 27 of the squeeze valves, rigidly fixed on the cantilever part of the closing telescopic section 26, with locking mechanisms for locking the ball type 178 of removable mating end connectors 179 of the actuators 12, 13 specified tool 28.

The tank 30 is equipped with built-in electronic sensors 180, 181 of the level and temperature of the working fluid.

The presence of such sensors greatly simplifies the process of monitoring the corresponding parameters of the working fluid.

In the drain and pressure filters 31, 96 for cleaning the working fluid, removable filter elements 182 with indicators 183 of their electronic type clogging and safety bypass valves 184 are installed.

With the corresponding contamination of the filter elements, as well as operation at different modes from the nominal ones (increased flow rate and viscosity of the working fluid when starting the machine), the pressure drops across the filter elements increase significantly, which may ultimately lead to their damage.

The corresponding throughput of the filter elements, as well as the presence in the design of these filters of safety relief valves set in a certain way, can be avoided.

The need for timely replacement of clogged filter elements is determined by the operator according to the corresponding signals of the above electronic indicators.

The control system 41 of the inventive hydraulic system comprises receiving-command electronic modules 185 and a remote control panel 186 built on a microprocessor based on a slewing rotary device 20.

The remote control 186 of the specified system 41 is equipped with a warning sound signal button 187, a two-position button 188 for switching operation modes of the “Stand, boom - outriggers” crane-manipulator, a switch 189 for activating the load-boosting system 166, control keys 190-195 by the executive bodies 3- 13 and 43, 44 of the drive of the rotation mechanism 8 of the rack 19, the corresponding sections 21-26 of the boom 27, the hydroficated working tool 28 suspended thereon and the movement of the retractable beams 4 5, 46 and paws 14, 15 of the remote outriggers 16, 17, emergency stop button 196, emergency switches 197, liquid crystal display 198 to display visual information about the ambient temperature and the working fluid in the tank 30, the current operating mode, the hours worked, the degree of clogging of the filters 31, 96 for cleaning the working fluid with an indication of a clogged filter, a drop in the liquid level in the tank below the permissible norm, achievement of the corresponding value of the lifting moment in the main operating mode and the load forcing mode lifts, a red warning light 199 and a buzzer for sound signals to attract, if necessary, the operator’s attention.

The operator’s actions aimed at continuing to work in critical situations are blocked by the control system upon reaching 110% of the capacity of the crane-manipulator and is only one-sided. From this moment, the operator cannot bypass this prohibition, not a single operation that contributes to further deterioration of the state of the machine. The control system in such a situation gives permission to him to perform only those operations that contribute to the removal of the machine from an emergency.

In the control system 41, for positioning the spools 65 of the working sections 53-58 of the load-sensing distributor 32, the principle of modulating the width of the control pulse supplied to their electromagnets 68, 69 is used. The position of the spool 65 in each of these sections 53-59 is fixed with a high degree of resolution by the corresponding inductive type sensor, the output signal of which is recorded and compared with the control signal set by the electronics of the control system 41, which, when these signals are mismatched, automatically modulates it into the corresponding command current controlling electromagnets 68, 69 in such a way that the corresponding pressure of the working fluid moves this spool in proportion to the specified to the desired position, after which further modulation is stopped, and the spool is locked in this position.

These performance features of the inventive hydraulic system provide high accuracy of positioning of the support of the slewing ring and the boom of the crane-manipulator with a hydroficated working tool suspended on it, which is extremely important when carrying out construction and some other works, as well as moving especially dangerous goods.

If the ambient light level is insufficient, the corresponding local illumination of the operator’s working area provided in the control panel 186 of the system 41 is turned on.

Implemented in the inventive hydraulic system, remote control of the crane-manipulator installation is extremely effective when loading materials into high-sided vehicles, such as railway cars, and unloading them from them, as well as various construction and other works carried out in conditions of limited visibility of the cargo capture zone or unloading and installation, especially with a long boom. There is no proper alternative to it in a number of other, especially specific cases, for example, when working with explosive materials or objects, when the crane operator must be located at a sufficiently large distance from the work site in a special shelter.

The control system of the inventive hydraulic system provides the possibility of self-testing it before starting work. The specified operation is carried out quickly enough, within a few seconds, with the appropriate notification of the driver about the readiness of the equipment for work or any malfunctions.

If necessary, this system can be quite easily optimized accordingly, for example, in terms of ensuring registration and safety of current information, including operator actions, deviations in machine operation, etc., as well as reading it for subsequent processing and analysis.

For this, the appropriate circuit design solutions are reserved in it, including in terms of memory size, as well as programming capabilities. On the whole, it is built on the element base that meets the modern level and the corresponding technical solutions, which can significantly increase the productivity and safety of the equipment in question, as well as significantly improve the convenience of its maintenance.

All movements of the crane installation are carried out by hydraulic actuators 3-13 and 43, 44 of its hydraulic system 1. In this case, the pump 29 of the inventive hydraulic system 1 is driven from the vehicle’s engine through the power take-off (when mounting the crane installation on the chassis of the specified tool) or from a special drive shaft (when stationary).

The removal of the outriggers 16, 17 and the installation of the machine on the supporting heels 200 of their legs 14, 15 are carried out by means of the corresponding movements of the retractable beams 45, 46 of the fastening of these outriggers and legs with the pump 29 of the hydraulic system 1 running.

To do this, first dock the remote control 186 to the on-board cable network of the control system 41 of the crane 2, release the retractable beams 45, 46 of the fastening of the outriggers 16, 17 and, correspondingly, press the on-off button 188 on the remote control to force it in this position, turn on the mode the work of Outriggers.

When you press the specified button 188, the electromagnet 88 of the pilot 89 of the auxiliary distributor 87 is turned on and the corresponding spool 90 moves the pressure line 86 of the pump 29 is cut off from the load-sensitive main distributor 32, which controls the movements of the rotation mechanism 18 of the rack 19 of the slewing-rotary device 20, boom equipment and working tool 28 and communicates with another load-insensitive main distributor 33, controlling the movements of the remote outriggers 16, 17. As a result, the first of The main distributor 32 is blocked and its operation becomes impossible, and the second main distributor 33 is ready for operation.

When the pump 29 is running, fluid from it is supplied to the valve section 34 of the second main distributor 33 and then to the spools 75 of its working sections 72-74.

In the absence of control signals on the electromagnets 76, 77 of the working sections 72-74 of the indicated distributor 33, their spools 75 are in the neutral (zero) position. Since in this case the control line 48 is connected to the drain line 91 and there is practically no consumption of the working fluid by the actuators 43, 44, 3, 4 of the movement of the retractable beams 45, 46 and legs 14, 15 of the outriggers 16, 17, then the pressure in the supravalve cavity the system valve of the pressure difference 51 of this main distributor 33 is close to zero (P _max = P _SL ) and the pump 29 is unloaded by flow, switching to almost zero displacement. By pressure, the pump 29 is unloaded, up to about 20 kgf / cm ² , because pressure-sensitive unit (regulator) 47 of it is supplied from the control line 48 with a pressure close to zero (P _sl ).

To take out the outriggers 16, 17 by means of the corresponding movement of the key 191 of the remote control 186, a command current is supplied to the left (according to the diagram) electromagnet 76 of the working section 72 of the second main distributor 33, which controls the actuators 43, 44 of the movement of the retractable beams 45, 46. At the same time, the spool 75 of the specified working section 72 moves to the left and connects via a differential circuit through the corresponding throttling channels in its body and the supply line 78-81 pressure line 86 of the pump 29 with piston and rod 82-85 olostyami the two actuating bodies 43, 44 move the retractable beams 45, 46.

The working fluid entering the indicated cavities 82-85 of the executive bodies 43, 44 is supplied simultaneously to both ends of their pistons. However, due to the difference in the working areas of these ends from the location of the piston cavities 78, 79, much greater axial forces will act on them than from the rod cavities 80, 81.

For this reason, the rods of both actuators 43, 44 will be extended, and consequently the corresponding movements in the transverse directions (removal) of the retractable beams 45, 46 of the outriggers 16, 17 articulated with them will be displaced. The actuators displaced from the rod cavities 80, 81 43, 44, the working fluid is transferred through the corresponding channels in the body of the valve 75 into the piston cavities 78, 79 of these organs. At the end of the stroke, the retractable beams 45, 46 are locked using mechanical pin type latches.

After performing this operation, the key 191 of the remote control 186 is released, and it is automatically transferred to the neutral (zero) position. At the same time, the command current is removed from the electromagnet 76 of the working section 72 of the main distributor 33 and its spool 75 also returns to its original (zero) position, separating the pressure line 86 of the pump 29 with the piston and rod cavities 82-85 of the actuators 43, 44 of the movement of the retractable beams 45 , 46 securing the outriggers 16, 17 and communicating them with the drain line 91.

