CN107572432B - Self-balancing system of crawler crane - Google Patents
Self-balancing system of crawler crane Download PDFInfo
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- CN107572432B CN107572432B CN201710964868.7A CN201710964868A CN107572432B CN 107572432 B CN107572432 B CN 107572432B CN 201710964868 A CN201710964868 A CN 201710964868A CN 107572432 B CN107572432 B CN 107572432B
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Abstract
The invention discloses a crawler crane self-balancing system, which comprises a PLC (programmable logic controller), a movable counterweight, a counterweight adjusting module and at least three extension support legs arranged on the outer side of the periphery of a crawler frame, wherein the movable counterweight is arranged on the upper part of a main locomotive body of a crawler crane through the counterweight adjusting module, a plurality of extension support legs are symmetrically distributed on the periphery of the crawler frame, each extension support leg comprises a horizontal part and a vertical part, the horizontal part is connected with the crawler frame, the vertical part is a telescopic support, a pressure sensor for monitoring the bearing pressure of the telescopic support is arranged in the telescopic support, a position sensor for detecting the rotating angle of the main locomotive body is also arranged on the upper part of the main locomotive body, the PLC adjusts the position of the movable counterweight through the counterweight adjusting module, and the purpose of self-balancing of the crawler crane. The invention greatly enhances the stability and the safety of the whole machine and greatly expands the application range of the crawler crane to the operation environment.
Description
Technical Field
The invention belongs to the field of engineering machinery, relates to a crane stability adjusting system, and particularly relates to a crawler crane self-balancing system.
Background
The landing leg of the existing crawler crane is only used when the host is installed and detached, the landing leg is not used in the operating state after the installation is finished, the landing leg supporting surface for the disassembly and the assembly of the original host is small, and the supporting surface formed by two crawler belts is large, so that the two crawler belts are used to contact the ground. For double-machine lifting occasions and important lifting occasions allowed by field environments, the whole machine stability of the original main machine is often a weak link of the whole lifting system; in extreme cases such as strong wind and rain or uneven settlement of the foundation, the whole machine risks tipping.
Disclosure of Invention
The invention aims to improve the stability of the crawler crane during hoisting, increase the working environment and reduce the risk of overturning.
In order to solve the problems, the invention adopts the technical scheme that:
A self-balancing method of a crawler crane is characterized in that: the crawler crane comprises a PLC (programmable logic controller), a movable counterweight, a counterweight adjusting module and at least three extension supporting legs arranged on the outer side of the periphery of a crawler frame, wherein the counterweight adjusting module comprises a transverse sliding rail and a longitudinal sliding rail, the longitudinal sliding rail is fixedly arranged on the upper part of a main crane body of the crawler crane, the transverse sliding rail is arranged on the longitudinal sliding rail through a longitudinal adjusting hydraulic cylinder, the movable counterweight is arranged on the transverse sliding rail through a transverse adjusting hydraulic cylinder, the longitudinal adjusting hydraulic cylinder and the transverse adjusting hydraulic cylinder are controlled by the PLC, a plurality of extension supporting legs are symmetrically distributed on the periphery of the crawler frame, each extension supporting leg comprises a horizontal part and a vertical part, the horizontal part is connected with the crawler frame, the vertical part is a telescopic support, a pressure sensor for monitoring the bearing pressure of the telescopic support is arranged in the telescopic support, and a position, the angle signal detected by the position sensor and the pressure sensor signal of each extension supporting leg are both connected into a PLC (programmable logic controller), the PLC adjusts the position of the movable counter weight through the bearing pressure of each extension supporting leg and the rotation angle of the upper part of the main locomotive body relative to the lower part of the main locomotive body, the self-balancing purpose of the crawler crane is achieved, the longitudinal adjusting hydraulic cylinder and the transverse adjusting hydraulic cylinder are respectively controlled by a first electromagnetic reversing valve and a second electromagnetic reversing valve, and the specific adjusting method comprises the following steps:
according to the principle of front-back balance and left-right balance, the PLC controller sends a signal to drive a first electromagnetic directional valve and a second electromagnetic directional valve, the adjustment of the gravity center of the whole machine is realized through the movement of a movable counterweight on a main machine body, if the left side pressure is lower than the right side pressure, the movable counterweight moves leftwards, otherwise, the movable counterweight moves rightwards; if the front side pressure is lower than the rear side pressure, the movable counterweight moves forwards, otherwise, the movable counterweight moves backwards; the adjustment of the movable counterweight in turn affects the pressure signal values detected by the pressure sensors of the four extension legs; this is repeatedly adjusted to reach equilibrium.
