EP1342692B1 - Grue mobile avec flèche télescopique et procédé de montage et démontage d'élements d'haubanage de flèche télescopique - Google Patents

Grue mobile avec flèche télescopique et procédé de montage et démontage d'élements d'haubanage de flèche télescopique Download PDF

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Publication number
EP1342692B1
EP1342692B1 EP03004657A EP03004657A EP1342692B1 EP 1342692 B1 EP1342692 B1 EP 1342692B1 EP 03004657 A EP03004657 A EP 03004657A EP 03004657 A EP03004657 A EP 03004657A EP 1342692 B1 EP1342692 B1 EP 1342692B1
Authority
EP
European Patent Office
Prior art keywords
telescopic boom
support braces
brackets
support
mobile crane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP03004657A
Other languages
German (de)
English (en)
Other versions
EP1342692A3 (fr
EP1342692A2 (fr
Inventor
Hans-Dieter Willim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liebherr Werk Ehingen GmbH
Original Assignee
Liebherr Werk Ehingen GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE20203443U external-priority patent/DE20203443U1/de
Priority claimed from DE10228345A external-priority patent/DE10228345A1/de
Application filed by Liebherr Werk Ehingen GmbH filed Critical Liebherr Werk Ehingen GmbH
Publication of EP1342692A2 publication Critical patent/EP1342692A2/fr
Publication of EP1342692A3 publication Critical patent/EP1342692A3/fr
Application granted granted Critical
Publication of EP1342692B1 publication Critical patent/EP1342692B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62Constructional features or details
    • B66C23/64Jibs
    • B66C23/70Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62Constructional features or details
    • B66C23/64Jibs
    • B66C23/70Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/702Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic with a jib extension boom
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62Constructional features or details
    • B66C23/82Luffing gear
    • B66C23/821Bracing equipment for booms
    • B66C23/826Bracing equipment acting at an inclined angle to vertical and horizontal directions

