Do-it-yourself kmu installation. Do-it-yourself desktop robotic arm made of plexiglass on servo drives or uArm reverse engineering. Crane installation

When many CMU options appeared, mounted on the chassis of Gazelle trucks, the owners of these cars began to think about how to put this mobile crane on their vehicle. After all, in the end you can get the most popular special equipment. can have a carrying capacity from 1 to 11 tons.

The basis for attaching the CMU to the car frame is a subframe. It will have to be done by hand. Attaching the manipulator directly to the frame is prohibited.

First of all, you will need to move the car body back. So behind her cabin will appear free place to install a crane. The best solution- generally remove the body from the chassis, because it will be necessary to change the subframe. This must be done for two reasons:

  • the factory design is too weak, because it is made of thin metal, and may crack;
  • the standard Gazelle has a too short base for CMU installations it needs to be lengthened.

Crane installation

  1. The subframe can be welded from outer (18 mm) and inner (16 mm) channels. Before this, bend the strips so that they follow the shape of the frame. Insert the smaller rail into the larger channel, they should form a rectangle. Then weld the structure along its entire length. Subframe length - 70-980 cm under the crane boom + body size. Cut off the desired after fixing the body. So you can adjust its position.
  2. Using stepladders, attach the prepared channels to the frame. Place a fire hose between them and the base. It is needed to align the planes of the slats and the frame. To make the subframe under the crane solid, weld the channel with a corner trim. Weld it so above the base cross member so that you can then bolt the channel to it.
  3. . In its configuration there are special ladders. With their help, secure the crane. Be sure to insert special spacers into the ladders.
  4. You can make spacers as follows. Take a piece of pipe with a diameter slightly larger than the section of the ladder. The length of the pipe should be half the height of the frame. Cut off a rectangular piece of plate 7-10 mm thick. The smaller side of the segment should have a size of 7-9 cm, the larger one should tightly go inside the frame in height. Weld the pipe to the plate in the middle. Next, tighten the ladders tightly.
  5. To prevent the manipulator from moving along the base, weld corners of 4 × 4 or 5 × 5 cm perpendicular to the back and front of its subframe.
  6. Now you can install a body on a gazelle. At the same time, leave a gap of 15-20 centimeters between the bodies and the truck crane. Fix body cross-members with bolts.
  7. Your faucet is installed. It remains only to connect the hydraulic pump, with which the manipulator will function.

A crane-manipulator is a power plant mounted on movable platforms. It lifts and carries heavy loads in a short amount of time. Such equipment can be made independently and installed homemade faucet in the back of a truck.

Popular Models

Loader cranes are produced in:

  • Japan.
  • China.
  • Russia.
  • Germany.
  • Italy.
  • Korea.

You can choose the model of the power plant from the following trademarks leading world manufacturers:

  • Atlas;
  • Amco Veba;
  • Effer;
  • Hiab;
  • Ferrari;
  • Fassi;
  • Palfinger epsilon;
  • Unique;
  • isuzu;
  • Foton;
  • XCMG;
  • Atlant;
  • BAKM;
  • Velmash.


Foton installations have a load capacity of 6 tons, and their length is more than 6 m. Foton Olli transports goods and is useful in construction work.

Crane installation Isuzu QL 1100 TMA is one of the novelties Japanese company. Load capacity - 5.5 tons, length about 6 m.

The Hiab 600EP5HiPro loader crane lifts loads up to 16 tons. It can be used to move large and oversized cargo. Equipped with remote control remote control. This device is able to lift loads that are located near its wheels.

Mini-crane moves cargo weighing up to 3 tons. Popular models:

  • SOROKIN 8.10.
  • AE&T 1t T62201.
  • AE&T 1t T62101.
  • SOROKIN 8.6.
  • SOROKIN8.2.
  • SOROKIN 8.22.
  • SOROKIN 8.3.


A suitable crane installation on a Gazelle should lift a weight of 800 kg. These are the models:

  • RM 3622 CE, manufacturer - Italy, mounted behind the cab;
  • Unik URA - 100, manufacturer - Japan, mounted inside the onboard platform.

Gazelle with CMU is suitable for transportation of bulky and light cargo, as well as for loading and unloading.

