CN104310222B - Gantry crane with function of four-point balance control - Google Patents

Gantry crane with function of four-point balance control Download PDF

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Publication number
CN104310222B
CN104310222B CN201410582895.4A CN201410582895A CN104310222B CN 104310222 B CN104310222 B CN 104310222B CN 201410582895 A CN201410582895 A CN 201410582895A CN 104310222 B CN104310222 B CN 104310222B
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CN
China
Prior art keywords
frequency converter
fixed pulley
plc
reel
points
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CN201410582895.4A
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Chinese (zh)
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CN104310222A (en
Inventor
袁耀华
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天津起重设备有限公司
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Priority to CN201410582895.4A priority Critical patent/CN104310222B/en
Publication of CN104310222A publication Critical patent/CN104310222A/en
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Publication of CN104310222B publication Critical patent/CN104310222B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/22Control systems or devices for electric drives
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00Cranes
    • B66C2700/01General aspects of mobile cranes, overhead travelling cranes, gantry cranes, loading bridges, cranes for building ships on slipways, cranes for foundries or cranes for public works

Abstract

The invention discloses a gantry crane with a function of four-point balance control. The gantry crane comprises four hoisting mechanisms and four fixed pulley trolleys, wherein each fixed pulley trolley is provided with a fixed pulley block, a movable pulley block connected with the fixed pulley block in a winding way by a steel wire rope, and a lifting hook fixed on the movable pulley block; each fixed pulley trolley is provided with the corresponding hoisting mechanism, and also comprises a programmable logic controller (PLC); each hoisting mechanism comprises a driving winding drum, a speed reducer used for driving the driving winding drum, and a motor matched with the speed reducer; each motor is driven by a frequency converter; one of the frequency converters is taken as a mainframe frequency converter, and other frequency converters are taken as slave frequency converters; each motor is provided with a rotating speed encoder, and signals output by the rotating speed encoders are respectively fed back into the frequency converters used for driving the corresponding motors; each fixed pulley trolley is provided with a pull rope displacement sensor; the signals are output into PLCs by the pull rope displacement sensors; the signals are output into the frequency converters by the PLCs. The gantry crane is capable of guaranteeing synchronous lifting of four lifting points, and accurately controlling the balance of the four lifting points.

Description

A kind of straddle truck controlling with 4 points of balances

Technical field

The present invention relates to a kind of crane gear, particularly to a kind of straddle truck controlling with 4 points of balances.

Background technology

At present, because equipment manufacture industry is constantly towards development of maximizing, the installation and debugging at scene need to rent large-scale Heavy equipment, somewhat expensive.The market share with Heavy Product is increasing, and many heavy-duty machine manufacturers are intended to have The large-scale re-assemble equipment of oneself, to complete Heavy Product in factory and the installation at scene, debugging, and requires crane to pacify Entirely, stable, reliable, operate steadily, accurately, be easy to dismounting, transport, and can Reusability at random.

Crane hoisting mechanism is the basic composition of any crane, and it is used for realizing the rise and fall of article.Raising The quality of mechanism's work will directly affect the service behaviour of whole crane.Crane hoisting mechanism, generally by hoisting mechanism (bag Include motor, brake, decelerator, reel), fixed pulley group, lifting hook pulley group, steel wire rope group, steel wire rope and end fix and Bascule forms, and four-point lifting crane is typically installed concentratedly lifting mechanism on one or two trolleys, suspension centre Form also has two kinds, and one kind is that four suspension centres are separate, and this necessarily occurs the situation that only three suspension centres carry, and causes to roll up Raise machine and the design load of steel rope system is multiplied, another kind is two suspension centres of side in four suspension centres is not have mutually The independent suspension centre of contact, two suspension centres of opposite side are the balance suspension centres with equalizer pulley and balanced lever as bascule, I.e. so-called " four-point hoisting three-point balancing ".The gantry crane of hoisting large-size equipment, also referred to as straddle truck, if its four-point lifting Using independent suspension centre, excessive difference in height can make the load deflections of four suspension centres increase, and raising precision reduces, and easily exceedes steel wire The safe load of rope;If using balance suspension centre, if if making bascule with balanced lever, can reach not because compensation stroke is short To counterbalance effect, if making bascule with equalizer pulley, but the uncontrollable rope capacity by equalizer pulley in fact it could happen that , in peak, another suspension centre is in minimum point cisco unity malfunction for one suspension centre.