Definitions

  • the present invention relates to a vehicle crane with a tiltable about a horizontal axis and rotatable about an upright telescopic telescopic boom with a pivoting, austeleskopierbaren telescopic telescopic shots and two guy supports, which are articulated to one of the shots, so that they from one another in the pivotable substantially parallel to the shot folded transport position in an upright operating position, in particular V-shaped expandable, are.
  • the invention further relates to a method for assembling or disassembling said guy supports of the telescopic boom of the vehicle crane.
  • Telescopic booms of the type mentioned are regularly articulated to the superstructure of the vehicle crane and are tilted by hinged to the uppercarriage rocker cylinder.
  • the guy supports are usually articulated on the back of the telescopic boom in the upper part of a pivoting joint and usually erectable by hydraulic cylinders.
  • the guy supports are by ropes or linkage against the head of the inner telescopic section or a collar of a upper telescopic section as well as opposite the uppercarriage or foot area of the articulation section can be braced.
  • a crane jib is known, which is provided symmetrically to its horizontal and vertical center planes in each case with V-shaped arranged guy supports, run over the guy elements to the head and foot of the boom.
  • the guy supports are pivotable about two axes, so that they can be folded from their V-shaped operating position for the purpose of transport to the pivoting joint.
  • this may not be sufficient to drive the vehicle crane on public roads.
  • the cable In order to comply with the statutory axle load regulations, the cable must be removed if necessary and be loaded on a moving low loader. In the conventional vehicle crane, an additional auxiliary crane is required to lift the cable suspension from the vehicle crane and load it onto the low loader.
  • From the DE 100 22 658 A1 is a vehicle crane with the features of the preamble of claim 1, in which, however, also the aforementioned problem of assembly and disassembly of the guy supports.
  • the present invention is therefore an object of the invention to provide an improved vehicle crane and an improved method for mounting the guy supports of the type mentioned, avoid the disadvantages of the prior art and further develop the latter in an advantageous manner.
  • a quick and easy assembly and disassembly of Teleablik should be achieved without auxiliary crane.
  • this object is achieved by a vehicle crane according to claim 1.
  • the object is achieved by an assembly method according to claim 6 and a disassembly method according to claim 8.
  • Preferred embodiments of the invention are the subject of the dependent claims.
  • the guy supports for the purpose of disassembly are thus first deposited with the telescopic boom on the right and left of the telescopic boom at a distance from one another on the undercarriage of the vehicle crane arranged consoles or comparable conditions and released from the telescopic boom. Then the telescopic boom without the guy supports luffed. The boom supports are finally taken up by the telescopic boom itself from its intermediate storage on the consoles and raised and loaded on a low loader or the like.
  • guy supports For the purpose of assembly can be proceeded in the reverse order: The first lying on a low loader or the like guy supports are lifted by the telescopic boom to which they are to be mounted, and placed on the arranged on the undercarriage consoles in a predetermined position and orientation. Then the telescopic boom is tipped off, so that it comes to rest between the bracing supports lying on the brackets. Then the guy supports are mounted on the telescopic boom.
  • the predetermined position and orientation of the guy supports are advantageously selected so that the guy supports with their telescopic boom connectors come to lie directly opposite the corresponding boom connectors of the telescopic boom when the telescopic boom in is tapped off following step.
  • brackets or shelves for the guy supports are expediently provided on the undercarriage of the vehicle crane right and left of the telescopic boom when the latter is tapped off in the vehicle longitudinal direction of the vehicle.
  • the guy supports are placed on the brackets substantially horizontally and parallel to each other. They are dismantled in their hinged to the pivoting transport position from the boom or mounted on this.
  • brackets positioning means for the guy supports which bring the guy brackets when placing on the consoles in the desired predetermined mounting position.
  • This can be, for example Positioning be, which act centering and / or allow a positive placement in only one position.
  • the guy supports are pivotable about at least one pivot axis relative to the respective boom arm to which they are attached so that they can be erected and, in particular, spread out in a V-shaped manner.
  • pressure medium cylinders are regularly assigned to the guy supports in order to pivot the guy supports accordingly.
  • the pressure medium cylinder are degradable together with the guy supports as a unit of the telescopic boom. It is understood, however, that the pressure cylinder also remain on the telescopic boom and the guy supports can be removed without the pressure cylinder.
  • each a connector for releasable connection with the respective boom shot preferably between the connector and the guy support at least one pivot axis is provided and the pressure cylinder is hinged on the one hand on the connector and on the other hand on the guy support.
  • the guy supports can be removed as a unit from the boom, each including the articulated mounting of the guy supports and the pressure cylinder for pivoting the guy supports.
  • the guy supports are free of cross connections with each other, Aufrichtböcken and the like articulated directly on the respective boom shot. As a result, each guy support can be disassembled separately without first having to disconnect from the other guy support.
  • the vehicle crane 1 shown in the figures has, in a manner known per se, a superstructure 2 which is rotatable about an upright axle and which sits on the vehicle frame.
  • a telescoping boom 3 which can be tilted about a horizontal axis, is articulated, which consists of a pivoting joint 4 and telescopic shots 16, 17, 18 and 19 telescopic therefrom.
  • guy supports 6 are articulated. At the tips of the guy supports 6 guy ropes or rods are hinged, over which the guy supports are braced against the tip of the telescopic boom or the collar of a telescoping shot and the superstructure or the foot of the Anlenkschusses.
  • the guy supports 6 are articulated so that they consist of an in FIG. 2 shown, at the pivoting joint 4 folded position erect and V-shaped apart are spread apart to achieve a lateral bracing of the telescopic boom.
  • the attachment of the guy supports 6 on the collar 5 of the Anlenkschusses 4 is detachably formed.
  • a half-shell telescopic boom connector 7 is provided which is bolted to the collar 5 of the Anlenkschusses 4.
  • the guy support 6 is gimballed to the telescoping boom connector 7, ie pivotable about two mutually perpendicular axes.
  • the two guy supports 6 can be placed on brackets 9, which are provided on the vehicle 10 right and left of the telescopic boom (see. FIG. 1 ).
  • the guy supports 6 can be aborted by the telescopic boom.
  • the articulated connection which form the pivot axes, could be solved.
  • the entire telescopic boom connector 7, which in FIG. 5 is shown, are bolted off the pivot 4, so that the guy supports 5 are alone on the brackets 9 on the vehicle 10.
  • FIG. 4b shows, ie the telescopic boom 3 is used without bracing, so as to load, ie with the crane itself, the guy supports 6 on a low loader 16, as the FIG. 1 respectively.
  • Figure 4c demonstrate. This has the significant advantage that can be dispensed with the hitherto customary and required auxiliary crane to remove the Teleabhard.
  • the telescopic cable can be loaded onto the transporter with the crane itself in order to comply with the legal axle load regulations. It will, as FIG. 1 shows, the naked telescopic boom 3 without bracing and the running over the telescopic boom 3 lifting means used in the form of a hoisting rope.