To retract the retractable beams 45, 46 of the fastening of the outriggers 16, 17, for example, when the crane 2 is moved to the transport position, they are first unlocked and then the remote control key 191 is moved to the opposite side after it is stopped.

With the indicated movement of the key 191, a command current is supplied to the right electromagnet 77 of the working section 72 of the main distributor 33, which controls the actuators 43, 44 of the drive of the retractable beams 45, 46. At the same time, the spool 75 of the specified working section 72 moves to the right and connects directly through the corresponding throttling channels to its body and supply lines 78-81, pressure line 86 of pump 29 with rod cavities 84, 85 of both actuators 43, 44 for moving the retractable beams 45, 46, and piston cavities 82, 83 with a drain line ew 91.

Under the action of the pressure supplied to the rod cavities 84, 85 of the aforementioned actuating bodies 43, 44, their rods are retracted and, consequently, the kinematically connected retractable beams 45, 46 of the fastening of the outriggers 16, 17 are moved to their original position. beams 45, 46 working fluid from the piston cavities 82, 83 of the executive bodies 43, 44 is displaced into the drain line 91.

After the outriggers 16, 17 are removed, using the corresponding keys 190, 192 of the remote control 186, their legs 14, 15 are put into working position, providing the necessary stability of the machine against tipping over.

The specified operation consists in the actual lowering of the legs 14, 15 of the remote outriggers 16, 17 to the stop by their supporting heels 200 in the ground.

When applying by appropriate movements of the keys 190, 192 of the remote control 186 of the command signals to the left electromagnets 76 of the working sections 73, 74 of the main distributor 33, which controls the actuators 3, 4 of the movement of the legs 14, 15 of the remote outriggers 16, 17, the spools 75 of these sections are transferred from the position equilibrium to the left and connected according to the differential circuit through the corresponding throttling channels in their bodies supply lines 101, 102, 201, 202 and the brake valves 103, 104 built in them, pressure line 86 of pump 29 with piston and rod trough cavities 203, 204, 106, 107 of the aforementioned executive bodies.

On the supply lines 201, 202 and 101, 102, respectively, directly and through the check valves 205 of the brake valves 103, 104 opened by the flow of the working fluid, bypassing their shut-off elements 108, this fluid is simultaneously supplied to both ends of each of the pistons of the actuators 3, 4.

In this case, as in the executive bodies 43, 44, the movement of the retractable beams 45, 46 of the remote outriggers 16, 17 due to exactly the same reasons, the rods (paws 14, 15) of both executive bodies 3, 4 will be extended, and therefore lowering 200 pivotally fixed self-aligning support legs.

After installing the machine on the supporting heels of 200 paws 14, 15 of the remote outriggers 16, 17 of the crane-manipulator installation, 2 keys 190, 192 of the remote control 186 are released and they are automatically transferred to the neutral (zero) position. At the same time, the control voltage (command current) is removed from the electromagnets 76 of the working sections 73, 74 of the main distributor 33 and their spools 75 also return to their initial (zero) position, separating the pressure line 86 of the pump 29 with the piston and rod cavities 203, 204, 106, 107 executive bodies 3, 4 moving paws 14, 15 remote outriggers 16, 17 and communicating them with the drain line 91.

With this switching of the spools 75 of the working sections 73, 74, unauthorized subsidence of the paws 14, 15 of the outriggers 16, 17 is prevented by locking the fluid in the piston cavities 203, 204 of the actuators 3, 4 of their movement by check valves 205 and normally closed shut-off elements 108 of the brake valves 103, 104.

The lowering of the legs 14, 15 of the remote outriggers 16, 17 can be carried out both simultaneously and alternately.

When the spools 75 of the working sections 73, 74 of the main distributor 33 are in neutral (zero) positions, the brake valves 103, 104 perform the function of hydraulic locks to prevent unauthorized subsidence of the paws 14, 15 of the remote outriggers.

To raise the legs 14, 15 of the remote outriggers 16, 17, for example, when the crane 2 is moved to the transport position, it is necessary to move the keys 190, 192 of the remote control 186 to the opposite side after it stops.

With the indicated movement of the keys 190, 192, the corresponding command currents are supplied to the right electromagnets 77 of the working sections 73, 74 of the main distributor 33, which controls the actuators 3, 4 of the foot drive 14, 15 of the remote outriggers 16, 17. At the same time, the spools 75 of the indicated working sections 73, 74 move to the right and connect directly through the corresponding throttling channels in their bodies and supply lines 201, 202, 101, 102 to the pressure line 86 of the pump 29 with rod cavities 106, 107, and the piston cavities 203, 204 to the drain line 91.

Under the action of the pressure supplied to the rod cavities 106, 107 of the said actuating bodies 3, 4, the locking elements 108 of the brake valves 103, 104 are opened and the rods are retracted (legs 14, 15 of the outriggers 16, 17), and therefore the rise to the original the position of the kinematically associated supporting heels 200. When retracting the legs 14, 15, the working fluid from the piston cavities 203, 204 of the actuators 3, 4 is forced into the drain line 91.

The brake valves 103, 104 provide a sufficiently high stability of the retraction speed of the legs 14, 15 of the remote outriggers 16, 17, when there are associated loads, with the exception of self-oscillations.

The movement in the process of loading and unloading and other work located on the rack 19 of the boom 27 of the crane 2 in the circumferential direction is carried out by the corresponding rotation of the rack in the bearings 206, 207 of the base 167 of the slewing device 20.

To ensure the possibility of engaging the corresponding executive body - the hydraulic motor 5 of the drive mechanism of the rotation mechanism 18 of the rack 19, the crane-manipulator unit 2 is transferred from the “Outriggers” operating mode to the “Stand, boom, tool” operating mode.

To perform this operation, it is enough to release the previously pressed and held in this position on / off button 188 located on the front panel of the remote control 186.

When the button 188 is released, the electromagnet 88 of the pilot 89 of the auxiliary distributor 87 is automatically turned off and its spool 90 returns to its original position, cutting off the pressure line 86 of the pump 29 from the main distributor 33, controlling the movements of the outriggers 16, 17, and communicating it with the other main distributor 32, the control movements of the rotation mechanism 18 of the rack 19 of the slewing device 20, boom equipment and hydraulic working tools 28. As a result, the first of these main distributions teley 33 is blocked and its operation becomes impossible, and the second main valve 32 - ready to go.

When the pump 29 is running, fluid from it is supplied to the valve section 34 of the main distributor 32 and then to the spools 65 of its working sections 53-58.

In the absence of control signals on the electromagnets 68, 69 of the working sections 53-58 of the indicated main distributor 32, their main spools 65 are in the neutral (zero) position. Since in this case the control line 48 is connected to the drain line 91 and there is virtually no consumption of the working fluid by the executive bodies 5-13 of the drive of the turning mechanism 18 of the rack 19 of the support-rotary device 20 of the lifting, remote and telescopic sections 21-26 of the boom 27 and the hydraulically suspended suspension on it working tool 28, then, respectively, the pressure in the nadklapanny cavity of the valve of the pressure difference 51 of this main valve 32 is close to zero (P _max = P _SL ) and the pump 29 is unloaded by flow and pressure then It is the same as with the work of remote outriggers 16, 17.

The control signal is supplied to the necessary (left) electromagnet 68 of the working section 56 of the main control valve 32 of the hydraulic motor 5 by means of the corresponding movement of the 190 keys provided for this in the remote control panel 186.

If there is a control signal on electromagnet 68, the pressure reducing valve 66 of the working section 56 of the main distributor 32 moves the spool 65 to the right (according to the diagram). In this case, one of the working cavities 208 of the hydraulic motor 5 is connected through the corresponding channel in the body of the spool 65 of the indicated section 56 and its differential pressure valve 63 to the pressure line 86 of the pump 29, and the other cavity 209 directly to the drain line 91.

Under the action of the fluid entering the working cavity 208 of the hydraulic motor 5, its cylinder block, and therefore the kinematically connected output shaft 210, comes into rotation, the frequency of which is proportional to the flow rate of the supplied fluid. From the output shaft 210 of the hydraulic motor 5, the rotation is transmitted through a planetary type gear reducer 211 to the drive gear 212 of the open gear 213 of the rotary mechanism 18 of the rack 19 located outside the rack 19.

Since structurally the hydraulic motor 5 with the gear 211 and the specified gear 212 is rigidly fastened to the strut 19, and the gear wheel 214 of the gear gear 213 of the gear mechanism 213 of its rotation mechanism 18 kinematically connected to the gear is stationary (fastened to the base 167 of the rotary support device 20), the rotating gear rolling around along it, drives the rack with the boom 27 fixed on it.