Content of the invention

The present invention provides a kind of straddle truck controlling with 4 points of balances for solving technical problem present in known technology.

The present invention is adopted the technical scheme that by solving technical problem present in known technology: a kind of 4 points of balances of band The straddle truck controlling, including four hoisting mechanisms and four fixed pulley dollies, every described fixed pulley dolly is provided with fixed pulley Group, the running block being intertwined and connected by steel wire rope and fixed pulley group and be fixed on suspension hook on running block, described in every Fixed pulley dolly configures a hoisting mechanism, also includes plc, and each hoisting mechanism described includes active reel, drives and actively roll up The reductor of cylinder and the motor with reductor cooperation, every described motor is by transducer drive, wherein one described frequency converter As main frame frequency converter, as slave frequency converter, described main frame frequency converter and described slave frequency converter are electric for remaining described frequency converter Gas connects, and every described motor is equipped with rotating speed coder, and described rotating speed coder output signal feeds back to and drives this motor Frequency converter;Every described fixed pulley dolly is equipped with displacement sensor for pull rope, described displacement sensor for pull rope output signal feedback To described plc, described plc outputs signal to described frequency converter.

The present invention can also adopt the following technical scheme that

Also include 2 balancing trolleys, every described balancing trolley is provided with a set of compensation reel, and wirerope-winding is described Compensate on reel and draw respectively from the described two ends compensating reel, every one end steel wire rope and a fixed pulley dolly determine cunning Wheel group and running block are wound around, fixing after being then wrapped on described active reel again;The compensation reel of every balancing trolley is equal It is provided with reel displacement coder, described reel displacement coder output signal feeds back to described plc.

Each described both sides compensating reel is provided with limit switch, and described limit switch output signal feeds back to described plc.

Also include fieldbus, described displacement sensor for pull rope and described reel displacement coder are all by described scene Bus is connected with described frequency converter and described plc.

Also include man-machine interface, communicate between described plc and described man-machine interface.

Also include audible-visual annunciator, described plc outputs signal to described audible-visual annunciator.

Described main frame frequency converter is speeds control frequency converter, and described slave frequency converter is direct torque frequency converter.

Every described fixed pulley dolly is provided with two sets of fixed pulley groups and two sets of running blocks;Steel wire rope is wound around shape with symmetrical Formula is wrapped in described two sets of fixed pulley groups and described two sets of running blocks.

Described four hoisting mechanisms are mounted in pairs on the sill of door frame, and described fixed pulley dolly is arranged on girder On.

The vehicle frame both sides of every described fixed pulley dolly are provided with anchoring device.

The present invention has the advantages and positive effects that: lifting mechanism controls 4 raising elevators respectively using 4 groups of frequency converters Mechanism, every frequency converter is all using closed-loop speed feedback control, and wherein one frequency converter is done speed as main frame frequency converter Control, remaining does direct torque as slave frequency converter, can be able to produce during the load of main frame transducer drive when starting working One actual inside dtc signal, this dtc signal is inputed to the slave frequency converter doing direct torque, slave frequency converter An an equal amount of torque can be exported, the torque of such principal and subordinate's frequency converter output is the same, would not there is load distribution uneven Even phenomenon;Initially, the frequency signal of main frame frequency converter inputs to slave frequency converter as rate limitation, therefore slave frequency converter Initial velocity identical with the current speed of service of main frame frequency converter.By master & slave control, coordinate synchronization, thus ensureing 4 suspension centres Lifting synchronous, the balance of four suspension centres of precise control;And adopt four drawstring displacement encoder real-time detections four further The lifting altitude of suspension hook, by signal input plc of detection, the built-in comparator of plc, in a comparator, by main frame transducer drive Fixed pulley dolly on drawstring displacement encoder detection signal as reference value, the signal of other drawstring displacement encoders detection It is compared with reference value respectively, the amplifier such as plc adoption rate integration carries out difference operation, output signal control to input signal Make corresponding slave frequency converter and carry out fine speed adjustment, improve the balance control accuracy of four suspension centres further;In addition in systems Signal and data are transmitted using fieldbus such as profibus, hardware and mounting cost can be saved, there is greater flexibility.

