Abstract
The paper presents a dynamic model illustrating the swing of a mobile machine on a wheeled chassis equipped with a loader crane and anchor outriggers during loading and unloading operations. The model regards the interaction effect of the outrigger anchoring device with weak soil within the system “load – loader crane – chassis – outriggers – anchor devices – soil”. Possible variants of single and multiple step soil compaction and changes in its deformation characteristics in the area of the outrigger anchor device implementation are considered. The impact of the gaps formed during soil compaction on the swing parameters of a mobile machine during the swing of the boom of the loader crane is demonstrated as applied to a full-scale crane-manipulator. The rate of chassis tilt angle and swing period of the mobile machine increase during the loader crane operation with an increase in the gaps in the ground. The swing parameters during the initial stage of crane operation gradually increase for soils characterized by multiple compaction until these parameters reach some steady-state values determined by soil stiffness. Awareness of the steady-state value of the crane tilt angle amplitude achieved at the end of the process of weak soil compaction enables to reasonably assess the risk of a mobile machine overturning.
Highlights
Mobile hydraulic cranes on self-propelled wheeled and tracked chassis are widely used in the mining industry to perform a variety of loading and unloading, transport and storage operations [1, 2]
When operating on weak soils, outriggers subside unevenly due to soil compaction under the influence of unsteady support reactions [12, 13], which leads to crane swinging in the horizontal plane and to dangerous load swinging [14]
Calculations have shown that depending on the total mass of the chassis of the mobile machine and the loader crane, the tilt angle of the working element and soil stiffness, the additional stabilizing moment mo,1 can be from 10% to 40% of the stabilizing moment Mrs,Qm + Mrs,Qs
Summary
Mobile hydraulic cranes on self-propelled wheeled and tracked chassis are widely used in the mining industry to perform a variety of loading and unloading, transport and storage operations [1, 2] This is due to the important technical advantages of such cranes being high mobility, operational flexibility, ability to work on sites not equipped in advance [3, 4]. They are adherent to overturning due to the chassis overall stability loss when handling loads of impossibly large weight [5] or due to soil subsidence under one or more outriggers [6, 7]. Such anchor outriggers provide a more reliable fixation of the crane chassis on the ground and lead to additional stabilizing moments due to the adhesion force of the anchor’s
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