EP1475345A1 - Verfahren zum Steuern eines Kranauslegers und Vorrichtung zur Durchführung des Verfahrens - Google Patents

Verfahren zum Steuern eines Kranauslegers und Vorrichtung zur Durchführung des Verfahrens Download PDF

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Publication number
EP1475345A1
EP1475345A1 EP04101857A EP04101857A EP1475345A1 EP 1475345 A1 EP1475345 A1 EP 1475345A1 EP 04101857 A EP04101857 A EP 04101857A EP 04101857 A EP04101857 A EP 04101857A EP 1475345 A1 EP1475345 A1 EP 1475345A1
Authority
EP
European Patent Office
Prior art keywords
lifting
boom
post
cylinder
lifting boom
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.)
Ceased
Application number
EP04101857A
Other languages
English (en)
French (fr)
Inventor
Ismo Inkinen
Ari Lehtinen
Tuomas Varpula
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.)
Loglift Oy AB
Original Assignee
Loglift Oy AB
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
Application filed by Loglift Oy AB filed Critical Loglift Oy AB
Publication of EP1475345A1 publication Critical patent/EP1475345A1/de
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes 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
    • B66C23/54—Cranes 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 with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes 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
    • B66C23/54—Cranes 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 with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • B66C23/545—Cranes 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 with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors with arrangements for avoiding dead centre problems during cylinder motion

Definitions

  • the invention relates to a method of controlling a crane boom arrangement according to the preamble of claim 1.
  • the method comprises moving a lifting boom functionally connected by a joint to a post mounted in a crane base with respect to the post by at least one lifting cylinder, which is articulated with the post by a first joint and connected by a second joint to a lifting boom that can be moved with respect to the post, the operation of the lifting cylinder being controlled by control means.
  • the invention further relates to an apparatus according to the preamble of claim 8 for controlling a crane boom arrangement.
  • the apparatus comprises at least one lifting cylinder, which is articulated with a post mounted in a crane base by a first joint and connected by a second joint to a lifting boom, which can be moved with respect to the post and is functionally connected to the post by a joint, and control means for controlling at least the lifting cylinder.
  • Transport vehicles for example log trucks and various lumbering machines, are nowadays equipped with loading cranes which have to be arranged for transportation in a transport position that takes up as little space as possible.
  • cranes with Z-shaped boom structures are used for this purpose, in which case the boom arrangement of the loading crane is designed to be brought into the transport position by lowering the boom arrangement onto a fixed transport support provided in the crane.
  • the purpose of the boom structure solutions of such cranes is to ensure that the outer dimensions of the loading crane arranged transversely to the longitudinal direction of the vehicle conform to the maximum dimensions of vehicles in their transport positions laid down in motor vehicle legislation in different countries.
  • the transport position refers to a position where the loading crane is when it is not used for loading and the boom arrangement is on a transport support included in the crane structure.
  • requirements are set for the geometry of the loading crane boom arrangement and joints by the geometry related to the actual work that enables the required lifting capacity in different working areas and by boom lengths and fulcrums required by the work objects, such as timber of different sizes.
  • boom arrangements which utilize auxiliary cylinders to facilitate the opening of the arrangement from the transport position as follows: an auxiliary cylinder mounted in the post is connected hydraulically in parallel to the piston side of the lifting cylinder, in which case the piston of the auxiliary cylinder tries to reach the outer position and pushes the boom arrangement away from the transport position each time the lifting cylinder is controlled towards the direction where the boom arrangement is lifted, i.e. pressure medium is led to the piston side of the lifting cylinder.
  • the auxiliary cylinder connected in parallel with the lifting cylinder functions advantageously in the cases where the lifting cylinder does not end up in a blind spot at all or where the blind spot is so small that the force opposing the opening of the boom arrangement of the lifting cylinder of the crane is overcome by the force of the auxiliary cylinder only.