How to make and install yourself

You can carry out the installation of a truck crane yourself. It is installed on the vehicle. To do this, you need to remove the body from the chassis in order to change the subframe, because. factory construction is weak and may crack. The subframe must be made by hand because it is forbidden to attach the crane installation directly to the frame.


It can be welded from outer (18 mm) and inner channels. The planks are bent so that they follow the shape of the frame. The smaller rail is inserted into the larger channel to form a rectangle. Finished channels are attached to the welded frame. A fire hose is laid between them and the base to level the plane of the planks and frame.

A crane is mounted on a subframe, which includes:

  • beam;
  • arrow;
  • support posts;
  • special ladders.

With the help of special ladders, the installation is fixed. It is necessary to put spacers into the ladders, which can be made like this.

Will first be affected general issues, after specifications results, details, and in the end, the assembly process itself.

On the whole and in general

Creation this device in general, should not cause any difficulties. It will be necessary to qualitatively think over only the possibilities, which will be quite difficult to implement from a physical point of view, so that the manipulator arm performs the tasks assigned to it.

Technical characteristics of the result

A sample with length/height/width parameters, respectively, of 228/380/160 millimeters will be considered. The weight made will be approximately 1 kilogram. A wired remote control is used for control. Estimated assembly time with experience - about 6-8 hours. If it is not there, then it may take days, weeks, and with the connivance of months, for the manipulator arm to be assembled. With your own hands and alone in such cases it is worth doing except for your own interest. Collector motors are used to move the components. With enough effort, you can make a device that will rotate 360 ​​degrees. Also, for the convenience of work, in addition to standard tools like a soldering iron and solder, you need to stock up:

  1. Long nose pliers.
  2. Side clippers.
  3. Cross screwdriver.
  4. 4 D batteries.

The remote control can be implemented using buttons and a microcontroller. If you want to make remote wireless control, you will need an action control element in the manipulator arm. As additions, only devices (capacitors, resistors, transistors) will be needed that will allow stabilizing the circuit and transmitting a current of the required magnitude through it at the right time.

Small parts

To regulate the number of revolutions, you can use the transition wheels. They will make the movement of the manipulator arm smooth.

You also need to make sure that the wires do not complicate its movement. It would be optimal to lay them inside the structure. You can do everything from the outside, this approach will save time, but can potentially lead to difficulties in moving individual nodes or the entire device. And now: how to make a manipulator?

Assembly in general

Now we proceed directly to the creation of the manipulator arm. We start from the foundation. It is necessary to ensure that the device can be rotated in all directions. good decision it will be placed on a disk platform, which is driven by a single motor. So that it can rotate in both directions, there are two options:

  1. Installation of two engines. Each of them will be responsible for turning in a specific direction. When one is working, the other is at rest.
  2. Installing one motor with a circuit that can make it spin in both directions.

Which of the proposed options to choose depends solely on you. Next comes the main structure. For the comfort of work, two "joints" are needed. Attached to the platform must be able to lean into different sides, which is solved with the help of engines placed at its base. Another or a pair should be placed at the bend of the elbow so that the gripper part can be moved along the horizontal and vertical lines of the coordinate system. Further, if you want to get maximum opportunities, you can install another engine at the wrist. Further, the most necessary, without which the manipulator arm cannot be imagined. With your own hands you have to make the capture device itself. There are many implementation options here. You can give a tip on the two most popular:

  1. Only two fingers are used, which simultaneously squeeze and unclench the object of capture. It is the simplest implementation, which, however, usually cannot boast of a significant payload.
  2. A prototype of a human hand is being created. Here, one engine can be used for all fingers, with the help of which bend / unbend will be carried out. But you can make the design more complicated. So, you can connect an engine to each finger and control them separately.

Next, it remains to make a remote control, with the help of which individual engines and the pace of their work will be influenced. And you can start experimenting using a do-it-yourself robotic arm.

Possible schematic representations of the result

Provides wide opportunities for creative ideas. Therefore, several implementations are provided for your attention, which can be taken as a basis for creating your own device of this purpose.

Any presented scheme of the manipulator can be improved.