Brief description

Fig. 1 is the structural representation of the present invention;

Fig. 2 is the structural representation of the fixed pulley dolly installation displacement sensor for pull rope of the present invention;

Fig. 3 is a direction view of Fig. 2;

Fig. 4 is the structural representation compensating reel installation reel displacement coder of the present invention.

In figure: 1, fixed pulley dolly;2nd, balancing trolley;3rd, compensate reel;4th, fixed pulley group;5th, running block;6th, actively Reel;7th, suspension hook;8th, horizontally-guided pulley;9th, vertically-guided pulley;10th, displacement sensor for pull rope;11st, reel angular displacement coding Device.

Specific embodiment

For content of the invention, feature and effect of the present invention can be further appreciated that, hereby enumerate following examples, and coordinate accompanying drawing Describe in detail as follows:

Refer to Fig. 1~Fig. 4, the straddle truck that a kind of 4 points of balances of band control, slide including four hoisting mechanisms and four are fixed Wheel dolly 1, every described fixed pulley dolly 1 is provided with fixed pulley group 4, by moving that steel wire rope and fixed pulley group 4 are intertwined and connected Assembly pulley 5 and be fixed on suspension hook 7 on running block 5, every described fixed pulley dolly 1 configures a hoisting mechanism, each Hoisting mechanism, through wirerope-winding, drives four suspension hooks 7 to lift, also includes plc, and each hoisting mechanism described includes actively rolling up Cylinder 6, the reductor driving active reel 6 and the motor with reductor cooperation, every described motor by transducer drive, wherein , as main frame frequency converter, remaining described frequency converter is as slave frequency converter, described main frame frequency converter and institute for one described frequency converter State the electrical connection of slave frequency converter, the communication bus such as fieldbus can be passed through and connect, every described motor is equipped with rotating speed coding Device, described rotating speed coder output signal feeds back to the frequency converter driving this motor;Every described fixed pulley dolly 1 is equipped with and draws Rope displacement transducer 10, described displacement sensor for pull rope 10 output signal feeds back to described plc, and described plc outputs signal to institute State frequency converter, to control the work of described frequency converter, the exportable signal of described plc controls the start-stop of four described frequency converters, defeated Go out synchronous interaction of frequency and four described frequency converters etc..The vehicle frame both sides of every described fixed pulley dolly 1 can be provided with anchor Determine device.

Further, the present invention may also include 2 balancing trolleys 2, and every described balancing trolley 2 can be provided with a set of compensation Reel 3, wirerope-winding is drawn on described compensation reel 3 and from the described two ends compensating reel 3 respectively, every one end steel wire rope It is wound around with the fixed pulley group 4 on a fixed pulley dolly 1 and running block 5, solid after being then wrapped in again on described active reel 6 Fixed;The compensation reel 3 of every balancing trolley 2 all can be provided with reel displacement coder 11, described reel displacement coder 11 Output signal feeds back to described plc.When four suspension hooks 7 lifting altitude deviation is larger, it is arranged on dolly and compensates the volume on reel 3 Cylinder displacement coder 11 also can output signal to plc, can send control signal by plc, stop the output of all frequency converters, then Manually adjust, to avoid suspension centre uneven, occur four larger situations of lifting mechanism stress difference to occur;Described in each The both sides compensating reel 3 all can arrange limit switches, and described limit switch output signal feeds back to described plc, can be by setting Put limit switch and carry out the uneven detection of multiple suspension centre, control signal can be sent by plc, stop the output of all frequency converters, then Manually adjust, to avoid suspension centre uneven, obtain duplicate protection, to avoid suspension centre uneven, four lifting mechanisms occur The larger situation of stress difference occurs;Described four hoisting mechanisms can be mounted in pairs on the sill of door frame, described fixed cunning Wheel dolly 1 may be installed on girder.