  • the blind spot is large, the post, the lifting boom and other structures of the crane have to be made considerably more durable and heavier because the auxiliary cylinder and the lifting cylinder produce large opposite moments in the boom arrangement specifically when it is opened from the transport position into the working position.
  • the boom geometry cannot be designed to be light and optimal with respect to the lifting capacity in different working areas.
  • the object of the invention is to provide a method of controlling a crane boom arrangement and an apparatus implementing the method so as to solve the above-mentioned problems.
  • the object of the invention is achieved by a method according to the preamble of claim 1, which is characterized in that the lifting boom is moved with respect to the post also by a moment generated by an auxiliary cylinder controlled by separate control means about the joint connecting the lifting boom of the post in situations where the position between the post and the lifting boom is such that the moment of the lifting cylinder alone is insufficient for moving the lifting boom.
  • the object of the invention is further achieved by an apparatus according to the characterizing part of claim 6.
  • the apparatus is characterized in that the it further comprises an auxiliary cylinder controlled by separate control means for assisting the movement of the lifting boom by means of the lifting cylinder with respect to the post about a joint between the post and the lifting boom in situations where the position between the post and the lifting boom is such that the moment of the lifting cylinder is insufficient for moving the lifting boom.
  • the invention is based on providing, by the method and the apparatus implementing the method, an auxiliary cylinder for the crane control circuit and an independent control for the auxiliary cylinder for driving the boom arrangement from the transport position or into it utilizing the actual control circuit of the crane in a less typical manner.
  • the auxiliary cylinder is controlled independently of the control of the lifting cylinder and other cylinders of the boom arrangement in situations where the lifting cylinder for moving the lifting boom with respect to a post mounted in the crane base is in a disadvantageous position or in a blind spot, where the moment of the lifting cylinder alone is insufficient for moving the lifting boom with respect to the post.
  • the auxiliary cylinder generates a moment between the post and the lifting boom which together with the moment generated by the lifting cylinder enables the movement of the lifting boom in the above-mentioned disadvantageous positions; for example, when the lifting cylinder is in a blind spot, when the booms are driven from the transport position into the working position or from the working position into the transport position.
  • the separate control means for the auxiliary cylinder are preferably functionally connected to the control of the lifting cylinder so that the operation of the auxiliary cylinder is associated with the simultaneous operation of the lifting cylinder, thus enabling as effective use of the cylinders as possible and avoiding generation of large opposite moments.
  • An advantage of the method according to the invention and the apparatus implementing the method is that they improve the control properties particularly when the boom arrangement is driven into the transport position or away from it. Furthermore, the structure of the loading crane can be made considerably lighter and less expensive to produce and maintain in working order. In addition, the implementation according to the invention allows to design the boom geometry as more suitable for different working areas.
  • the lifting boom is moved with respect to the post by generating a moment between the lifting boom and the post by the auxiliary cylinder which tries to move the lifting boom with respect to the post about a joint between the lifting boom and the post or to slow down the movement of the lifting boom with respect to the post about the joint between the lifting boom and the post.
  • the auxiliary cylinder is used when the crane boom arrangement is driven from the transport position into the working position and/or from the working position into the transport position when the lifting cylinder and its joint rods are in a blind spot or in an otherwise disadvantageous position with respect to the post and the lifting boom, in which case the moment of the lifting cylinder alone is insufficient for moving the lifting boom about the joint between the post and the lifting boom.
  • the method comprises the following steps when the crane boom arrangement is driven from the transport position into the working position:
  • the method comprises the following steps when the crane boom arrangement is driven from the working position into the transport position:
  • control means are formed by a valve set for controlling the lifting cylinder hydraulically
  • control means for the auxiliary cylinder comprise a separate control valve for controlling the auxiliary cylinder hydraulically independently of the control of the lifting cylinder.
  • control valve is provided with a check valve, and/or the apparatus further comprises a pressure relief valve arranged in a pressure space between the auxiliary cylinder and the control valve.