As an improvement, the horizontal part of the extension supporting leg is a horizontal hydraulic cylinder, the vertical part of the extension supporting leg is a vertical hydraulic cylinder, and the pressure sensor is arranged in a rodless cavity oil way of the vertical hydraulic cylinder.
As an improvement, the horizontal part of the extension supporting leg is detachably connected with the crawler frame, and the horizontal hydraulic cylinder and the vertical hydraulic cylinder are connected with a hydraulic system at the bottom of the crawler crane.
As an improvement, the oil circuit of the vertical hydraulic cylinder is provided with a bidirectional hydraulic lock for locking the extension of the hydraulic cylinder.
As an improvement, the oil ways of the longitudinal adjusting hydraulic cylinder and the transverse adjusting hydraulic cylinder are connected with an oil way system of the crawler crane.
As an improvement, the transverse slide rail and the longitudinal slide rail are both made of two parallel I-shaped steels.
As an improvement, a reinforcing rib plate is arranged between the bottom of the longitudinal slide rail and the upper part of the main locomotive body.
As an improvement, a travel switch for cutting off the crane walking operation is arranged at the bottom of a vertical hydraulic cylinder of the extension supporting leg, signals of the travel switch are connected to a PLC (programmable logic controller), and an oil way for cutting off the crane walking operation is cut off by the PLC.
As an improvement, the number of the expansion supporting legs is 4, and the 4 expansion supporting legs are symmetrically distributed on two sides of the crawler frame.
The invention has the beneficial effects that:
1. The temporary support system is arranged outside the original crane structure, so that the overall stability of the equipment is enhanced. For large and ultrahigh hoisting operation, the resistance of the hoisting system to uneven settlement of the foundation is enhanced; the wind and rollover resistance of the hoisting machine which is parked during strong wind and heavy rain can be enhanced.
2. And a pressure sensor is arranged in the temporary extension supporting leg to monitor the pressure, and the pressure value (left-right comparison and front-back comparison) of the extension supporting leg is utilized to control the moving direction and the stroke of the movable counterweight of the vehicle body, so that the load of each extension supporting leg is approximately balanced.
3. and the auxiliary safety setting (such as walking prohibition) ensures the safety of the extension leg system.
4. The stability of complete machine is strengthened greatly, to the double-machine occasion of lifting and hanging and the important hoist and mount occasion that the site environment allows, can use this frock, improves the security. The tool can also be applied when the crane is in a stop state in strong wind or heavy rain.
Drawings
Fig. 1 is a layout diagram of the lower part of a main machine and an expansion leg.
Fig. 2 is a schematic structural view of the extension leg.
Fig. 3 is a schematic diagram of an extended leg control circuit.
FIG. 4 is a diagram showing the relationship between the position of the extendable leg and the movable weight when the upper portion of the main frame body is deflected by 0 °.
FIG. 5 is a view showing the relationship between the position of the extendable leg and the movable weight when the upper portion of the main frame body is deflected by 90 °.
FIG. 6 is a view showing the relationship between the position of the extendable leg and the movable weight when the upper portion of the main frame body is deflected by 180 °.
Fig. 7 is a diagram showing the relationship between the position of the extendable leg and the movable weight when the upper part of the main locomotive body deflects by 270 °.
FIG. 8 is a diagram showing the relationship between the position of the extendable leg and the movable weight when the upper portion of the main frame body is deflected at a common angle.
fig. 9 is a top view of the counterweight adjustment module.
Fig. 10 is a side view of a counterweight adjustment module.
Fig. 11 is a schematic diagram of a counterweight adjustment module hydraulic circuit.
Fig. 12 is a block diagram of the control of the front, back, left and right movement of the movable weight.
Reference numerals: 1-the lower part of a main locomotive body, 2-a slewing bearing, 3-a main locomotive installation and removal support leg hydraulic cylinder, 4-a main locomotive installation and removal support leg bracket, 5-a track frame, 7-an extension support leg tail section, 8-an extension support leg basic section, 9-an extension support leg extension section, 10-a vertical hydraulic cylinder, 11-a horizontal hydraulic cylinder, 12-a pressure sensor, 13-a travel switch, 14-a bidirectional hydraulic lock, 15-a manual reversing valve I, 16-a manual reversing valve II, 17-the upper part of the main locomotive body, 18-a longitudinal sliding rail, 19-a transverse sliding rail, 20-a longitudinal adjusting hydraulic cylinder, 21-a transverse adjusting hydraulic cylinder, 22-a movable counterweight, 23-a reinforcing rib plate, 24-a first electromagnetic reversing valve I and 25-a second electromagnetic reversing valve.