The indicated schematic design of the rotation mechanism 18 of the rack 19 of the slewing-rotary device 20 based on the open gear gear 213 located outside and the planetary gear reducer 211 driven by a hydraulic motor 5 enables the transmission of large powers with an unlimited angle of rotation of the rack.

Due to the specificity of the technical solutions incorporated in the design of this rack rotation mechanism, it differs from the prototype in compactness, higher weight perfection, efficiency, rigidity, accuracy, durability, ease of installation and dismantling, as well as maintenance. For the manufacture of it there is no need for high-quality bronzes and an expensive cutting tool.

When the rack 19 was rotated, it drove 215 kinematically coupled to the lead 216 of the sleeve 217 of the multi-channel electro-hydraulic communication connector 169, synchronously rotates the last and the output shaft 219 of the central shaft 220 of the sliding current collector 221 rigidly connected to it by the casing 218 around the longitudinal axis. Simultaneously with the central shaft 220 of the current collector 221, rotary electrical contacts 222 kinematically coupled thereto rotate, sliding along the stationary electrical contacts 223 of the current collector module 224, providing a suitable connection for the cables 164 located on the fixed base 167 and the rotary rack 19 of the rotary support device 20.

The supply of the working fluid and the transmission of electrical signals from the base 167 to the rotary rack 19 of the slewing-rotary device 20 and their passage in the opposite direction are carried out through the corresponding communication channels of the hydraulic and electrical parts of the connector 169, which are insulated from each other.

The technical solutions incorporated in the design of the indicated connector ensure the continuity of the flow of the working fluid when it flows through the hydraulic paths and reliable transmission of electrical signals through a sliding current collector. The communication connector of this design has a relatively small size, high weight perfection, ease of use and allows you to realize an endless angle of rotation of the rack.

At the same time, it completely eliminates the sagging of the fragments of the hydraulic connecting lines and cables of the control system that are interconnected in the indicated zone and the likelihood of grazing them on the metal structure of the machine or the transported load, as well as trauma to the operating personnel. In addition, this technical solution significantly contributes to improving the appearance of the machine.

When the safety valve 225 of the back-safety valve 115 is closed, the entire fluid flow from the outlet of the pressure slot of the spool 65 of the working section 56 of the main distributor 32 enters the pressure cavity 208 of the hydraulic motor 5. This fluid flow corresponds to a certain rotation speed of its output shaft 210, and therefore the rack 19.

When the motor 5 is rotated, the working fluid from its opposite (other) cavity 209 through the spool 65 of the working section 56 of the main distributor 32 and the drain filter 31 is discharged into the tank 30.

The stand 19 is stopped by turning off the hydraulic motor 5 of its rotation mechanism 19. The stand 19 is stopped by “releasing” the key 190 of the remote control 186. At the same time, it automatically returns to the neutral (zero) position, the control signal is removed from the electromagnet 68 of the pilot of the main distributor 32, and the spool 65 of the working section 56 returns to its original (equilibrium) position, completely blocking the pressure window (throttling gap) of supplying the hydraulic motor 5 with the working fluid.

During acceleration, as well as sudden braking of the stand 19 of the slewing ring device 20, for example, when the boom 27 encounters an obstacle, the pressure of the working fluid in the working cavity 208 of the hydraulic motor 5 may exceed the limit setting of the safety valve 225 of the back-safety valve 115. When the specified safety valve 225, part of the working fluid from the specified cavity 208 is discharged through it and the drain filter 31 into the tank 30. In this case, the rotation speed of the shaft 210 of the hydraulic motor 5 decreases accordingly and may drop up to zero.

In this case, the safety valve 225 of the back-safety valve 115 provides appropriate protection for the swing mechanism 18 of the rack 19 from excessive permissible overloads, which can be realized both with the open and closed spool 65 by means of the corresponding bypassing of the working fluid through the hydraulic path of the valve from the high low pressure cavity. The corresponding recharge of the hydraulic motor 5 is provided from the drain line 91 through the check valve 226 back-pressure relief valve 115.

The maximum setting of the safety valve 225 of the back-safety valve 115 is mainly determined by the permissible overload acting on the rotation mechanism 18 of the rack 19 and its service life. With this setting, the minimum necessary time for acceleration and braking of the rack 19 is provided, based on practical feasibility and maintaining the integrity of the mechanism 18 of its rotation.

With a fixed setting of the safety valve 225 of the back-safety valve 115, the smooth operation when starting and braking the rack 19 depends on the moment of inertia of the rotating parts (boom 27 with the load and the rack itself) and the speed of movement of the key 190 of the remote control 186. The greater the moment of inertia , the smaller the angular acceleration of the rack 19, and the more smoothly its acceleration or deceleration occurs.

The necessary rotation of the rack 19 is controlled by a corresponding change in the direction of rotation of the output shaft 210 of the hydraulic motor 5 using the key 190 of the remote control 186.

To change the direction of rotation of the rack 19, you must move the key 190 of the specified remote control 186 in the opposite direction after it stops.

The operation of the inventive hydraulic system in this case is similar to the above. In this case, the protection of the rotation mechanism 18 of the rack 19 from overloads and the recharge of the hydraulic motor 5 are already provided by the safety and non-return valves 225 and 226 of the other back-safety valve 116, respectively.

In the event of emergency destruction during operation of the inventive pressure line hydraulic system, to stop the rack 19, it is necessary to move the key 190 of the remote control 186 to the zero position. In this case, the braking of the rack 19 occurs normally (as described above).

When the drain line is destroyed, the braking of the rack 19 occurs only due to the moment of resistance in the bearings 206, 207 of the base 167 of the slewing ring 20.

Moving the lifting section 21 of the boom 27 in the vertical plane is carried out using the appropriate actuator 6 by turning it relative to the hinge point on the rack 19. The operation of the specified actuator 6 is carried out using the key 191 of the remote control 186.

When a command signal is applied by corresponding movement of the key 191 to the left electromagnet 68 of the working section 53 of the main distributor 32, the pressure reducing valve 66 of this section moves its spool 65 to the right. The pressure line 86 of the pump 29 through the pressure differential valve 63 of the working section 53 of the main distributor 32, the corresponding channels in the body of its spool 65 and the check valve 133 of the protection unit 126 communicates with the piston cavity 40 of the actuator 6, and the rod cavity 227 of the actuator through another check valve 134 of the protection unit and the corresponding channel in the body of the spool with a drain line 91.

Under the action of the pressure supplied from the pump 29 to the piston cavity 40 of the actuator 6 of the working fluid, the rod extends, turning through the corresponding articulated lever mechanism the lifting section 21 of the boom 27 upwards. In this case, from the rod cavity 227 of the actuator 6, the working fluid is freely discharged into the drain line 91.

To stop the lifting of the indicated section of the boom 27, you must release the key 191 of the remote control 186. At the same time, it automatically returns to the neutral (zero) position and turns off the electromagnet 68 of the working section 53 of the main distributor 32. When the electromagnet 68 of the working section 53 of the main distributor 32 is turned off, its spool 65 returns to its original (equilibrium) position, completely blocking the pressure head power window of the actuator 6 of the drive of the lifting section 21 of the boom 27 with the working fluid. At the same time, the rod of the actuator 6 of the actuator of the lifting section of the boom 21 is fixed using a safety valve 128 (before it is activated), a pressure differential valve 131, a hydraulic lock 130 and a check valve 133.

To change the direction of movement of the lifting section 21 of the boom 27, you must move the key 191 of the remote control 186 in the opposite direction after it stops.

With the indicated movement of the key 191, the corresponding command current is supplied to the right electromagnet 69 of the working section 53 of the main distributor 32, when activated, the pressure reducing valve 67 of this section moves its spool 65 to the left.

The pressure line 86 of the pump 29 through the pressure differential valve 63 of the working section 53 of the main distributor 32, the corresponding channels in the body of its spool 65 and the backup valve 132 of the protection unit 126 communicates with the rod cavity 227 of the actuator 6, and the piston cavity 40 of the actuator through the valve the pressure difference 131, the hydraulic lock 130 of the protection unit 125 and another channel in the body of the spool - with a drain line 91.

Under the action of the pressure supplied from the pump 29 to the rod cavity 227 of the actuator 6 of the working fluid, the hydraulic lock 130 of the protection unit 126 opens, thereby removing the fixation of the rod of the said organ, and the rod is retracted, which rotates the lifting section 21 of the boom 27 downwards through the corresponding articulated lever mechanism . At the same time, from the piston cavity 40 of the actuator 6, the liquid is discharged through the pressure differential valve 131 and the hydraulic lock 130 of the protection unit 126, as well as through the corresponding channel in the body of the valve 65 to the drain line 91.