  • the boom arrangement comprises a stopper, against which the auxiliary cylinder is pressed, in which case the auxiliary cylinder is mounted in the post and is pressed during use against a stopper provided in the lifting boom, thus pushing the lifting boom apart from the post or slowing down the movement of the lifting boom towards the post about the joint connecting the post and the lifting boom.
  • the auxiliary cylinder may also be mounted in the lifting boom, in which case it is during use pressed against a stopper provided in the post, thus pushing the lifting boom and the post apart or slowing down the movement of the lifting boom towards the post about the joint connecting the post and the lifting boom.
  • the separate control means of the auxiliary cylinder and the control means of the lifting cylinder are functionally connected to each other, in which case the lifting cylinder and its control means and the auxiliary cylinder and its control means form a hydraulic system for controlling the crane boom arrangement hydraulically.
  • Figure 1 illustrates a prior art Z-type loading crane, whose base 1 is connected to a vehicle or the like.
  • the crane boom arrangement is mounted in the base 1 so that the crane boom arrangement can be used for moving a load, loading, unloading and other similar measures.
  • the crane boom arrangement comprises a post 2 mounted in the base 1 so that it turns substantially horizontally with respect to the base 1.
  • a lifting boom 3, whose movement with respect to the post 2 is controlled by a lifting cylinder 7, is functionally connected to the post 2.
  • a transfer boom 4 whose movement with respect to the post 2 and lifting boom 3 is controlled by two transfer cylinders 8, is functionally connected to the lifting boom 3.
  • the free end of the transfer boom 4 is equipped with an extension 5, to which a clamshell bucket 6 is connected for grabbing the load.
  • the base 1 is also provided with a transport support 10, against which the boom arrangement rests in the transport position according to Figure 1.
  • the crane boom arrangement 2, 3, 4, 5 and 6 is controlled by cylinders 7 and 8 connected to the control means 23 and by cylinders of the clamshell bucket 6 and the extension 5.
  • Figure 2 illustrates part of the crane boom arrangement where the post 2 is provided with an auxiliary cylinder 9 for facilitating the moving of the lifting boom 3 in situations where the lifting cylinder 7 is in a disadvantageous position or in a blind spot with respect to the post 2 and the lifting boom 3.
  • the lifting boom 3 is functionally connected to the post 2 by a joint 18 so that it can turn with respect to the post 2.
  • a cylinder 7, by means of which the lifting boom 3 is moved with respect to the post 2 is articulated with the lower part of the post by a joint 16 at its lower end and with the upper part of the post 2 and the lifting boom 3 by a second joint 17 at its upper end.
  • Figure 2 further schematically illustrates a hydraulic chart for the control of the crane boom arrangement, where control means 23 are provided for controlling the lifting cylinder 7, transfer cylinders 8 and a loose cylinder 19.
  • the control means 23 comprise the actual control valve 11, actuators, i.e. cylinders, and actuator-specific pressure relief valves, which together form a valve set.
  • the loose cylinder 19 is used for controlling the movement of the clamshell bucket 6.
  • the apparatus according to the invention comprises separate control means 22 for auxiliary cylinders 9.
  • the pressure connection of the control valve 12 in the auxiliary cylinder 9 is provided with a check valve 13, and the pressure space between the auxiliary cylinder 9 and the control valve 12 is equipped with a pressure relief valve 14.
  • the separate control means 22 for the auxiliary cylinder 9 are functionally connected to the control means 23 so that the auxiliary cylinder 9 can be controlled completely independently of the control of the lifting cylinder 7 or the control of other cylinders in the apparatus, in which case the auxiliary cylinder 9 can also be moved independently of the movement of the lifting cylinder or other cylinders in the apparatus.
  • the lifting boom 3 is illustrated in its transport position with respect to the post 2. In this position, where the lifting boom 3 is as close to the post 2 as possible, the lifting cylinder 7 gets into a disadvantageous positions with respect to the post 2 and the lifting boom 3.