Conclusion

The important thing in robotics is that there is practically no limit to functional improvement. Therefore, if you want to create a real work of art is not difficult. Speaking of possible ways additional improvement, it should be noted crane-manipulator. It will not be difficult to make such a device with your own hands, at the same time it will allow you to teach children to creative work, science and design. And this, in turn, can positively affect their future life. Will it be difficult to make a crane-manipulator with your own hands? This is not as problematic as it might seem at first glance. Is it worth taking care of the availability of additional small parts like a cable and wheels on which it will spin.

on a gazelle very often they work with overload. they carry 3 tons each, and the most courageous and 4 tons each. Of course, it’s better not to drive past traffic police posts like that. Below is an article with a couple of examples. installation of a manipulator on a gazelle with a rough calculation of the carrying capacity.

A gazelle with a manipulator is the most economical option crane-manipulator. The maneuverability of the Gazelle (GAZ-3302) is a significant advantage when working in tight urban environments. Another plus of the Gazelle is the availability of maintenance and inexpensive spare parts, for repairs and Maintenance such a car will gladly take any car service. The crane-manipulator installation is able to simplify loading and unloading operations on an onboard vehicle. GAZ-3302 with a manipulator is suitable for transporting small loads.

Carrying capacity of the Gazelle with the manipulator.

Low load capacity is the main drawback of installing a manipulator on a Gazelle (GAZ-3302). When mounting the CMU on the Gazelle, it should be understood that after installing the manipulator, the carrying capacity of the car will significantly decrease.

To install the CMU on the chassis, a subframe must be installed, thereby reinforcing the design of the car. The subframe is, simply speaking, a steel floor, its weight for a GAZ-3302 car is about 250 kg. Manipulators of the smallest series of various manufacturers are installed on the Gazelle. Such manipulators, together with outriggers, have a mass of about 400-550 kg. To accurately calculate the load capacity of a Gazelle-based loader crane, you need to know the mass of the overframe and the CMU itself.

Let's calculate the carrying capacity of a Gazelle with a manipulator using an example:

  • The maximum permitted weight of the GAZ-3302 is 3500 kg.
  • The mass of the Gazelle with an onboard platform is about 2 tons. Subframe weight - 250 kg.
  • The mass of the CMU is 450 kg.

Let's carry out the calculation and subtract the mass of the vehicle with the equipment from the permitted mass:

3500 kg - 2000 kg - 250 kg - 450 kg = 800 kg.

The total load capacity of such a car will be 800 kg. Please note that the above calculation has a large error. You can get the exact carrying capacity of a Gazelle with a manipulator only by making a calculation taking into account the parameters of a specific CMU model, however, it is not possible to significantly increase the carrying capacity of such a vehicle.

Choosing CMU for GAZ-3302

As noted above, the lifting capacity of a loader crane based on the GAZ-3302 is highly dependent on the mass of the CMU. Manipulators of the smallest series of some manufacturers are suitable for installation on a Gazelle. For the Gazelle, a manipulator capable of lifting 800 kg and installing it on the entire length of the onboard platform (3 m) is quite sufficient.

Here are some examples of compatible manipulators:

PM 3622 CE (Italy) is an inexpensive middle class of hydraulic manipulators, mounted behind the cab.

  • number of boom sections: 3
  • maximum load moment (tm): 2.9
  • maximum load capacity at minimum reach, kg (m): 990 kg (2.90 m)
  • load capacity at maximum reach, kg (m): 465 kg (6.05 m)
  • mass of CMU (kg): 425 kg
  • outriggers in basic configuration: manual extension, width STD 3.55m

UNIC URA-100 (Japan) - cable manipulators are mounted inside the onboard platform, do not require a subframe. Cons: very high price, delivery only on order, unstable machines.

  • number of boom sections: 3
  • maximum load moment (tm): 1.8
  • maximum load capacity at minimum reach, kg (m): 1,015 (2.90)
  • load capacity at maximum reach, kg (m): 430 kg (3.9 m)
  • mass of CMU (kg): 480 kg

Tasks that are on the shoulder of a Gazelle with a manipulator.

A gazelle equipped with a loader crane has a lower carrying capacity compared to a base vehicle. Gazelle with CMU is perfect for the tasks of loading and unloading and transporting large-sized and light loads. For example, a Gazelle with CMU can be used in horticultural markets for transporting seedlings, for landscaping work on summer cottages, as a crane and truck for assembly teams.

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