On the basis of the above, may also include fieldbus, described displacement sensor for pull rope and described reel angular displacement encode Device all can be connected with described frequency converter and described plc by described fieldbus.By bus transmissioning data.Fieldbus is optional With fieldbus such as profibus, can, hardware and mounting cost, system configuration can be saved using fieldbus such as profibus There is greater flexibility;

In addition, it may further comprise man-machine interface, communicate between described plc and described man-machine interface.Described plc and described man-machine Interface all can be connected by described fieldbus or other communication bus, by bus transmissioning data.

The speed encoder of hoisting mechanism motor forms vector closed-loop control with the pg card of frequency converter.Reel angular displacement encodes Device 11, drawstring displacement encoder 10 and frequency converter are connected with buses such as profibus by corresponding communication module, with plc, people Data is mutually transmitted, the present invention can carry out security monitoring management, man-machine interface by arranging man-machine interface and plc between machine interface Can be connected with plc by bus, can in real time and plc exchange information.Plc can each extreme position of Real-time Collection switchs, motor turns The various signals such as fast encoder, the electric current of displacement sensor for pull rope 10, reel displacement coder 11 and frequency converter, voltage, And passing to man-machine interface, man-machine interface can visually show that the various data of crane each several part (as height, load, runs speed Degree, net cycle time etc.) and the information such as various defect content (including frequency converter internal fault) and trouble location.

May also include audible-visual annunciator, described plc outputs signal to described audible-visual annunciator.Such as described reel angular displacement Encoder 11 output signal feeds back to described plc, sets comparator etc. in described plc, and described plc is processed to input signal, Calculate the difference of the input value from four reel displacement coders, and be compared with a reference value setting, when generation four When individual suspension hook 7 lifting altitude deviation is larger, the difference of the input value of four reel displacement coders exceedes a reference value, then plc Send alarm signal to described audible-visual annunciator, audible and visible alarm is sent by described audible-visual annunciator, points out operator.

Above-described embodiment, can adopt to build the control system controlling hoisting mechanism operating with plc for control centre, can be by Plc is set to host computer, and frequency converter and man-machine interface etc. are set to slave computer, and plc gathers all detection signals and frequency converter The signals such as electric current, voltage, carry out accurate computing, output accurate Data Control frequency converter operating by internal cpu, and transmit Data to man-machine interface gives to show.The excellent operation interface of man-machine interface, setting various parameters and control button can be passed through, send out Give plc, then by plc through operation program, send signal and control frequency converter, indicator lamp and other indicating members.Frequency converter Operating instruction and speed preset be given by communication modes by plc, plc reads the electric current of frequency converter motor internal, electricity simultaneously The parameters such as pressure, speed, are shown by touch-screen.Frequency converter to the phase shortage of external circuit, under-voltage etc. differentiate after could be normal Work.When master controller back to zero, frequency converter first passes through brake unit and carries out electric braking, detects motor speed simultaneously, When motor speed is close to zero-speed, brake, thus realizing steadily stopping, now blower fan delay cut-off, that is, ensure electronic Machine reliably cools down, and avoids blower fan repeatedly to start again.Circuit is also by overheated to frequency converter failure, brake unit, hypervelocity, overload, limit The signal inputs such as position carry out changing to plc, computing, display, control.

Can be with remote operation by data/address bus, by multistage joint control, the balance of precise control four-point lifting straddle truck rises Hang.

Wherein, above-mentioned frequency converter can be selected for closed loop vector control frequency converter, inside sets comparator, amplifier, and described main frame becomes Frequency device can be speeds control frequency converter, and described slave frequency converter can be direct torque frequency converter;Above-mentioned displacement sensor for pull rope 10 Absolute value formula displacement sensor for pull rope can be adopted;Above-mentioned reel displacement coder 11 can be using absolute value formula angular displacement coding Device.

Further, every described fixed pulley dolly 1 can be provided with two sets of fixed pulley groups 4 and two sets of running blocks 5;Steel wire Rope can be wrapped in described two sets of fixed pulley groups 4 and described two sets of running blocks 5 using symmetrical winding form.