Detailed Description
The invention is illustrated by the following description in conjunction with the drawings
As shown in fig. 1 to 11, a self-balancing system of a crawler crane comprises a PLC controller, a movable counterweight 22, a counterweight adjusting module and 4 extension legs arranged on the outer side of the periphery of a crawler frame 5, wherein the counterweight adjusting module comprises a transverse slide rail 19 and a longitudinal slide rail 18, the longitudinal slide rail 18 is fixedly mounted on the upper portion 17 of a main crane body of the crawler crane, the transverse slide rail 19 is mounted on the longitudinal slide rail 18 through a longitudinal adjusting hydraulic cylinder 20, and the longitudinal adjusting hydraulic cylinder 20 drives the transverse slide rail 19 to move back and forth on the longitudinal slide rail 18; the movable counter weight 22 is installed on the transverse sliding rail 19 through a transverse adjusting hydraulic cylinder 21, the movable counter weight 22 is driven to move left and right on the transverse sliding rail 19 through the transverse adjusting hydraulic cylinder 21, so that the movable counter weight 22 can be driven to move in all directions without dead angles relative to the upper portion 17 of the main locomotive body, the oil ways of the transverse adjusting hydraulic cylinder 21 and the longitudinal adjusting hydraulic cylinder 20 are connected with an oil way system of the crawler crane and controlled through a PLC (programmable logic controller), and the oil way system of the crawler crane is used as a power source;
The 4 expansion support legs are symmetrically distributed on two sides of the crawler frame 5 and comprise a horizontal part and a vertical part, the horizontal part comprises an expansion support leg tail section 7, an expansion support leg basic section 8 and an expansion support leg extension section 9, the expansion support leg basic section 8 and the expansion support leg extension section 9 form two parts of a horizontal hydraulic cylinder 11, the expansion support leg tail section 7 is a part of the horizontal hydraulic cylinder 11 connected with the crawler frame 5, and the expansion support leg tail section 7 is connected with the side wall of the crawler frame 5 in a welding mode; the vertical part is a vertical hydraulic cylinder 10, a pressure sensor 12 for monitoring the pressure bearing pressure of the vertical hydraulic cylinder 10 is arranged in a rodless cavity oil circuit of the vertical hydraulic cylinder 10, two oil circuits of a horizontal hydraulic cylinder 11 and the vertical hydraulic cylinder 10 are both provided with a bidirectional hydraulic lock 14 for locking the extension and contraction of the hydraulic cylinders, high-pressure hoses of the horizontal hydraulic cylinder 11 and the vertical hydraulic cylinder 10 are connected with a quick joint of a hydraulic system at the bottom of the crawler crane without adding a hydraulic element, the hydraulic system at the bottom of the crawler crane is used as a power source, the upper part 17 of the main locomotive body is also provided with a position sensor for detecting the rotation angle of the main locomotive body relative to the lower part 1 of the main locomotive body, an angle signal detected by the position sensor and a pressure sensor 12 signal of each extension supporting leg are both connected to a PLC controller, and the PLC controller adjusts the position of a movable counterweight 22 through, the purpose of self-balancing of the crawler crane is achieved.
Preferably, the transverse slide rail 19 and the longitudinal slide rail 18 are both made of two parallel h-shaped steel, and a reinforcing rib plate 23 is arranged between the bottom of the longitudinal slide rail 18 and the upper part 17 of the main locomotive body.
The bottom of the vertical hydraulic cylinder 10 of the extension supporting leg is provided with a travel switch 13 for cutting off the traveling operation of the crane, the travel switch 13 is connected to the PLC in a signal mode, an oil way for cutting off the traveling operation of the crane is cut off through the PLC, the crawler crane is prevented from traveling to cause huge damage after the extension supporting leg is extended and put down, and the safety protection effect is achieved.
It should be noted that the number of the extension legs is 4 for illustrative purposes only, and any number greater than three is possible, and the more the number is, the more accurate the crawler crane balance degree monitoring is.
