How to make a homemade crane in the back of a truck with your own hands. Installation instructions crane manipulator installations (CMU) Before mounting the CMU

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 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 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.

Recently, quite often cargo onboard vehicles have been equipped with crane installations. This is due to the great competition in the service sector, in the provision of which cranes are used. For this reason, the owners of such cars want to get special equipment, which today is quite in demand due to its widespread use in construction. Moreover, thanks to a large number offers on the Russian market, you can purchase various booms for loader cranes manufactured by South Korean and Japanese manufacturers. Manipulator installations can have different carrying capacity (from 1 to 10 tons).

Today, services for the installation of such a device as a crane-manipulator (CMU) on the chassis of trucks are offered by many private companies. The cost of such a service can be from 60 to 100 thousand rubles. When determining it, the load capacity of the crane installation and the type of vehicle chassis are taken into account. This work may take 3 to 4 weeks to complete. However, in the case self installation crane-manipulator freight car can do without least cost due to the possibility of saving money and time.

Work order

1. First you need to move the body and put the subframe. Moving the body back frees up space behind the cab, on which the crane itself will then be installed. Prior to this, it is necessary to remove the body from the chassis, because. subframe needs to be replaced. The use of a standard subframe is not possible due to its insufficient strength and unsuitable length, since it must exceed the length of the structure. To prevent cracks from forming in the frame, it is strictly forbidden to attach the manipulator directly to it!

For welding the subframe, two separate channels are used, the size of which is inside is 0.16 cm, and from the outside - 0.18 cm. Before welding, the channels are bent as accurately as possible along the entire plane of the frame. A smaller channel is inserted into the large channel. This is done in such a way that a rectangle is formed, which is then boiled around the entire perimeter.

2. At the installation site of the boom, the welding seam must be made continuous, since the movement of the manipulator will be carried out together with the crane, which has a large dead weight

3. It is better to adjust the length of the subframe after attaching the body to it.

Installation of CMU

After welding, the channels are attached to the frame. To obtain a solid subframe for connecting channels, it is necessary to use a small cut and, using welding machine, perform a seam. Fastening the trim to the frame cross member must be carried out taking into account the possibility of attaching the channel with a bolt to the cross member.

At the end of welding, a CMU is installed on the finished subframe behind the vehicle cab. Usually, ladders are used with the boom to attach the crane to the frame. A self-made spacer must be inserted into the stepladder. After carrying out these works, a rectangle is formed from a conventional channel that is resistant to heavy loads. It is necessary to tighten the ladders with great effort. In the process of work, they need to be periodically tightened.

Types of arrows and features of their fastening

Depending on the type CMU can be:

• a device equipped with a straight telescopic boom. Such a unit can have 7 separate sections. Its installation is carried out on a rotary column, which is additionally equipped with a suspension, which includes a cable with a hook. Separate sections of this type of boom are extended as a result of the hydraulic cylinders;
• installation where the boom is hinged. The equipment of such a crane includes an articulated boom mounted on a base that rotates. Most often, the second link is of the telescopic type and can include no more than 10 sections.

What safety measures must be observed when performing work on the installation of CMU?

To prevent the crane from moving relative to the plane of the frame, corners of 40 or 50 mm in size must be welded to the subframe at the back and front, ensuring a firm fixation of the installation. At the time of attaching the body to the subframe, a gap of about 200 mm should be left between the body and the CMU. With the help of bolts to the subframe, the cross members of the body are fastened. After that, a hydraulic pump must be connected for the operation of the manipulator.

Installing a crane on a truck is enough hard work requiring great responsibility. Therefore, if it is impossible to do it yourself, it is better to use ready-made crane services offered by our company. In this case, it will be guaranteed professional performance work, which will avoid problems such as repairing the frame as a result of the formation of a crack in it.

DIY or DIY,

Electronics for beginners

Hey Geektimes!

The uArm project from uFactory raised funds on kickstarter more than two years ago. They said from the start that it would be open project, but immediately after the end of the company, they were in no hurry to upload the source code. I just wanted to cut the plexiglass according to their drawings and that's it, but since there were no source codes and it was not foreseen in the foreseeable future, I began to repeat the design from photographs.

Now my robo arm looks like this:

Working slowly in two years, I managed to make four versions and got a lot of experience. Description, project history and all project files you can find under the cut.

trial and error

When I started working on the blueprints, I wanted to not just repeat the uArm, but improve it. It seemed to me that in my conditions it is quite possible to do without bearings. I also did not like the fact that the electronics rotated with the entire arm and wanted to simplify the design of the lower part of the hinge. Plus I started to draw him immediately a little less.

With these inputs, I drew the first version. Unfortunately, I did not have any photos of that version of the manipulator (which was made in yellow). Mistakes in it were just epic. First, it was almost impossible to assemble. As a rule, the mechanics that I drew before the manipulator were quite simple, and I did not have to think about the assembly process. But still, I collected it and tried to run it, And the hand hardly moved! All the parts revolved around the screws and if I tightened them so that there was less play, she could not move. If I loosened it so that it could move, incredible backlash appeared. As a result, the concept did not live even three days. And I started working on the second version of the manipulator.