The limitation of the pressure of the working fluid in the piston and rod cavities 40, 227 of the actuator 6 of the drive of the lifting section 21 of the boom 27 under the action of dynamic and reactive loads, realized, for example, during sudden braking of the load and the boom meets the obstacle, is carried out by safety valves 128, 129 of the block protection 126.

A sealed pressure differential valve 131 of said protection unit 126 is used as a brake valve. It maintains the pressure drop on the drain window of the working section 53 of the main distributor, determined by its setting, of the order of 8 kgf / cm ² , at which, with the same command currents on the respective electromagnets 68, 69 of the indicated section, the speed of retraction of the rod of the actuator 6 is approximately equal to the speed of its extension, determined by the same setting of the valve of the pressure difference 63 of the working section of the valve.

The specified valve 131 provides the necessary smoothness and stability of the retraction speed of the actuator rod under the action of a changing associated load.

The check valve 132 of the protection unit 126 eliminates the possibility of reducing to zero the pressure of the working fluid in the control line of the hydraulic lock 130 during transients.

The non-return valves 133, 134 of the protection unit 126 turn off the hydraulic lock 130, the differential pressure valve 131 and the safety valve 129 when the actuator 6 is extended.

Moving the remote section 22 of the boom 27 in the vertical plane is carried out using the corresponding actuator 7 by turning it relative to the point of articulation with the lifting section 21. The specified actuator 7 is activated by the corresponding movements of the key 192 of the remote control 186, providing the necessary command currents to the electromagnets 68, 69 of the working section 54 of the main distributor 32.

Moreover, due to the identity of the design of the drives of the lifting and remote sections 21, 22 of the boom 27, the work of the last of them is practically no different from the work of the first, the features of which are discussed in detail above in the text.

The necessary movements of the telescopic telescopic sections 23-26 of the boom 27 are carried out using the respective actuators 8-11 of their drive. The involvement of these Executive bodies 8-11 is carried out using the key 193 of the remote control 186.

When applying by appropriate movement of the specified key 193 command signal to the electromagnet 68 of the working section 55 of the main distributor 32, the pressure reducing valve 66 of this section moves its spool 65 to the right.

In this case, the pressure line 86 of the pump 29 through the pressure difference valve 63 of the working section 55 of the main distributor 32 and the corresponding channels in the body of its spool 65, as well as the supply line 111, the check valve of the brake valve TC, piston paths 144, 146, 148 in the actuator rods 143 bodies 8-11 drive telescopic telescopic sections 23-26 and the piston external lines 150, 152, 154 of these bodies communicate almost directly, respectively, with their piston cavities 135, 137, 139, 141.

At the same time, the rod cavities 136, 138, 140 and 142 of the said actuators 8-11 through the rod external lines 151, 153, 155 and the back-safety valves 156-158 built into them, as well as the rod paths 145, 147, 149 in the bodies their rods 143, the supply line 112 and the corresponding locking element of the brake valve TC channel forcibly opened by the control pressure of the line 111 in the body of the spool 65 of the working section 55 of the main distributor 32 are connected to the drain line 91.

The working fluid supplied from the pump 29 through the internal piston path 144 to the piston cavity 135 of the actuator 8 of the drive of the first telescopic retractable section 23 of the boom 27 practically simultaneously flows through the above lines and into the piston cavities 137, 149 and 141 of the remaining actuators 9-11 of this group.

In this case, the displacement (discharge) of the working fluid from the rod cavities 136, 138, 140, 142 of the actuators 8-11 of the drive of the telescopic telescopic sections 23-26 of the boom 27 can occur only as follows:

- from the rod cavity 136 of the Executive body 8 of the drive of the first retractable telescopic section 23 - the passage through its inner rod path 145;

- from the rod cavity 138 of the actuator 9 of the actuator of the second retractable telescopic section 24 through the pressure relief valve 159 of the back-safety valve 156, the bypass valve 228 of which bypass is closed at that time, the corresponding external stem line 151, the rod cavity 136 of the actuator 8 of the first actuator telescopic telescopic section 23 and its inner stock path 145;

- from the rod cavity 140 of the actuator 10 of the drive of the third retractable telescopic section 25 - through the pressure relief valve 160 of the back pressure relief valve 157, the check valve 228 of the bypass circuit of which is closed at that time, the corresponding external stem line 153 and the internal rod path 147, the rod cavity 138 the actuator 9 of the actuator of the second telescopic retractable section 24, the safety valve 159 back-safety valve 156, the check valve 228 bypass circuit which at this time ryt, outer stem line 151, the rod end 136 of the actuator body 8 of the first telescopic section 23 and the stem internal path 145;

- from the rod cavity 142 of the actuating actuator 11 of the closing telescopic retractable section 26 through the pressure relief valve 161 of the back-pressure relief valve 158, the check valve 228 of the bypass circuit of which is closed at that time, the corresponding external stem line 155 and the internal rod path 149, the rod cavity 140 the actuator 10 of the drive of the third retractable telescopic section 25, the safety valve 160 back-safety valve 157, the check valve 228 bypass circuit which at this time I am closed, the external stem line 153 and the internal stock path 147, the stem cavity 138 of the actuator 9 of the drive of the second telescoping section 24, the safety valve 159 of the back-safety valve 156, the bypass check valve 228 of which is closed at that time, the external stock pipe 151 , the stock cavity 136 of the Executive body 8 of the drive of the first retractable telescopic section 23 and its inner stock path 145.

The hydraulic resistance of each of the considered passage lines displaced from the rod cavities 136, 138, 140, 142 of the actuators 8-11 of the drive of the telescopic retractable sections 23-26 of the boom 27 of the working fluid is different and mainly determined by the corresponding pressure drop of the setting of the safety valves 159-161. In the first line, it is minimal, since it does not have back-safety valves. In the second, it is slightly larger than in the first, since it has one back-pressure relief valve 156. In the third line it is even larger, since it already has two back-pressure valves 156, 157.

And finally, in the fourth line it is maximum, since it has three back-safety valves 156,157,158.

In addition to these hydraulic resistances to the movement of the telescopic telescopic sections 23-26 of the boom 27, the corresponding frictional forces occurring in their movable joints also counteract. Moreover, due to the design features of the telescopic part of the boom 27 in the movable connection of its remote and first telescopic sections 22 and 23, the friction force is usually maximum, and in the subsequent decreases to the minimum in the movable connection of the third and closing retractable telescopic sections 25 and 26.

In this regard, the safety valves 159-161 of the back-safety valves 156-158 are adjusted to the same pressure drop so that the total resistance to movement of the first telescopic retractable section 23 is minimal, and then it would accordingly increase to the maximum when moving its closing telescopic retractable sections 26.

Since any movement usually occurs along the line of least resistance, as a result, when the working fluid is simultaneously supplied to the piston cavities 135, 137, 139, 141 of the actuators 8-11 of the drive of the telescopic retractable sections 23-26, they will be advanced strictly sequentially, starting from the first and ending with a trailing.

To stop the telescopic sections 23-26 of the boom 27, it is necessary to release the key 193 of the remote control 186. It will automatically return to the neutral (zero) position and turn off the electromagnet 68 of the working section 55 of the main distributor 32. When the electromagnet 68 of the working section 55 of the main distributor is turned off 32 its spool 65 returns to its initial (equilibrium) position, completely blocking the pressure head power window of the actuators 8-11 of the drive of telescopic telescopic sections 23-26 of the boom 27 Static preparation liquid.

To change the direction of movement of the indicated sections 23-26 of the boom 27, after stopping them, it is necessary to move the key 193 of the remote control 186 in the opposite direction.

With the indicated movement of the key 193, the corresponding command current is supplied to the right electromagnet 69 of the working section 55 of the main distributor 32, when activated, the pressure reducing valve 67 of this section moves its spool 65 to the left. In this case, the pressure line 86 of the pump 29 through the pressure differential valve 63 of the working section 55 of the main distributor 32 and the corresponding channels in the body of its spool 65, as well as the supply line 112, the check valve of the brake valve TK, internal stock paths 145, 147, 149, external stem highways 151, 153, 155 and back-safety valves 156-158 embedded in them communicate with rod cavities 136, 138, 140, 142 of the actuators 8-11 of the drive of telescopic telescopic sections 23-26 of the boom 27.

At the same time, the piston cavities 135, 137, 139, 141 of the said actuators 8-11 through the external piston lines 150, 152, 154, the internal piston paths 144, 146, 148, the supply line 111 and the corresponding locking element forcibly opened by the control pressure of the line 112 the brake valve TC channel in the body of the spool 65 of the working section 55 of the main distributor 32 are connected to the drain line 91.