Description of the operation of the extension leg: as shown in FIG. 3, the whole vehicle has four extension legs, and FIG. 3 shows a schematic diagram of the oil circuit of one extension leg. Wherein the pressure oil source P and T are connected with a bottom hydraulic system of the crane. Each extension leg comprises a vertical hydraulic cylinder 10 and a horizontal hydraulic cylinder 11, which are respectively controlled by a manual reversing valve I15 and a manual reversing valve II 16. Each hydraulic cylinder is provided with a bidirectional hydraulic lock 14 to ensure that the hydraulic cylinder can reliably stop stretching at any position and has the capability of resisting stretching or shrinking of the hydraulic cylinder caused by external force disturbance; the length of the telescopic amount of the horizontal hydraulic cylinder 11 is required to be fully extended sometimes according to the conditions of the field terrain environment, and only a part of the full stroke can be extended sometimes, and the bidirectional hydraulic lock 14 plays a role in ensuring the stability of the length of the hydraulic cylinder at the stop position (the manual valve core of the manual reversing valve II 16 is in the middle position); the two-way hydraulic lock 14 of the vertical hydraulic cylinder 10 is more important, the first manual reversing valve 15 is operated to enable the hydraulic cylinder rod of the vertical hydraulic cylinder 10 of the extension supporting leg to extend, the hydraulic cylinder rod head and the supporting leg pad are just in contact with the ground, the first manual reversing valve 15 can be stopped at the moment, the first manual reversing valve 15 is located in the middle position, the upper cavity and the lower cavity of the hydraulic cylinder are sealed by the two-way hydraulic lock 14 in the subsequent use process, and pressure is borne by the passive locking pressure of the rodless cavity of the vertical hydraulic cylinder 10. A pressure sensor 12 is arranged on an oil circuit of a rodless cavity of the vertical hydraulic cylinder 10 of the extension supporting leg and used for detecting the magnitude of passive locking pressure, and the pressure value is input into a PLC (programmable logic controller) and used for controlling the movement of the movable counterweight 22; when the pressure is too high, an alarm signal is sent out to remind the driver of paying attention. The lower end of the vertical hydraulic cylinder 10 of the extension supporting leg is provided with a travel switch 13 for indicating whether the vertical hydraulic cylinder 10 is in an extending state, and the walking operation oil path of the crane is cut off by the signaling of the travel switch 13, so that the damage of components caused by the walking action of the vertical hydraulic cylinder 10 after contacting the ground is avoided.
Adjustment of the movable weight 22: as shown in fig. 11, the longitudinal-direction adjusting hydraulic cylinder 20 and the lateral-direction adjusting hydraulic cylinder 21 are controlled by a first electromagnetic directional valve 24 and a second electromagnetic directional valve 25, respectively. The oil paths of the longitudinal adjusting hydraulic cylinder 20 and the transverse adjusting hydraulic cylinder 21 are provided with bidirectional hydraulic locks 14, so that the influence of external disturbance force can be resisted, and the hydraulic cylinder can stay at any position of the full stroke. The two electromagnetic directional valves are controlled by the output of a PLC (see figure 12), pressure signals detected by pressure sensors 12 in vertical hydraulic cylinders 10 of four extension supporting legs are input into the PLC, deflection angles detected by relative position sensors (corner sensors) at the upper part and the lower part of a vehicle body are also input into the PLC, the PLC processes the pressure signals according to the five paths of input, signals are sent to drive a first electromagnetic directional valve 24 and a second electromagnetic directional valve 25 according to the principle of front-back balance and left-right balance, and the gravity center of the whole vehicle is adjusted through the movement of a movable counterweight 22 on the vehicle (taking the working condition of the deflection angle of 0 degree of the four as an example, if the left pressure is lower than the right, the movable counterweight 22 moves leftwards, and vice versa; if the left pressure is lower than the front side and the rear side, the movable counterweight 22 moves forwards, and vice versa); this adjustment in turn affects the value of the pressure signal detected by the pressure sensors 12 in the vertical hydraulic cylinders 10 of the four extension legs; this is repeatedly adjusted to reach equilibrium. If the pressure signals detected by the pressure sensors 12 of the rodless cavities of the four extension leg vertical hydraulic cylinders 10 are changed along with the actions (hoisting, amplitude changing and rotation) of the crane, a new round of adjustment is started through the PLC.
Since there is a tilt angle between the main body upper part 17 and the main body lower part 1, the front-rear pressure difference, which is detected by the pressure sensor 12 installed in the straight hydraulic cylinder in which the extension leg of the main body lower part 1 stands, does not necessarily correspond to the front-rear hydraulic cylinder left-right hydraulic cylinder in the facing state, that is, the correspondence relationship is affected by the tilt angle.