Red was already quite fit for work. He normally assembled and could move with lubrication. I was able to test the software on it, but still the lack of bearings and large losses on different rods made it very weak.

Then I abandoned the project for a while, but soon decided to bring it to mind. I decided to use more powerful and popular servos, increase the size and add bearings. And I decided that I would not try to make everything perfect at once. I drew the drawings for hastily, without drawing beautiful mates, and ordered cutting from transparent plexiglass. On the resulting manipulator, I was able to debug the assembly process, identified places that needed additional reinforcement, and learned how to use bearings.

After playing around with the transparent manipulator to my heart's content, I sat down to draw the final white version. So, now all the mechanics are fully debugged, suits me and is ready to declare that I don’t want to change anything else in this design:

It depresses me that I could not bring anything fundamentally new to the uArm project. By the time I started drawing the final version, they had already rolled out 3D models on GrabCad. In the end, I just simplified the claw a little, prepared the files in a convenient format and used very simple and standard components.

Features of the manipulator

Before the advent of uArm, desktop manipulators of this class looked rather dull. They either had no electronics at all, or they had some kind of control with resistors, or they had their own proprietary software. Secondly, they usually did not have a system of parallel hinges and the grip itself changed its position during operation. If we collect all the advantages of my manipulator, we get a rather long list:

1. A system of rods that allows you to place powerful and heavy engines in the base of the manipulator, as well as holding the gripper parallel or perpendicular to the base
2. A simple set of components that are easy to buy or cut from plexiglass
3. Bearings in almost all nodes of the manipulator
4. Easy assembly. It turned out to be true challenging task. It was especially difficult to think over the process of assembling the base
5. The grip position can be changed by 90 degrees
6. Open source and documentation. Everything is prepared in accessible formats. I will give download links for 3D models, cutting files, material list, electronics and software
7. Arduino compatible. There are many opponents of Arduino, but I believe that this is an opportunity to expand the audience. Professionals can easily write their software in C - it's a regular controller from Atmel!

Mechanics

For assembly, it is necessary to cut parts from 5mm plexiglass:

They charged me about $10 for cutting all these parts.

The base is mounted on a large bearing:

It was especially difficult to think of the base from the point of view of the assembly process, but I was peeping at the engineers from uArm. Rocking chairs sit on a pin with a diameter of 6mm. It should be noted that the thrust of my elbow rests on a U-shaped holder, and for uFactory on an L-shaped one. It's hard to explain what the difference is, but I think I did better.

Capture is collected separately. It can rotate around its own axis. The claw itself sits directly on the motor shaft:

At the end of the article, I will give a link to super-detailed assembly instructions in photos. In a couple of hours, you can confidently twist it all, if everything you need is at hand. I also prepared a 3D model in free program sketch up. You can download it, twist it and see what and how it is assembled.

Electronics

To make the arm work, all you need to do is connect five servos to the Arduino and supply power to them with good source. uArm used some motors with feedback. I supplied three regular MG995 motors and two small metal gear motors to control the grip.

Here my story is closely intertwined with previous projects. For some time now, I have started and even prepared my Arduino-compatible board for this purpose. On the other hand, once I got the opportunity to make boards cheaply (which I also talk about). In the end, it all ended with the fact that I used my own Arduino-compatible board and a specialized shield to control the manipulator.

This shield is actually very simple. It has four variable resistors, two buttons, five servo connectors, and a power connector. This is very convenient from a debugging point of view. You can upload a test sketch and write some kind of macro to control or something like that. I will also give a link for downloading the board file at the end of the article, but it is prepared for manufacturing with hole plating, so it is not very suitable for home production.

Programming

The most interesting thing is the control of the manipulator from the computer. uArm has a handy application for controlling the manipulator and a protocol for working with it. The computer sends 11 bytes to the COM port. The first one is always 0xFF, the second one is 0xAA and some of the rest are servo signals. Further, these data are normalized and given to the engines for testing. I have servos connected to digital I/O 9-12, but this can easily be changed.

The terminal program from uArm allows you to change five parameters when controlling the mouse. When moving the mouse over the surface, the position of the manipulator in the XY plane changes. Rotate the wheel - change the height. LMB / RMB - squeeze / unclench the claw. RMB + wheel - grip rotation. Actually very convenient. If you wish, you can write any terminal software that will communicate with the manipulator using the same protocol.

I will not give sketches here - you can download them at the end of the article.

Video of work

And, finally, the video of the operation of the manipulator itself. It shows the control of the mouse, resistors and according to a pre-recorded program.