Claims (8)

  1. Grue mobile avec une flèche télescopique (3) apte à basculer autour d'un axe horizontal et apte à tourner autour d'un axe vertical (3) avec un tronçon d'articulation (4), des tronçons télescopiques (16, 17, 18, 19) sortis par télescopage du tronçon d'articulation (4) ainsi que deux supports d'haubanage (6) qui sont logés d'une manière articulée à l'un des tronçons (4, 16, 17, 18) de sorte qu'ils peuvent être pivotés, en particulier écartés en forme de (V) à partir d'une position de transport sensiblement parallèle, repliés aux tronçons, dans une position de fonctionnement érigée, caractérisée en ce que les supports d'haubanage (6), lorsque la flèche télescopique (3) est sensiblement horizontale, peuvent être démontés de celle-ci et peuvent être disposés sur le truck roulant de la grue à droite et à gauche de la flèche télescopique (3) dans des consoles disposées à une distance les unes des autres à partir desquelles les supports d'haubanage (6), après un basculement correspondant vers le haut de la flèche télescopique (3), peuvent être relevés et/ou chargés par la flèche télescopique elle-même.
  2. Grue mobile selon la revendication précédente, où sont articulés aux supports d'haubanage des vérins à fluide sous pression pour le pivotement des supports d'haubanage (6) qui, conjointement avec les supports d'haubanage (6), peuvent être démontés à chaque fois comme unité de la flèche télescopique (3).
  3. Grue mobile selon la revendication précédente, où est prévue aux supports d'haubanage (6) à chaque fois une pièce de liaison de flèche télescopique (7) pour la liaison amovible avec le tronçon de flèche télescopique respectif, en particulier un col (5) de celle-ci, où est prévu entre la pièce de liaison de flèche télescopique (7) et le support d'haubanage respectif (6) au moins un axe de pivotement et/ou un vérin à fluide sous pression peut être articulé, d'une part, à la pièce de liaison de flèche télescopique (7) et, d'autre part, au support d'haubanage (6) .
  4. Grue mobile selon l'une des revendications précédentes, où les supports d'haubanage (6), exempts de liaisons transversales entre eux, de chevalets de redressement et analogue, peuvent être articulés directement au tronçon de flèche respectif.
  5. Grue mobile selon l'une des revendications précédentes, où sont prévus aux consoles (9) des moyens de positionnement qui amènent les supports d'haubanage (6) lors de la pose sur les consoles (9), dans une position de montage prédéterminée.
  6. Procédé de montage de support d'haubanage (6) à une flèche télescopique (3) d'une grue mobile, en particulier selon l'une des revendications précédentes, avec les étapes de montage suivantes :
    - prise et relevage des supports d'haubanage démontés (6) d'une semi-remorque porte-pelle ou analogue par la flèche télescopique (3) elle-même,
    - dépôt des supports d'haubanage démontés (6) sur des consoles (9) disposées à une distance l'une de l'autre sur le truck roulant de la grue mobile à droite et à gauche à côté de la flèche télescopique,
    - basculement de la flèche télescopique (3) entre les supports d'haubanage (6) déposés sur les consoles (9), et
    - fixation des supports d'haubanage (6) à une pièce de liaison de support d'haubanage (5) d'un des tronçons de la flèche télescopique (3).
  7. Procédé selon la revendication précédente, où les supports d'haubanage (6) sont déposés sur les consoles (9) d'une manière sensiblement horizontale et/ou parallèle les uns aux autres, et la flèche télescopique (3) est basculée dans une direction horizontale, orientée dans la direction longitudinale du véhicule.
  8. Procédé de démontage de supports d'haubanage (6) d'une flèche télescopique (3) d'une grue mobile, en particulier selon l'une des revendications 1 à 5, avec les étapes de démontage suivantes :
    - basculement de la flèche télescopique (3) avec les supports d'haubanage (6) montés sur celle-ci entre deux consoles (9) disposées à une distance l'une de l'autre sur le truck roulant de la grue mobile à droite et à gauche à côté de la flèche télescopique jusqu'à ce que les supports d'haubanage (6) se situent sur les consoles ou directement au-dessus des consoles,
    - dépôt des supports d'haubanage (6) sur les consoles (9), où les supports d'haubanage sont détachés de la flèche télescopique,
    - basculement vers le haut de la flèche télescopique (3) sans supports d'haubanage (6),
    - prise et relevage des supports d'haubanage (6) reposant sur les consoles (9) par la flèche télescopique (3) elle-même, et
    - dépôt des supports d'haubanage (6) sur une semi-remorque porte-pelle ou analogue.
EP03004657A 2002-03-04 2003-03-03 Grue mobile avec flèche télescopique et procédé de montage et démontage d'élements d'haubanage de flèche télescopique Expired - Lifetime EP1342692B1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE20203443U 2002-03-04
DE20203443U DE20203443U1 (de) 2002-01-02 2002-03-04 Teleskopausleger
DE10228345A DE10228345A1 (de) 2002-03-04 2002-06-25 Fahrzeugkran mit einem Teleskopausleger sowie Verfahren zur Montage bzw. Demontage von Abspannstützen des Teleskopauslegers
DE10228345 2002-06-25