The horizontal hydraulic cylinder 11 and the vertical hydraulic cylinder 10 of the extension supporting leg are operated by operating a manual reversing valve by an operator, and the extension supporting leg is not adjusted when the operator puts down the extension supporting leg like a conventional truck crane; the longitudinal adjusting hydraulic cylinder 20 and the transverse adjusting hydraulic cylinder 21 for adjusting the movable counterweight 22 are adjusted by two electromagnetic directional valves, and the adjustment is automatically realized by a PLC (programmable logic controller) so as to achieve the optimal stability of the whole hoisting system. The PLC controls are adjusted according to the locking pressure in the vertical hydraulic cylinders 10 of the four extension legs and the rotation angle of the upper part 17 of the main locomotive body relative to the lower part 1 of the main locomotive body. Therefore, the extension leg is a direct measure for enlarging the supporting surface and increasing the stability of the whole vehicle, and is a detection and feedback means for adjusting the center of gravity of the whole vehicle by controlling the moving direction and the moving amount of the movable counterweight 22 to further improve the stability. Because the extension supporting legs extend far, the pressure change of the upper cavities of the vertical hydraulic cylinders 10 caused by the gravity center change of the whole machine is obvious.
A pressure relay or a pressure sensor 12 is arranged on an upper cavity (rodless cavity) of each vertical hydraulic cylinder 10 and is connected with an alarm switch in series, and the position of a movable balance weight 22 of the vehicle body is automatically adjusted when a set value is reached; and if the pressure value reaches the upper limit, alarming to remind the driver.
Claims (8)
1. A self-balancing method of a crawler crane is characterized in that: the crawler crane comprises a PLC (programmable logic controller), a movable counterweight, a counterweight adjusting module and four expansion supporting legs arranged on the outer sides of the periphery of a crawler frame, wherein the counterweight adjusting module comprises a transverse sliding rail and a longitudinal sliding rail, the longitudinal sliding rail is fixedly arranged on the upper part of a main crane body of the crawler crane, the transverse sliding rail is arranged on the longitudinal sliding rail through a longitudinal adjusting hydraulic cylinder, the movable counterweight is arranged on the transverse sliding rail through a transverse adjusting hydraulic cylinder, the longitudinal adjusting hydraulic cylinder and the transverse adjusting hydraulic cylinder are controlled by the PLC, the four expansion supporting legs are symmetrically distributed on the periphery of the crawler frame, the expansion supporting legs comprise a horizontal part and a vertical part, the horizontal part is connected with the crawler frame, the vertical part is a telescopic support, a pressure sensor for monitoring the bearing pressure of the telescopic support is arranged in the telescopic support, and a position sensor, the angle signal detected by the position sensor and the pressure sensor signal of each extension supporting leg are both connected into a PLC (programmable logic controller), the PLC adjusts the position of the movable counter weight through the bearing pressure of each extension supporting leg and the rotation angle of the upper part of the main locomotive body relative to the lower part of the main locomotive body, the self-balancing purpose of the crawler crane is achieved, the longitudinal adjusting hydraulic cylinder and the transverse adjusting hydraulic cylinder are respectively controlled by a first electromagnetic reversing valve and a second electromagnetic reversing valve, and the specific adjusting method comprises the following steps:
According to the principle of front-back balance and left-right balance, the PLC controller sends a signal to drive a first electromagnetic directional valve and a second electromagnetic directional valve, the adjustment of the gravity center of the whole machine is realized through the movement of a movable counterweight on a main machine body, if the left pressure is lower than the right pressure, the movable counterweight moves leftwards, otherwise, the movable counterweight moves rightwards; if the front pressure is lower than the rear pressure, the movable counterweight moves forwards, otherwise, the movable counterweight moves backwards; the adjustment of the movable counterweight in turn affects the pressure signal values detected by the pressure sensors of the four extension legs; this is repeatedly adjusted to reach equilibrium.
2. A crawler crane self-balancing method as recited in claim 1, wherein: the horizontal part of the extension supporting leg is a horizontal hydraulic cylinder, the vertical part of the extension supporting leg is a vertical hydraulic cylinder, and the pressure sensor is arranged in a rodless cavity oil way of the vertical hydraulic cylinder.
3. A crawler crane self-balancing method as claimed in claim 2, wherein: the horizontal part of the extension supporting leg is detachably connected with the crawler frame, and the horizontal hydraulic cylinder and the vertical hydraulic cylinder are connected with a hydraulic system at the bottom of the crawler crane.