Links

Plexiglas cutting files, 3D models, shopping list, board drawings and software can be downloaded at the end of my

With the advent of competition from the crane manipulators mounted on the chassis of a truck, popularly referred to as "I LOAD - I DRIVE ITSELF", many owners of flatbed trucks began to think about installing a crane installation (the so-called boom or CMU) on their car, so that as a result get the most demanded special equipment. Currently on Russian market many offers for the sale of such arrows with a lifting capacity of 1 to 10 tons made in Japan and South Korea. In our article, we will not touch on the issue of choosing a CMU, but consider its installation on the frame of a flatbed truck. Many firms offer to do this job. The price for such a service as of 03/27/2012 in the city of Kazan is from 60 to 100 thousand rubles, depending on the load capacity of the boom and the selected chassis. Order execution time - 3 - 4 weeks. I suggest you save your time and money and tell you how you can install a crane manipulator on your truck chassis on your own.

As a car, we will choose the most common KAMAZ truck in the Russian Federation. We will install on it the KANGLIM KS1256G-II manipulator (with a maximum load capacity of 6.5 tons and an outreach of 19 meters) manufactured in South Korea. Installation weight 3.5 tons.

The basis for attaching the unit to the frame is the subframe, which we will produce! Mounting the manipulator directly to the frame is strictly prohibited, as the frame immediately cracks!

First stage. It is necessary to move the car body back to appear free space behind the cab, necessary for mounting the CMU. It is better to completely remove the body from the chassis, as you will have to change the subframe. This replacement is due to two needs:

1. it is too weak - made of a thin metal square;
2. we will mount a crane installation on it, so its length should be longer.

The need to install the boom on a common subframe (bodies and installations) is due to the fact that its work zone this is the body of the car and the space on the sides of the truck behind the cab. In other words, the center of gravity of the CMU with the load will be closer to the center of the frame, and if the subframe for the crane installation is separated from the body subframe, the frame at the end of the boom subframe may bend. That is, the area of ​​pressure of the manipulator on the frame with the disconnected subframes will be several times less than with the combined ones.

We weld the subframe from two 18 mm channels. (outer) and 16 mm. (interior). It is visible in the figure

Before welding, it is necessary to bend the channel so that they repeat the plane of the frame, since the latter is not straight, it expands at the attachment point of the gearbox, above which the manipulator will be located. We insert the smaller channel into the larger one so that we get a rectangle, and boil in small segments along the entire length. The weld at the installation site of the boom must be continuous (not interrupted), since the automanipulator will always move with the CMU, which has a decent mass. The length of the subframe can be cut off immediately (70-90 cm under the boom + body length), but it is better to do this after attaching the body (this will allow you to adjust its location). I propose not to shorten the body, because the larger it is, the more different types goods can be transported. It's just that the body will move back 70-90 cm relative to the old position, and it will not break, since we are making a strong subframe. It is important that the total length of the road train does not exceed 12 meters!

Second phase. We fasten the welded channels to the frame with the help of ladders, while placing a fire hose between the channels and the frame. This can be seen in the following figure.

The figure already shows the attached body. But this will happen only at the last stage.

A fire hose is needed to level the planes of the frame and channel, as they are not perfectly even. The applied ladders are standard, which are used by the Kama plant for attaching the body to the frame. In order for the subframe to turn out to be solid, we connect the welded channels with a cut of the channel using a welded seam. We weld the cut of the channel over the frame cross member in such a way that this channel is then screwed to the cross member with a bolted connection. Since after the checkpoint there are at least two crossbars in the back of the truck, we also make at least two of the connections described above. The more such connections, the stronger the subframe will be attached to the frame.

Third stage. We install the manipulator on the subframe behind the cab. Included with the boom are special ladders, with which we attach the installation to the frame through the subframe. It is important to put a special spacer into the ladder. She is shown in the photo.

How to make it? We take a piece of pipe with an inner diameter slightly larger than the diameter of the ladder. We make the length of the pipe about half the height of the frame. We cut off a piece of a thick plate (thickness 7-10 mm.) In the form of a rectangle, the smaller side of which is about 8-9 cm, and the larger one so that it fits tightly inside the frame in height. The cut pipe is welded to the plate in the center. If the described spacer is not installed, then the manipulator step-ladder, when tightened, will bend the horizontal planes of the frame and the frame will weaken. As a result, we get a rectangle in cross section, and not a U-shaped channel, which is much stronger. Then we tighten the ladders with great effort, which, after some time after the operation of the truck, must be tightened.

Fourth stage. To exclude the movement of the CMU along the frame, we weld corners (“four” or “five”) to the subframe in front and behind the manipulator perpendicular to the frame. it additional measure fixation.

Fifth stage. We mount the body to the subframe, leaving a gap of 15-20 cm between crane installation and the beginning of the body. We fasten the cross members of the body bolted connections to the subframe, in the same way as it was previously attached by the manufacturer.

This completes our installation and it remains only to connect the hydraulic pump, due to which all the work of the crane of the manipulator takes place. We will consider this issue in the next article.

When many options for CMU mounted on the chassis of Gazelle trucks appeared, 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; to install the CMU, it must 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.