The operation principle of the present invention: lifting mechanism adopts full digital ac variable frequency speed regulation scheme.Lifting mechanism adopts 4 groups Frequency converter controls 4 raising hoisting mechanisms respectively, and every frequency converter, and will be wherein initial all using closed-loop speed feedback control, The frequency signal of main frame frequency converter inputs to slave frequency converter as rate limitation, the therefore initial velocity of slave frequency converter and master The current speed of service of machine frequency converter is identical.By master & slave control, coordinate synchronization, the balance of four suspension centres of precise control;For ensureing Four suspension centre synchronization liftings, while adopting master & slave control, and adopt four drawstring displacements to compile between four frequency converters further The lifting altitude of code four suspension hooks of device real-time detection, signal input plc that will detect, the built-in comparator of plc, in a comparator, Using the drawstring displacement encoder detection signal on the fixed pulley dolly of main frame transducer drive as reference value, other drawstring displacements Encoder detection signal be compared with reference value respectively, plc can adoption rate integration etc. amplifier input signal is carried out Difference operation, outputs signal to the alignment circuit of corresponding slave frequency converter, and the output frequency making slave frequency converter is in original frequency Being finely adjusted on the basis of rate, thus carrying out fine speed adjustment, improving the balance control accuracy of four suspension centres further.For example, drive The frequency converter of 1# active reel is set to main frame frequency converter, then the 1# drawstring that the 1# fixed pulley dolly being associated with 1# active reel is installed The value that displacement encoder detects is reference value, if the value that 2# drawstring displacement encoder detects is more than reference value, 2# is actively Reel is associated with 2# fixed pulley dolly, then main frame frequency converter, according to difference output signal, makes the slave of driving 2# active reel become The output frequency of frequency device accordingly reduces fine setting, thus finely tuning the speed reducing 2# motor;On the contrary, if 2# drawstring displacement encoder The value detecting is less than reference value, then main frame frequency converter, according to difference output signal, makes the slave frequency conversion of driving 2# active reel The output frequency of device accordingly reduces fine setting, thus finely tuning the speed improving 2# motor, real-time adjustment.When four suspension hook lifting altitudes When deviation is larger, the reel displacement coder being arranged on dolly compensation reel also can output signal to plc, main frame frequency converter Send signal, stop the output of all frequency converters, more manually adjust, suspension centre is uneven to occur four lifting mechanisms to avoid The larger situation of stress difference occurs.By master & slave control, coordinate synchronization, thus ensureing the lifting synchronization of 4 suspension centres, to four The balance of suspension centre carries out precise control;In addition in systems hardware and installation fee can be saved using fieldbus such as profibus With having greater flexibility;Setting plc, man-machine interface, it is possible to use the various detection signal of plc concentrated collection, transmission gives people Machine interface is shown, is adjusted manually by man-machine interface, data is arranged and status display, facilitates operating personnel to operate.

Frequency converter, using the heavy-load frequency converter being exclusively used in lifting mechanism, forms closed loop arrow by encoder velocity feedback Amount control system.Torque response is fast, and dynamic property is good.The run signal of frequency converter and speed preset can pass through communication side by plc Formula is given, the parameter such as the electric current of the frequency converter motor internal of plc reading simultaneously, voltage, speed, is shown by touch-screen.Become Frequency device to the phase shortage of external circuit, under-voltage etc. differentiate after could normal work.When master controller back to zero, frequency converter is logical first Cross brake unit and carry out electric braking, detect motor speed simultaneously, when motor speed is close to zero-speed, brake, thus Realize steadily stopping, now blower fan delay cut-off, that is, ensure that motor reliably cools down, and avoids blower fan repeatedly to start again.Circuit is also By overheated to frequency converter failure, brake unit, hypervelocity, overload, the signal input such as spacing to plc.

The present invention can carry out security monitoring management by arranging man-machine interface and plc, and when the machine any position, appearance is any During fault, associated mechanisms all can be automatically stopped work, have display and with sound and light alarm in man-machine interface simultaneously.In display Hold and include: defect content, trouble location (related components and parts item designation), fix a breakdown in time in order to maintenance personal and enter Row maintenance.

Although being described to the preferred embodiments of the present invention above in conjunction with accompanying drawing, the invention is not limited in The specific embodiment stated, above-mentioned specific embodiment is only schematically, is not restricted, this area common Technical staff, under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, also may be used To make a lot of forms, these belong within protection scope of the present invention.