Pump 29 supplied to the rod cavities 136, 138, 140, 142 of the actuators 8-11 of the drive of telescopic telescopic sections 23-26 of the boom 27 in this case, the working fluid passes through the check valves 228 of the bypass circuits of the back-pressure relief valves 156- automatically opening under its pressure 158, bypassing their locked safety valves 159-161. Moreover, it enters all of these cavities almost simultaneously.

The displacement (discharge) of the working fluid from the piston cavities 141, 139, 137, 135 of the actuators 11-8, in principle, could also be carried out simultaneously, since they all communicate with each other through hydraulic lines of the same flow area.

However, the determining factor in this case to ensure the necessary sequence of retraction of the telescopic telescopic sections 23-26 of the boom 27 is the above-mentioned friction forces occurring in their movable joints.

Since in the movable connection of the third and closing telescopic retractable sections 25 and 26 of the boom 27, the friction force is minimal and accordingly sequentially increases to the maximum in the movable connection of its remote and first telescopic retractable sections 22 and 23, then the retraction will occur alternately in the reverse order of extension, those. first, the closing telescopic retractable section will be retracted, followed by the third, second and first telescopic retractable sections 25-23.

The principle of operation of the built-in power line 111, 112 of the executive bodies 8-11 of the drive of the retractable telescopic sections 23-26 of the boom 27 of the protective and safety equipment (back-safety valves 113, 114 of the valve block 121) is exactly the same as that of the protective and safety equipment (back-pressure relief valves 115, 116 of the same block), built into the power supply line 109, 110 of the hydraulic motor 5 of the drive of the turning mechanism 18 of the rack 19 of the slewing-rotary device 20, the functioning of which is discussed in sufficient detail s hereinabove.

When the power supply lines of the executive bodies 8-11 of the drive of the telescopic sections 23-26 boom 27 are cut off, unauthorized liquid outflow from the working cavities of these bodies is excluded, as in the prototype, the TC brake valve installed in front of the first of them, which has two locking elements ( valve). The specified brake valve TC also provides stability to the speed of movement of the rods of the respective actuators under the action of associated loads.

The rotation of the hydroficated working tool (grab) 28, suspended at the end of the closing telescopic section 26 of the boom 27, is carried out in the horizontal plane with the help of the corresponding actuator (rotator) 12, which is a rotary hydraulic motor with a limited or infinite rotation angle of its output shaft, rigidly fixed to the body of the specified tool.

The closing and opening of the load-gripping jaws 229, 230 of the specified tool 28 is performed using the executive body 13, which is a double-acting hydraulic cylinder with a one-sided rod.

To control the rotator 12, the key 194 of the remote control 186 is used, by means of corresponding movements of which the electromagnets 68, 69 of the working section 57 of the main distributor 32 are turned on and off, providing the necessary movements with the help of pressure reducing valves 66, 67 of this section, as well as returning to the original (equilibrium) condition of her spool 65.

The switching of fluid flows through the corresponding movements of the spool 65 of the working section 57 of the main distributor 32, as well as the principle of operation of the rotator 12 and the safety equipment (back-pressure valves 117, 118 of the valve block 121) integrated in its supply line 59, 60, are exactly the same, as for the hydraulic motor 5 of the drive of the rotation mechanism 18 of the rack 19 of the slewing-rotary device 20, the functioning of which is discussed in sufficient detail above.

When fluid is supplied to one or another of the working cavities 231, 232 of the rotator 12, it rotates the grab 28 in the horizontal plane in the corresponding direction.

The non-return valves 117, 118 of the block 121 limit the pressure in the pressure cavities 231, 232 of the rotator 12 and provide them with liquid feed from the drain line 91 when it decreases at the moment of operation of their safety valves 225.

To control the hydraulic cylinder 13 of the drive of the gripping jaws 229, 230 of the grab 28, the key 195 of the remote control 186 is used, by means of the corresponding movements of which the electromagnets 68, 69 of the working section 58 of the main distributor 32 are turned on and off, which provide the necessary movements using pressure reducing valves 66, 67 of the indicated section, as well as a return to the initial (equilibrium) state of its spool 65.

The switching of fluid flows by means of corresponding movements of the spool 65 of the working section 58 of the main distributor 32, as well as the principle of operation of the hydraulic cylinder 13 and the safety and safety equipment integrated in its supply line 61, 62 (safety valves 119, 120 of the valve block 121) are exactly the same, as well as other executive bodies 5, 8-12 of the group in question, the features of the functioning of which are discussed in sufficient detail above.

When fluid is supplied to the piston cavity 233 of the hydraulic cylinder 13, the rod extends and a corresponding rotation towards the load-gripping jaws 229, 230 of the grab 28 pivotally articulated with it and the body of the specified cylinder is made around their rotation axes. In this way, the jaws 229, 230 of the grapple 28, which are closed, provide for gripping and holding the load during its movement.

When fluid is supplied into the rod cavity 234 of the hydraulic cylinder 13, the rod is retracted into its housing and the corresponding rotation in the opposite sides of the load-gripping jaws 229, 230 of the grab 28 around their rotation axes occurs. The jaws 229, 230 of the grapple 28 thus opened release the retained load.

Non-return valves 119, 120 limit the pressure in the working cavities 233, 234 of the hydraulic cylinder 13 of the jaw drive 229, 230 of the hydraulic tool 28 and provide them with liquid from the drain line 91 when it decreases at the moment of operation of these valves.

The presence in the supply lines of 59-62 of the executive bodies 12, 13 of such protective and safety equipment significantly facilitates the solution of the problem of adapting the inventive hydraulic system to a hydroficated working tool 28 purchased or borrowed from other crane manipulators. The nomenclature and sizes of such a tool are very large, and the pressure the supply of their executive organs with the working fluid is usually different.

The supply of the working fluid to the executive bodies 12, 13 of the hydroficated working tool 28 is carried out through the flexible hoses 172 of the compensation inserts 173-176 of the corresponding hydraulic lines 59-62 connected to the boom 27 that are connected to them. In this case, if the boom 27 is extended by telescoping synchronously with the retractable sections 23-26, the connectors 174 of the indicated hoses and the end connections connected to them fixed on the console part of its trailing section 26 are also moved carriers 179 of the hydraulic working tool 28. Under the action of hydraulic traction connectors 170 transmitted through flexible hoses 172 to the tension drums 171, they, overcoming the resistance of the corresponding spiral return springs built into them, begin to rotate in the direction of evacuation (unwinding) of the hoses from them. At the same time, the spiral winding springs of the indicated connectors 172 are automatically turned on.

When the boom 27 is reduced by retracting its telescopic sections 23-26, the flexible hoses 172 of the compensation inserts 173-176 are again wound on the rims of the tension drums 171 of the hydraulic rotary connectors 170 under the action of the unwinding spiral return springs.

During the indicated movements of the telescopic telescopic sections 23-26 of the boom 27, the uninterrupted supply of the working fluid to the actuators 12, 13 of the hydroficated working tool 28 and vice versa is carried out through the corresponding sealed internal paths of the connectors.

The presence in the inventive hydraulic system of this kind of hydraulic connectors for transferring the corresponding flows of the working fluid from the fixed part of the structure to the moving one provides a sufficiently compact, without sagging, laying of these flexible hoses in this area and the possibility of forming telescoping sections of great length without special difficulties and worsening the presentation of the machine.

As the transportation platform of the machine is filled with the material being immersed by a crane, the load acting on the legs 14, 15 of the remote outriggers 16, 17 and, consequently, the pressure in the piston cavities 203, 204 of the corresponding actuators 3, 4, increases to the maximum permissible value.

If it is exceeded, the shut-off elements automatically installed in the supply lines 101, 102 of the actuators 3, 4 of the brake valves 103, 104 and the working fluid is transferred to the drain line 91. In this case, pressure is released from the piston cavities 203, 204 of the said actuators 3, 4 and the corresponding controlled subsidence in slow motion of the legs 14, 15 of the outriggers 16, 17 until the pressure value thus reduced in them equals the setting pressure of the brake valves 103,104.

At the moment of equalization of the indicated pressures, the locking elements of the brake valves 103, 104 are again automatically closed, separating the piston cavities 203, 204 of the actuators 3, 4 with the drain line 91. During the loading of the transport platform of the machine with the transported material, the brake valves 103, 104 cycle in this mode until the end of work, providing power unloading and protection of the paws 14, 15 of the remote outriggers 16, 17 from breakage without the participation of the operator.

In the main load-sensing valve 32, differential pressure valves 63 are installed in all of its operating sections 53-58. Due to this, in the inventive hydraulic system, in contrast to the prototype, it is possible to realize parallel, independent operation of several executive bodies 5-13 at once.