Publications (3)

Publication Number Publication Date
EP1342692A2 EP1342692A2 (fr) 2003-09-10
EP1342692A3 EP1342692A3 (fr) 2005-06-22
EP1342692B1 true EP1342692B1 (fr) 2008-06-18

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EP03004657A Expired - Lifetime EP1342692B1 (fr) 2002-03-04 2003-03-03 Grue mobile avec flèche télescopique et procédé de montage et démontage d'élements d'haubanage de flèche télescopique

Country Status (3)

Country Link
US (1) US7686174B2 (fr)
EP (1) EP1342692B1 (fr)
DE (1) DE50309991D1 (fr)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2248754A1 (fr) 2009-05-07 2010-11-10 Manitowoc Crane Group France SAS Grue télescopique dotée d'un dispositif d'ancrage à montage automatique et procédé de montage d'un dispositif d'ancrage
DE102017000389A1 (de) 2017-01-17 2018-07-19 Liebherr-Werk Ehingen Gmbh Kranausleger, Kran mit einem solchen Kranausleger und Verfahren zum Anbringen einer Abspannstütze an einem solchen Kranausleger
DE102019120134B3 (de) * 2019-07-25 2020-09-10 Tadano Demag Gmbh Fahrzeugkran und Fahrzeugkransystem sowie Verfahren zum Aufrüsten und Abrüsten eines Fahrzeugkrans mit einer Abspannvorrichtung
DE102019130241B3 (de) * 2019-11-08 2021-02-04 Tadano Demag Gmbh Fahrzeugkran mit einem Teleskopausleger und Fahrzeugkransystem sowie Verfahren zur Montage einer Abspannvorrichtung an den Teleskopausleger eines Fahrzeugkrans
DE102020101101B3 (de) * 2020-01-17 2021-05-20 Tadano Demag Gmbh Auslegersystem für einen Fahrzeugkran mit Abspannvorrichtung sowie Verfahren zum Aufrüsten und Abrüsten einer Abspannvorrichtung eines Fahrzeugkrans
DE102021116532B3 (de) 2021-06-25 2022-10-20 Tadano Demag Gmbh Fahrzeugkran mit einer Abspannvorrichtung an einem Teleskopausleger
DE102021116531B3 (de) 2021-06-25 2022-11-17 Tadano Demag Gmbh Fahrzeugkran und Verfahren zur Montage einer Abspannvorrichtung an einem Teleskopausleger