  • Dotted lines AB and CD describe line segments connecting joints 17 and 16 and 18 and 17, respectively, which both pass through joint 17, i.e. point O. As illustrated by the line segments, in this transport position, the angle AOD is smaller than 180 degrees when viewed from the auxiliary cylinder 9 side.
  • the lifting cylinder 7 is in what is known as a 'blind spot', in which case the ratio of the straight line going through fulcrums 16 and 17 of the lifting cylinder to the straight line CD going through the fulcrum 17 between the lifting cylinder 7 and the lifting boom 3 and the fulcrum 18 between the lifting boom 3 and the post 2 is disadvantageous so that the lifting cylinder 7 cannot alone generate the required moment caused by the weight of the boom arrangement to open the boom arrangement about the fulcrum 18 from the transport position.
  • an auxiliary cylinder 9 mounted in the post 2 is utilized when the boom arrangement, in particular the lifting boom 3, is to be controlled from the transport position into the working position, where the lifting boom 3 is extended apart from the post 2.
  • the compact transport position described in Figure 2 is necessary for fitting a crane in a vehicle so that any regulations concerning vehicles are met.
  • the auxiliary cylinder is also used in the same disadvantageous positions of the boom arrangement when it is driven from the working position into the transport position.
  • This transport position is the initial situation when a crane is prepared for the working position.
  • Driving the loading crane into the working position by the method according to the invention is carried out as described in the following.
  • a working pressure is applied to the hydraulic system of the crane consisting of control means, cylinders, pressure medium and other means generally included in it by controlling an actuator selected by the actual control valve 11 of the control means, e.g. a loose cylinder 19, so that the clamshell bucket of the actuator of the actual control valve 11 deflects from its middle position and closes the middle channel of the round-pumping valve, increasing the pressure corresponding to the movement of the actuator selected for the hydraulic system.
  • the actuator to be controlled by the actual control valve 11 is selected so that the hydraulic system can be provided with a hydraulic pressure sufficient for the auxiliary cylinder 9 to generate a moment which opens the boom arrangement and so that the controlling of the actuator does not cause harm or danger when the crane is driven into the working position.
  • the movement selected by the actual control valve 11 of the crane is implemented so that the actuator is driven into the end position, in which case the pressure of the hydraulic circuit rises either up to the level of the main pressure in the system or up to the level of the actuator-specific pressure relief valve of the actuator, depending on which level is lower.
  • the clamshell bucket is controlled into the closed position, which in Figure 2 is represented by a cylinder 19, whose control is represented by the control pattern a of the crane's actual direction valve 11, for providing hydraulic pressure for the auxiliary cylinder 9.
  • the actual control valve 11 of the crane is described in a simplified manner by means of one spindle block to illustrate the inventive concept.
  • a real crane control valve 11 there are several spindle blocks.
  • the actual control valve 11 of the crane is the valve of the open middle position. When all the spindles of the control valve 11 are in the middle position, the pump's 24 output flows through the middle channel of the control valve 11 in the case of open channel flow.
  • the auxiliary cylinder 9 is driven by a control valve 12 arranged specifically for it.
  • control pattern a of the hydraulic circuit is activated.
  • the auxiliary cylinder 9 is a single-acting cylinder.
  • the control valve 12 for the auxiliary cylinder is a three-position direction valve, which is closed in its middle position.
  • the pressure space between the auxiliary cylinder 9 and the control valve 12 of the auxiliary cylinder 9 is provided with a pressure relief valve 14 to protect the auxiliary cylinder 9 and the control valve 12 of the auxiliary cylinder 9 from pressure pulses caused by external loads and impacts.
  • a check valve 13 is arranged in the pressure connection of the control valve 12 of the auxiliary cylinder.
  • the purpose of the check valve 13 is to prevent unintentional movements when no pressure is applied to the hydraulic system of the crane by the actual control valve 11 of the crane when the auxiliary cylinder 9 is driven.