Claims (9)

1. a kind of straddle truck controlling with 4 points of balances, including four hoisting mechanisms and four fixed pulley dollies, every described fixed Pulley trolley is provided with fixed pulley group, the running block being intertwined and connected by steel wire rope and fixed pulley group and is fixed on movable pulley Suspension hook in group, every described fixed pulley dolly configures a hoisting mechanism it is characterised in that also including plc, each described volume Raise mechanism and include active reel, the reductor driving active reel and the motor with reductor cooperation, every described motor by Transducer drive, as main frame frequency converter, remaining described frequency converter is as slave frequency converter, described for wherein one described frequency converter Main frame frequency converter and the electrical connection of described slave frequency converter, every described motor is equipped with rotating speed coder, described rotating speed coding Device output signal feeds back to the frequency converter driving this motor;Every described fixed pulley dolly is equipped with displacement sensor for pull rope, institute State displacement sensor for pull rope output signal and feed back to described plc, described plc outputs signal to described frequency converter;Also include 2 to put down Weighing apparatus dolly, every described balancing trolley is provided with a set of compensation reel, and wirerope-winding is on described compensation reel and from described The two ends compensating reel are drawn respectively, and the fixed pulley group on every one end steel wire rope and a fixed pulley dolly and running block twine Around fixing after being then wrapped in again on described active reel;The compensation reel of every balancing trolley is equipped with reel angular displacement and compiles Code device, described reel displacement coder output signal feeds back to described plc.
2. the straddle truck controlling with 4 points of balances according to claim 1 is it is characterised in that each described compensates reel Both sides are provided with limit switch, and described limit switch output signal feeds back to described plc.
3. according to claim 1 with 4 points balance control straddle truck it is characterised in that also including fieldbus, institute State displacement sensor for pull rope and described reel displacement coder all by described fieldbus and described frequency converter and described plc It is connected.
4. according to claim 1 with 4 points balance control straddle truck it is characterised in that also including man-machine interface, institute State communication between plc and described man-machine interface.
5. according to claim 1 with 4 points balance control straddle truck it is characterised in that also including audible-visual annunciator, Described plc outputs signal to described audible-visual annunciator.
6. the straddle truck with 4 points of balance controls according to claim 1 is it is characterised in that described main frame frequency converter is speed Degree controls frequency converter, and described slave frequency converter is direct torque frequency converter.
7. the straddle truck controlling with 4 points of balances according to claim 1 is it is characterised in that every described fixed pulley dolly It is provided with two sets of fixed pulley groups and two sets of running blocks;Steel wire rope with symmetrical winding form be wrapped in described two sets of fixed pulley groups and On described two sets of running blocks.
8. the straddle truck with 4 points of balance controls according to claim 1 is it is characterised in that described four hoist engines are constituted It is arranged on over the ground on the sill of door frame, described fixed pulley dolly is arranged on girder.
9. the straddle truck controlling with 4 points of balances according to claim 1 is it is characterised in that every described fixed pulley dolly Vehicle frame both sides be provided with anchoring device.
CN201410582895.4A 2014-10-27 2014-10-27 Gantry crane with function of four-point balance control CN104310222B (en)

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CN104843567A (en) * 2015-05-19 2015-08-19 上海德圣米高电梯有限公司 Synchronous control system for double traction machines of lift
CN104860173A (en) * 2015-05-19 2015-08-26 上海德圣米高电梯有限公司 Synchronous control system for four tractors of elevator
CN108683384B (en) * 2018-04-12 2020-06-05 深圳市海浦蒙特科技有限公司 Multi-hoisting frequency converter synchronous control method and system
CN109368504A (en) * 2018-12-20 2019-02-22 辽宁忠旺机械设备制造有限公司 The synchronous control system of 4 hoists

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CN204251220U (en) * 2014-10-27 2015-04-08 天津起重设备有限公司 The gauntry crane that a kind of 4, band balance controls

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CN101565930A (en) * 2009-06-02 2009-10-28 天津市市政工程研究院 Movable span lifting device of vertical lift balance bridge
CN103287983A (en) * 2013-04-24 2013-09-11 交通运输部水运科学研究所 Gantry-type four-drum wheeled crane
CN103663165A (en) * 2013-11-27 2014-03-26 天津起重设备有限公司 Intelligentized four-lifting-point auto-compensation balance large lifting assembling device
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