In this case, the primary safety valve 163 must be closed, the power limitation controller 100 of the pump 29 is turned off, so that the loads are below the limit, and the working volume of the latter is less than the maximum. With the simultaneous inclusion of several spools 65 of the indicated distributor 32, the corresponding sections 53-58 of it work similarly. The pressure from a more loaded actuator locks the check valves 64 of the remaining sections and controls the inlet pressure of the pressure line 86 in such a way that it exceeds it by an amount of the order of 20 kgf / cm ² equal to the setting pressure of the load-sensitive unit (controller) 47 of the pump 29. As a result, the inlet pressure of the hydraulic system is constantly maintained as much as necessary for the operation of the actuators 5-13 of the drive (adaptation to the load).

The pump 29 in this case automatically adjusts to the flow rate required for the distributor 32. Therefore, when the hydraulic system does not discharge excess liquid under pressure into the tank 30 and its additional overheating.

The implementation in the inventive hydraulic system of the possibility of simultaneously combining several operations with adapting it to the load at a sufficiently low level of energy loss significantly expands the functionality of the crane-manipulator and is extremely important both for manufacturers of lifting equipment of this type and for consumers, especially in conditions of a significant increase in requirements to cars and increased competition in the market.

When the executive bodies 5-13 of the drive of the turning mechanism 18 of the rack 19, the boom equipment 21-26 and the hydraulic work tool 28 are in normal operation, the electromagnet 92 of the pilot of the additional distributor 36 of the forcing system of the carrying capacity 166 of the crane-manipulator is de-energized. In this case, the necessary pressure of the working fluid in the pressure line 86 is limited by an autonomous safety valve 163, tuned to the corresponding pressure drop of about 285 kgf / cm ² .

To translate the crane-manipulator in the mode of forcing its load capacity, the corresponding switch 189 of the remote control 186 is translated into the "on" position. In this case, the corresponding control voltage is supplied to the pilot electromagnet 92 of the additional distributor 36. When the electromagnet is activated, the spool 93 of the indicated distributor 36 divides the output of the pump 29 with an autonomous safety valve 163.

As a result, the safety valve 35 of the indirect action of the valve section 34 of the main load-sensitive valve 32 comes into operation, which is set to a slightly larger (about 320 kgf / cm) differential pressure, and the pressure of the working fluid in the pressure line 86 increases accordingly by about 15%, providing necessary increase in carrying capacity.

At the same time, by the electronics of the control system 41, the values of the maximum control signals supplied to the electromagnets 68, 69 of the working sections 53-58 of the main load-sensitive distributor 32 are reduced programmatically to reduce approximately the same ratio of the speeds of rotation of the rack 19, the movements of the sections 21-26 of the boom 27 and the corresponding movements of the hydraulic work tool 28.

The presence of such a system 166 in the inventive hydraulic system allows, if necessary, mainly in extreme situations, to briefly force the drive power (load-carrying capacity of a crane-manipulator) within acceptable limits.

This feature of the claimed hydraulic system significantly expands the functionality of the crane-manipulator installation and is extremely important when loading and unloading materials of an disordered structure and size, such as scrap metal, construction waste, as well as when dismantling rubble in places of natural or man-made disasters and in some other cases .

In the process, the pressure at the outlet of the pump 29 is determined by the load on the corresponding executive body and is limited by the protective, safety and regulatory equipment provided for this in the inventive hydraulic system.

The flow of the working fluid is determined by the setting of the pressure-sensitive distributor 32 valves of pressure difference 63 located in the working sections 53-58 and the corresponding movements of the shut-off and control spools 65 and 75 of the indicated sections and sections 72-74 of the other main load-sensing valve 33, as well as the corresponding leaks and its consumption for management.

The regulation of the working volume of the pump 29 is carried out by the corresponding tilt of its cylinder block relative to the axis of the output shaft.

The power regulator 100 of the pump 29 automatically maintains the consumed power (torque) taken from the drive shaft, for example, the power take-off of the chassis engine on which the crane is mounted, when the pressure in the hydraulic system is changed by changing the angle of the cylinder block.

The load-sensitive unit 47 of the pump 29 provides a constant, of the order of 20 kgf / cm ² pressure differential between the pump outlet and the most loaded pressure pipe of the corresponding actuator.

Moreover, in the "Stand, boom" mode of operation of the inventive hydraulic system, a constant, about 8 kgf / cm ² , differential pressure is maintained on the pressure edge of the spool 65 of the corresponding working section of the load-sensitive distributor 32.

In the “Outriggers” operating mode, on the pressure edge of the spool 75 of the corresponding working section of the second, load-insensitive main distributor 33, this differential may be less, since in this case large capacities are not required.

The power regulator 100 of the pump 29 can be rebuilt using a pressure reducing valve 97 of the inventive hydraulic system, which is not part of the pump, by changing the control pressure supplied from it through the corresponding line to the load-sensitive unit 47 of the specified pump in proportion to the value of the limited power.

In the inventive hydraulic system, said pressure reducing valve 97 is powered directly from its standard axial piston pump 29. This feature of the circuit design allows to simplify the inventive hydraulic system and accordingly reduce its cost on this basis in comparison with the well-known foreign load-sensitive hydraulic systems in which such valves are energized relatively expensive special additional pumps are used (see, for example, an article by V.I. Doroshchenko, A.A. Ginzburg, GSKTB GA, Gomel, published annuyu on p. 34-38 of the magazine "Construction and Road Machines", №5 1998).

A power pressure of the order of (6-60) kgf / cm ² is supplied to the power controller 100.

At the same time, a larger power taken from the shaft of the pump 29 corresponds to a higher control pressure.

During operation of the power controller 100, the load-sensitive unit 47 of the pump 29 does not function.

Prior to the operation of the power regulator 100, the indicated unit 47 of the pump 29 maintains a constant pressure drop, of the order of 20 kgf / cm ² , between the pump outlet and the pressure pipe of the most loaded hydraulic actuator.

If at the same time several working sections 53-58 of the load-sensitive main distributor 32 work, then the corresponding liquid flow rates are added up (but only until the power controller 100 of pump 29 is turned on).

When you turn on the power controller 100 and increase the pressure of the working fluid at the outlet of the pump 29, its flow rate changes so as to ensure that the configured (set) power value is removed from the drive shaft.

As already noted above, when the executive bodies 3-13 and 43, 44 of the claimed hydraulic system stop, the pump 29 is unloaded by flow rate, switching practically to a zero working volume and pressure to about 20 kgf / cm ² .

The indicated unloading, which is realized by connecting the respective hydraulic control lines with a drain when the executive bodies are stopped, significantly improves the energy characteristics of the claimed hydraulic system and simplifies the task of forming the control pressure necessary for remote movement of the shut-off and control spools of the main valves from the neutral (unloaded) position to the working one.

The speed control of various movements of the crane is carried out by the corresponding movements of the control keys 190-195 of the remote control 186 from zero (neutral) position to the limit.

With a relatively small movement of the keys 190-195 of the specified console 186, the corresponding movements of the crane-manipulator are slow and vice versa, with an increase in the deviation of the key from the neutral, the speed of movements increases accordingly. Moreover, the indicated change in speed is directly proportional to the value of the corresponding deviation of the key from the neutral.

From the graphical dependence shown in FIG. 33, it can be seen that about 100% of the entire area of movement of the keys 190-195 can be used to control the speed of these movements. This effect is provided by the features of the circuit design of the remote control 186 and the corresponding programming of the electronics of the control system.

To control the work of the executive bodies 5-13 of the drive of the turning mechanism 18 of the rack 19 of the slewing-rotary device 20, sections 21-26 of the boom 27 and the hydraulic work tool 28, a load-sensitive hydraulic drive is used. In this regard, as noted above, in each of the working sections 53-58 of the load-sensing main distributor 32, autonomous pressure difference valves 63 are installed, which, when the pressure port of the spool 65 is open, supports a certain one, about 8 kgf / cm ² , pressure drop.

Due to this feature, the corresponding flow rate of the working fluid through the pressure window of said spool 65 depends only on the actual opening area.

In principle, the design of the aforementioned differential pressure valves 63 allows you to change the setting of the specified differential pressure in a fairly wide range (2-32) kgf / cm ² range. This pressure range is proportional to the change in the flow rate of the fluid through the pressure window, and consequently, the speed of the corresponding movement of the crane, about four times.

And if you take into account that the features of the circuit design and the corresponding programming of the electronics of the control system 41 allow, to a certain extent, additionally change the transfer coefficient "remote control key (command current) - moving the spool 65 of the working section of the load-sensing main distributor", and therefore and the magnitude of the speed of the corresponding movement of the crane, it is obvious that this contributes to a significant expansion of technical possibilities of the inventive hydraulic system.