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WO2005092775A1 (fr) 2004-03-26 2005-10-06 Terex-Demag Gmbh & Co. Kg Systeme de grue mobile comprenant une grue mobile et un dispositif auxiliaire pour le montage d'un dispositif de haubanage
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US9206021B2 (en) * 2012-09-26 2015-12-08 Kobelco Cranes Co., Ltd. Crane and crane assembling method
DE102013011180B4 (de) * 2013-07-04 2020-09-10 Liebherr-Werk Ehingen Gmbh Kragenlagerung für einen Teleskopausleger sowie Teleskopausleger und Kran
US11111115B2 (en) 2017-03-02 2021-09-07 Maniitowoc Crane Companies, LLC Wear pad with insert for telescoping boom assembly
DE102018115632B3 (de) 2018-06-28 2019-10-10 Manitowoc Crane Group France Sas Teleskopausleger-Abspanneinrichtung
DE102021111922B3 (de) 2021-05-07 2022-11-03 Liebherr-Werk Ehingen Gmbh Abspannsystem und -verfahren für einen Mobilkran-Teleskopausleger
CN113800449B (zh) * 2021-11-16 2022-02-08 四川明阳承起机械有限公司 一种自动化起重机大臂拆装设备

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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2248754A1 (fr) 2009-05-07 2010-11-10 Manitowoc Crane Group France SAS Grue télescopique dotée d'un dispositif d'ancrage à montage automatique et procédé de montage d'un dispositif d'ancrage
DE102009020338A1 (de) 2009-05-07 2010-11-18 Manitowoc Crane Group France Sas Teleskopkran mit selbstmontierbarer Abspanneinrichtung und Montageverfahren für eine Abspanneinrichtung
DE102009020338B4 (de) * 2009-05-07 2011-07-21 Manitowoc Crane Group France Sas Teleskopkran mit selbstmontierbarer Abspanneinrichtung und Montageverfahren für eine Abspanneinrichtung
DE102017000389A1 (de) 2017-01-17 2018-07-19 Liebherr-Werk Ehingen Gmbh Kranausleger, Kran mit einem solchen Kranausleger und Verfahren zum Anbringen einer Abspannstütze an einem solchen Kranausleger
DE102017000389B4 (de) * 2017-01-17 2018-11-15 Liebherr-Werk Ehingen Gmbh Kranausleger, Kran mit einem solchen Kranausleger und Verfahren zum Anbringen einer Abspannstütze an einem solchen Kranausleger
WO2021013843A1 (fr) 2019-07-25 2021-01-28 Tadano Demag Gmbh Grue de véhicule et système de grue de véhicule ainsi que procédé pour monter et démonter une grue de véhicule avec un dispositif de haubanage
DE102019120134B3 (de) * 2019-07-25 2020-09-10 Tadano Demag Gmbh Fahrzeugkran und Fahrzeugkransystem sowie Verfahren zum Aufrüsten und Abrüsten eines Fahrzeugkrans mit einer Abspannvorrichtung
DE102019130241B3 (de) * 2019-11-08 2021-02-04 Tadano Demag Gmbh Fahrzeugkran mit einem Teleskopausleger und Fahrzeugkransystem sowie Verfahren zur Montage einer Abspannvorrichtung an den Teleskopausleger eines Fahrzeugkrans
US11427446B2 (en) 2019-11-08 2022-08-30 Tadano Demag Gmbh Vehicle crane having a telescoping jib and vehicle crane system and method for mounting a bracing apparatus on the telescoping jib of a vehicle crane
DE102020101101B3 (de) * 2020-01-17 2021-05-20 Tadano Demag Gmbh Auslegersystem für einen Fahrzeugkran mit Abspannvorrichtung sowie Verfahren zum Aufrüsten und Abrüsten einer Abspannvorrichtung eines Fahrzeugkrans
US11753282B2 (en) 2020-01-17 2023-09-12 Tadano Demag Gmbh Jib system for a vehicle crane comprising a bracing apparatus and method for rigging and de-rigging a bracing apparatus of a vehicle crane
DE102021116532B3 (de) 2021-06-25 2022-10-20 Tadano Demag Gmbh Fahrzeugkran mit einer Abspannvorrichtung an einem Teleskopausleger
DE102021116531B3 (de) 2021-06-25 2022-11-17 Tadano Demag Gmbh Fahrzeugkran und Verfahren zur Montage einer Abspannvorrichtung an einem Teleskopausleger

Also Published As

Publication number Publication date
EP1342692A3 (fr) 2005-06-22
DE50309991D1 (de) 2008-07-31
EP1342692A2 (fr) 2003-09-10
US20040000531A1 (en) 2004-01-01
US7686174B2 (en) 2010-03-30

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