Динамічний аналіз руху механізмів зміни вильоту та повороту баштового крана з балочною стрілою

Abstract

The work is devoted to the research of the processes that arise in the joint movement of mechanisms of change of departure departure and rotation of the tower crane with horizontal beam boom. The article presents a dynamic model of motion of mechanisms of change of departure and rotation of a tower crane, on the basis of which, by means of the Lagrange equation of the second kind, a system of ordinary nonlinear differential equations of the second order is made. The differential equations obtained were solved numerically using standard programs, which resulted in graphical dependences of the kinematic characteristics and dynamic characteristics of the links of the drive mechanisms of change of departure and rotation of the crane, as well as the load. The analysis of the obtained graphical dependencies showed that during the start of the mechanisms of change of departure and rotation of the crane oscillations occur both in the elements of the drive and in the supporting structure, which are transmitted to the load and lead to its swing. The swinging of the load complicates the operation of the crane, reduces the productivity and accuracy of the positioning of the load during the operation of the crane, and also reduces its reliability, which increases the likelihood of accidents. The solution of the tasks of dynamic analysis of the joint motion of mechanisms of change of departure and rotation of the crane during the start-up process allows to establish the factors that influence the oscillations of elements of drives, structures and cargo. As a result of the analysis of modes of start-up of mechanisms of change of departure and rotation of the crane it is established that influence on oscillations of elements of the crane has the character of change of driving moments of driving mechanisms, and also geometrical, kinematic and inertial characteristics of links. To significantly reduce the dynamic links in the elements of the drive mechanisms, crane structures and cargo, it is proposed to optimize the transient modes of start-up and braking with the combined movement of the mechanisms of departure and rotation of the crane. Such optimization will increase the productivity of cargo operations and increase the accuracy of the positioning of the cargo in the process of moving it, as well as increase the productivity of the crane and reduce the possibility of emergencies.