If necessary, the electronics of the control system 41 of the inventive hydraulic system can limit the speed of movement of the spool 65 of the main distributor 32, regardless of the nature of the movement of the keys on the remote control, which is very important when it is suddenly (accidentally) released. In this case, the time of movement of the spool from the equilibrium (zero) position to the limiting working position can reach about 2-5 seconds. The necessary law for changing the control signal is provided by the features of the circuit design and the corresponding programming of the control system 41.

In this regard, without any restrictions it can be widely used both for slow-moving and for high-speed crane-manipulator installations.

Available in the inventive hydraulic system, the load limiter 37 of the crane-mounted installation is more effective than that used in the prototype, since it provides appropriate protection for the specified installation not only one but two channels along the lifting and remote sections 21, 22 of its boom 27 .

The electronic safety device 38 included in it has much greater sensitivity and, together with the control system 41, allows the operator to notify the operator in advance of the corresponding increase, up to the maximum value, of the capacity of the crane-manipulator with subsequent blocking of any of its actions that contribute to further growth carrying capacity above the specified value, and with the guaranteed exception of the possibility of circumvention by him of this prohibition.

Moreover, if during operation the load-lifting capacity of the crane-manipulator in a certain kinematic position was incorrectly estimated by the operator or exceeded and, as a result, its corresponding movements, which contribute to a further increase in load-carrying capacity, are blocked, it is necessary to switch to the load-boosting mode. If this is not enough to get out of this critical situation, you should reduce the boom or lower the load.

The fact of the contamination of the replaceable filter elements 182 of the drain and pressure filters 31, 96 during the operation of the inventive hydraulic system is recorded on the liquid crystal display 198 of the remote control 186 of the control system 41 with the simultaneous maintenance of this text information to attract the attention of the operator by flashing a red indicator light 199 and the corresponding buzzer sound signal specified remote.

Similarly, on the indicated display 198 is recorded and information about the temperature of the working fluid in the tank 30 and its level.

Prompt notification of the operator about these events allows him to critically assess the situation in time and take the necessary measures to normalize it.

The purity of the working fluid, and hence the failure-free operation of hydraulic equipment, largely depends on the timely replacement of filter elements 182 in these filters. Moreover, their untimely replacement in most cases does not lead to an immediate failure of the corresponding hydraulic equipment.

However, this circumstance is indirectly related to the corresponding contamination of the working fluid, which drastically reduces the working life of the executive bodies 3-13, 43, 44, pump 29, valves 32, 33, 36, 87 and other hydraulic units with moving mating pairs of precision design and to some extent contributes to a decrease in machine performance.

It is known from publicly available specialized literature (see, for example, Construction and Road Machines Magazine, No 10 for 1995, p. 18) that the operation of load-sensing hydraulic systems can be accompanied by self-oscillations due to the relatively slow signal transmission sensitive to load feedback. In the inventive hydraulic system, there are two load-sensitive regulators (one in the pump 29 and the other in the main valve 32), so that these self-oscillations can be reduced to an acceptable level or completely eliminated.

It is well known (see, for example, Construction and Road Machines Magazine No. 5 for 1998, p. 36) that the speed of valve devices is approximately an order of magnitude higher than the speed of volumetric hydraulic machines (pumps). Therefore, in this case, in transients, the load-sensitive pump unit will be assisted by the load-sensitive regulator of the corresponding main distributor. To do this, only through appropriate adjustment should experimentally select the necessary “breakdown” of the settings of these regulators.

In the event of failure of the remote control 186 to return the crane-manipulator to its original (transport) position, the necessary movements of the spools 65, 75, 90, 93 included in the inventive hydraulic distributors 32, 33, 36, 87 are carried out in direct mode (manual) control using the corresponding lever-type handles 94.

In the event of an emergency stop of the drive shaft (engine of a motor vehicle), an emergency autonomous pump station with an electric or other drive can be used for emergency transfer of the crane-manipulator to its initial position, for the connection of which corresponding connectors are provided in the inventive hydraulic system.

The inventive hydraulic system is quite easily interfaced with the mechanical part and electrical equipment of a crane-manipulator.

It provides high performance, reliability and safety of the crane.

Features of the circuit design of the specified hydraulic system make it possible to realize load-sensitive proportional control of all working movements of the crane-manipulator, including with a changing load moment.

It is quite simple and convenient in maintenance and allows you to radically improve the working conditions of the operator.

In the claimed hydraulic system, high-quality domestic structural materials widely used in engineering are used, as well as the corresponding hardware element base, not inferior in foreign technical characteristics, rational technical solutions and standard manufacturing technology.

The widespread use of various types of serial units and elements in the hydraulic system contributes to a significant improvement in the quality of the corresponding specialized equipment created on the basis of crane-manipulators, while reducing the cost, as well as the timing of its design and manufacture.

The circuit-constructive and other solutions incorporated in it make it possible to raise the level of domestic crane-manipulator installations according to their functional capabilities and technical and operational indicators to modern and, on this basis, significantly increase the competitiveness of this equipment.

In view of the foregoing, as well as the relevant requirements of GOSGORTEKHNADZOR and other departments for such products, it can be repeatedly reproduced according to the documentation developed for it in mass production at specialized enterprises that have the necessary equipment, personnel and the appropriate regulatory and permissive base.

Currently, NK Uralterminalmash CJSC has fully developed the corresponding design documentation, according to which a full-scale operating sample of the inventive hydraulic system for the heavy-duty C-Nemirets-210 crane-manipulator installation with the following technical characteristics has been made:

- Nominal flow rate of the working fluid in the hydraulic system, l / min: - in the main (regular) mode 120 - in the force boost mode -100 - Nominal pressure, MPa 29th - Tank volume, l 170

- The amount of oil in the tank, l: - minimum 110 - maximum 140 - pump Adjustable axial piston mod. 313.3.107.507.39
TU 22-1.020-100-95 - The mechanism of rotation of the rack of the slewing ring of the crane-maniculator installation Based on an external open mechanical gear transmission and a two-stage planetary gearbox with a total gear ratio l = 178.65 - Executive body drive rack rotation mechanism Unregulated hydraulic motor mod. 310.3.56 TU 22-1.020-100-95 - The angle of rotation of the rack, deg Is not limited - Hydroficated working tool of the crane Double-jaw grab (multi-jaw grabs, as well as hydraulic drills and other types of tools, can be used) - The executive bodies of the removal and movement of the legs of the outriggers, as well as the drive sections of the lifting boom of the crane-manipulator and the jaws of the hydroficated working tool Autonomous single-stage double-acting power cylinders with single-sided hollow rods - Executive body of rotation of the hydraulic work tool in the horizontal plane Rotator, which is a hydraulic motor with a limited or infinite rotation angle - Distribution equipment: - main load-sensitive distributor Six-section electro-hydraulic mod. MPAM-12/3 - main load-sensitive distributor Three-section electro-hydraulic mod. MRSM - additional distributor Single-section electro-hydraulic mod. RPG 16 / 3SE574G24UHL1

- auxiliary distributor Single-section electro-hydraulic mod. RPG 16 / 3SE574G24UHL1-01 - pressure filter FN-120-10-25-32-0.45-UHL2
TU 4145-012-07522144-00 - drain filter FS-120-10-25-1.0-0.35-UHL2
TU 4145-012-07522144-00 - Control system Combined, electro-hydraulic - Type of control: - regular Remote, using a remote control panel and a set of receiving and command devices at a distance of 30 m from the crane - emergency Direct (lever) - The number of simultaneous operations Up to four - The lifting moment of the crane, kN · m (tm): - in main mode 210.0 (21.0) - in boost mode 241.0 (24.1) - Loading capacity of the crane, net kN (t): - in the main mode: - maximum 89 (8.9) - at maximum reach 4 (0.4) - in boost mode: - maximum 102 (10.2) - at maximum reach 4.6 (0.46)

The effectiveness of the solutions laid down in the design of the claimed hydraulic system, as well as the possibility of obtaining the aforementioned technical result when carrying out the invention, which consists in eliminating the aforementioned disadvantages of known analogues and prototype, namely, improving its technical-operational and other qualities, which allows to achieve a modern technical level and the competitiveness of hoisting machines class under consideration, confirmed by appropriate calculations and the results of special autonomous tests of all its component fragments.

Currently, it is undergoing a comprehensive test as part of the Sinegorets-210 crane-manipulator unit.

The decision on the mass production of the inventive hydraulic system will be made after the completion of these comprehensive tests.