4. A crawler crane self-balancing method as claimed in claim 2, wherein: and the oil path of the vertical hydraulic cylinder is provided with a bidirectional hydraulic lock for locking the extension of the hydraulic cylinder.
5. A crawler crane self-balancing method as claimed in claim 2, wherein: and the oil passages of the longitudinal adjusting hydraulic cylinder and the transverse adjusting hydraulic cylinder are connected with an oil passage system of the crawler crane.
6. A crawler crane self-balancing method as claimed in claim 2, wherein: the transverse slide rail and the longitudinal slide rail are both made of two parallel I-shaped steels.
7. The crawler crane self-balancing method as recited in claim 6, wherein: and a reinforcing rib plate is arranged between the bottom of the longitudinal slide rail and the upper part of the main locomotive body.
8. A crawler crane self-balancing method as claimed in claim 2, wherein: the bottom of the vertical hydraulic cylinder of the extension supporting leg is provided with a travel switch for cutting off the traveling operation of the crane, the travel switch is connected to the PLC through a signal, and an oil way for cutting off the traveling operation of the crane is formed by the PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710964868.7A CN107572432B (en) | 2017-10-17 | 2017-10-17 | Self-balancing system of crawler crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710964868.7A CN107572432B (en) | 2017-10-17 | 2017-10-17 | Self-balancing system of crawler crane |
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| CN107572432A CN107572432A (en) | 2018-01-12 |
| CN107572432B true CN107572432B (en) | 2019-12-10 |
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| CN201710964868.7A Active CN107572432B (en) | 2017-10-17 | 2017-10-17 | Self-balancing system of crawler crane |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108502734B (en) * | 2018-04-25 | 2023-05-02 | 宁波城市职业技术学院 | Crane with gravity center adjusting device and adjusting method thereof |
| CN108980546B (en) * | 2018-08-13 | 2021-03-23 | 李丽莎 | Electronic whiteboard bracket capable of automatically adjusting height and width |
| CN110143551A (en) * | 2019-06-14 | 2019-08-20 | 湖南五新隧道智能装备股份有限公司 | A kind of tunnel arch installation vehicle Anti-inclining protection system |
| CN112144878A (en) * | 2019-06-28 | 2020-12-29 | 河北雷萨重型工程机械有限责任公司 | Pump truck |
| CN112173977B (en) * | 2020-09-29 | 2023-04-07 | 闽江学院 | Hoisting structure for double-door crane |
| CN115246453B (en) * | 2021-04-27 | 2023-10-03 | 中国农业机械化科学研究院 | Mobile robot, crawler chassis thereof, gravity center self-balancing device and gravity center self-balancing method |
| CN115321408A (en) * | 2021-05-10 | 2022-11-11 | 中冶宝钢技术服务有限公司 | Belt conveyor counterweight block jacking device and jacking method thereof |
| CN113605890B (en) * | 2021-07-26 | 2022-12-09 | 北京理工大学 | Crawler propelling device of grooving machine under mine and control method thereof |
| CN113800447A (en) * | 2021-10-09 | 2021-12-17 | 万全重工（常州）机械有限公司 | Counterweight mechanism suitable for bilateral elevator is convenient for adjust |
| CN114408776B (en) * | 2022-01-24 | 2023-03-10 | 浙江三一装备有限公司 | Crane and arm lifting method thereof |
| CN114380215B (en) * | 2022-03-26 | 2022-08-23 | 河南卫华重型机械股份有限公司 | Tower crane for building |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100564987C (en) * | 2008-04-24 | 2009-12-02 | 上海交通大学 | Moving carrier automatic leveling system |
| ES2489391T3 (en) * | 2009-02-10 | 2014-09-01 | Alfredo Vallés Navarro | Fine adjustment device for the counterweight of a telescopic shooting crane |
| CN103161315B (en) * | 2011-12-16 | 2015-11-25 | 三一重工股份有限公司 | A kind of concrete mixer |
| CN103407895B (en) * | 2013-08-09 | 2015-08-12 | 长沙中联消防机械有限公司 | A kind of supporting leg method for automatically leveling, equipment, system and construction machinery and equipment |
| CN104961061B (en) * | 2015-06-30 | 2017-01-04 | 中国一冶集团有限公司 | Moment limiter for crawler crane and control method thereof |
| CN204938803U (en) * | 2015-07-17 | 2016-01-06 | 郑州宇通重工有限公司 | A kind of hydraulic crawler crane supporting leg leveling device |
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