Claims (3)

1. The hydraulic system of the crane-manipulator installation, containing hydraulic motors of the executive bodies for moving the paws of the remote outriggers, the drive of the mechanism of rotation of the support of the support-rotary device, the lifting, remote and telescopic sections of the lifting boom and the hydroficated working tool suspended on it, an axial piston pump with a tank and a built-in into it a drain filter for cleaning the working fluid, two main ones that control the executive bodies of the sectional distributor with integrated their valve sections with protective and safety assemblies, which are automatic episodic pressure regulators of the valve type, and one additional two-position electro-hydraulic distributor that informs the pump output with the tank, a two-circuit load limiter of a crane-manipulator, made of two protective and safety assemblies independent of each other , one of which is located in the valve section of the control boom equipment main the distributor is an automatic pressure regulator that is configured to the maximum allowable pressure value in the corresponding circuit, equivalent to the maximum load capacity, and the other is an electronic safety device containing a working fluid pressure meter in the piston cavity of the actuating element of the boom lifting section drive with an electrical output signal, protective and safety control equipment with hydraulic connecting lines, made in the form of a combination of rigid pipelines and compensated inserts made of flexible hoses joined with them, providing the necessary ease of installation and unhindered movement of the movable links of the crane, and a control system with cables, characterized in that it contains two hydraulic autonomous actuating bodies that extend the beams of the outrigger paws, its axial piston pump is made adjustable, with the possibility of stepless change of power, equipped with a load-sensitive unit Maintaining a constant pressure drop between the pump outlet and the pressure pipe of the most loaded actuator, one of the two main distributors mentioned above that controls the boom equipment is made in the form of a load-sensitive electro-hydraulic distribution module with proportional control, in which an automatic pressure regulator located in its inlet valve section made in the form of an indirect relief valve, consisting of a main and auxiliary safety valves, in the same section, a pressure differential valve and a corresponding flow restrictor are installed, two additional sections are added to the existing working sections of the distributor, connected by means of the corresponding supply lines with the actuating bodies of the hydroficated working tool drive, each of the working sections has a difference valve pressure regulating type and a check valve installed in the load-sensitive path, and located in these sections The locking-control spools are controlled by two pressure reducing valves with proportional electromagnets to ensure that their linear position is fixed by an inductive sensor with a high degree of resolution, the drain hole of the closing cover of the indicated valve is plugged, and the other main valve is made with the inlet valve section and closing cover of the same design as well as with three working sections, which are made with electric linear actuators spools with two direct-acting relay electromagnets, one of the working sections of the second main distributor is communicated directly by means of power lines parallel to each other with piston and rod cavities of the hydraulic actuating bodies for moving the outrigger retention beams, and both main distributors are connected to the pressure line through an auxiliary two-position electro-hydraulic distributor for switching operating modes of a crane-manipulator installation with the mechanism of rotation of the stand of the slewing ring and boom equipment with hydraulic working tools to engage remote outriggers and vice versa, in the absence of a control command on the pilot’s electromagnet whose spool is in the open position and connects the pump outlet to the first of the main valves, and the drain to second, and vice versa, when a command is given to the electromagnet, the drain is connected to the first distributor, and the pressure to the second of them, the inputs of the valves located in the valve sections new distributors of flow restrictors are communicated by means of control lines with a load-sensing pump unit, and outputs with a drain line, each of the valves is made with the possibility of remote control by using their control electromagnets and manually control by manually moving the spools using the corresponding lever type handles, at the pump outlet, a check valve with a pressure filter is installed in series in front of the auxiliary distributor a liquid purification unit and a pressure reducing valve built into the pressure line between the specified filter and the additional distributor, connected through a two-lip spool of the load-sensing pump unit with a working cavity of the drive of its power regulator, installed behind the second main distributor in the piston supply lines of the actuators for moving the outrigger paws moving protectively - safety equipment is made in the form of two hinged type brake valves with their valve plugged in OR equipped with normally closed shut-off elements controlled by means of a working fluid supplied to the rod cavities of the indicated organs and configured to receive by the paws the maximum permissible operating forces for the operating forces acting on them and automatically opening when they are exceeded, built-in to the drive executive power lines the rotation mechanism of the stand of the slewing ring and telescopic telescopic boom sections it is filled in the form of back-safety valves, grouped into a separate sectional type valve block located behind the first main distributor, installed in the piston and rod supply lines of the actuating organs of the lifting and remote boom sections, the safety-protective and control equipment are made in the form of two autonomous blocks, each of which contains two safety valves, a hydraulic lock, a differential pressure valve, a backup valve and two non-return valves, while the hydraulic lock, valve n the pressure differences and one of the safety valves are sequentially built into the piston line with the outputs of the safety valve and the pressure difference valve with a drain, and the control cavity of the hydraulic lock with the rod line, the backup and the second of the safety valves are sequentially built into the rod line with the message of the last them with a drain, one of the check valves is installed in the piston line bypassing the hydraulic lock and the differential pressure valve, and the other is in the rod line in bypass valve, the hydraulic system contains autonomous double-acting power cylinders with single-sided hollow rods, with the exception of the closing one, which are hydraulic actuators of the drive of all telescopic boom sections, through which the ducts are sealed from each other, communicating piston through the corresponding external hydraulic connecting lines and rod cavities of each of these hydraulic cylinders with each other to ensure pr bypassing the working fluid in them and vice versa, and back pressure relief valves are built in to each of the external stock highways, the safety valves of which are adjusted with the corresponding friction forces in the movable joints of the telescopic sections to the same pressure drop of such a value that the total resistance to movement of the first pull-out section is would be minimal, and then increased to a maximum value when moving the closing section, the double-circuit load limiter is equipped with a second, p communicated with the first, automatic pressure regulator, made in the form of an autonomous safety valve installed in the pressure line between the additional distributor and the drain filter for cleaning the working fluid, adjusted to a marginal pressure decreasing compared to the first one, equivalent to the permissible load capacity for normal operation crane-manipulator, which is part of the electronic safety device of the above ogre of a load gauge for measuring the pressure of the liquid in the piston cavity of the actuator of the drive unit of the boom lifting section is made in the form of an analog type pressure sensor integrated into the protection unit of the specified actuator, electrically connected via the appropriate cable to the control system, the same meter for monitoring the pressure of the working fluid in the piston cavity of the actuator the body of the drive of the remote boom section is also part of another, built into the power line of this and an additional body, a protection unit with its identical connection to the specified cavity and the control system, fixedly mounted on the fixed part of the slewing ring, which is its base, fragments of the hydraulic connecting lines and cables of the control system are associated with the corresponding placed on the moving part of the specified device, which is its rack, and their response fragments moving together with it in the circumferential direction with the help of early manipulator installation in the internal cavity of the rack of a removable multi-channel electro-hydraulic communication connector of a rotary type, a dual-channel hydraulic rotary connector with a tension drum for winding the flexible hoses of the corresponding compensation inserts of the indicated compensation connectors is built into the power line of each of the actuators of the drive of the hydroficated working tool highways, the free ends of which are equipped with It’s made in the form of push-pull booms fixed to the cantilever part of the closing telescopic section with locking ball-type locking mechanisms of removable mating end connectors of the actuators of the specified tool that are attached to them, the tank is equipped with electronic sensors for level and temperature of the working fluid built into it, and in drain and pressure filters for cleaning it are installed filter elements with indicators of their clogging of electronic type and safety bypass valves, the hydraulic control system contains receiving-command electronic modules and a portable remote control built on a support and rotary device, built on a microprocessor basis, and the specified remote control is equipped with a warning sound signal button, a two-position switch for operating modes of the crane-manipulator installation “Stand , arrow - outriggers ”, control keys for executive bodies of the drive mechanism of rack rotation, corresponding sections a fir-tree, a hydroficated work tool suspended on it and movement of the retractable beams and paws of the remote outriggers, an emergency stop button, backup switches, a liquid crystal display to reflect visual information about the ambient temperature and the working fluid in the tank, the current operating mode, worked hours, degree clogged filters for cleaning the working fluid, indicating a clogged filter, falling liquid level in the tank below the permissible norm, reaching the appropriate value load moment in the main mode of operation and the mode of forcing the load capacity, while the remote control has a red indicator light and a buzzer for audible signals to attract the attention of the operator, if necessary. 2. The hydraulic system according to claim 1, characterized in that the pistons and rods of the actuators of the drive of all the retractable telescopic boom sections have the same diameters, and their internal paths and external hydraulic lines that sequentially communicate the working cavities of these bodies are equal bore sections. 3. The hydraulic system according to claim 1, characterized in that the corresponding back-safety valves are installed in the valve block in the supply line of the working fluid of the actuating bodies of the hydraulic tool, located in the valve block the same as the support rotary device and telescopic telescopic boom sections, protective and safety equipment.

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