  • the check valve 13 prevents the movement of the auxiliary cylinder 9 inwards, i.e. in the direction in which the boom arrangement is lowered when the auxiliary cylinder is controlled outwards, i.e. in the direction where the boom arrangement is lifted so that oil is prevented from flowing from the motor port of the direction valve 12 of the auxiliary cylinder 9, to which the auxiliary cylinder 9 is connected, back to the hydraulic circuit where tank pressure prevails.
  • the auxiliary cylinder 9 extends outwards against a stopper 15 provided in the structure of the lifting boom 3.
  • the actual control valve 11 of the crane controls the lifting cylinder 7 by leading the working pressure first to the piston rod side of the lifting cylinder.
  • the fulcrum 16 between the lifting cylinder 7 and the lower end of the post 2, the fulcrum 17 between the lifting cylinder 7 and the lifting boom 3 and the fulcrum 18 between the lifting boom 3 and the upper end of the post 2 are in the starting position in a blind spot with respect to one another so that angle AOD is smaller than 180 degrees when viewed from the crane post side and that the direction of the control of the lifting cylinder 7 must be changed when the fulcrum 16 between the lifting cylinder 7 and the lower part of the post 2, the fulcrum 17 between the lifting cylinder 7 and the lifting boom 3 and the fulcrum 18 between the lifting boom 3 and the post 2 are on the same line, in which case the angle AOD is 180 degrees.
  • the movement of the lifting boom 3 continues outwards as the control of the lifting cylinder 7 is switched from the piston rod side to the piston side.
  • the force of the auxiliary cylinder 9 helps the lifting cylinder 7 to open the boom arrangement (the lifting boom 3 about the joint 18 with respect to the post) until the angle AOD is sufficiently large with respect to the moment so that the force of the lifting cylinder 7 can lift the lifting boom 3 and the rest of the boom arrangement.
  • This position is illustrated in Figure 3, where the auxiliary cylinder 9 is completely extended out.
  • both the direction valve 12 of the auxiliary cylinder and the movement of the lifting cylinder 7 are controlled completely independently of each other, which allows to avoid opposite moments during opening which stress the structures.
  • the mechanical locking device between the transfer boom 4 and the lifting boom 3 can be unlocked, after which the crane is ready for use, provided that the normal drive routines specific to the crane type in question have been performed.
  • the separate control means 22 for the auxiliary cylinder 9 are preferably functionally connected to the control means 23 of the lifting cylinder 7 so that the operation of the auxiliary cylinder 9 is associated with the simultaneous operation of the lifting cylinder 7, which enables as effective use of these cylinders as possible and allows to avoid the generation of large opposite moments.
  • FIG 3 illustrates the driving of the crane from the working position into the transport position.
  • the transfer boom 4 of the crane is driven from the working position onto the top of the lifting boom 3 as a preparatory measure so that the device for locking the boom arrangement for transportation is locked.
  • the lifting boom 3 of the crane is slowly lowered against the auxiliary cylinder 9 into the position shown in Figure 3 by leading the working pressure to the piston rod side of the lifting cylinder 7.
  • the control is kept switched on the piston rod side of the lifting cylinder 7 by the actual control valve of the crane until the angle AOD is larger than 180 degrees when viewed from the post 2 side.
  • the direction valve 12 for the auxiliary cylinder 9 is simultaneously controlled so that the oil returning from the auxiliary cylinder 9 is guided to the tank connection of the hydraulic circuit according to the control pattern b of the direction valve 12 of the auxiliary cylinder.
  • the angle AOD is 180 degrees, i.e. the fulcrums 16, 17 and 18 are on the same line, the control pressure of the lifting cylinder 7 is switched to the piston side.
  • the boom arrangement is lowered onto its transport support by employing the weight of the boom arrangement and the control of the lifting cylinder.
  • auxiliary cylinder 9 Utilization of the auxiliary cylinder 9 is illustrated in a simplified manner in Figures 4 and 5.
  • the lifting boom 3 is in its transport position, which corresponds to the crane position illustrated in Figure 2.
  • the cylinder 7 is in a blind spot with respect to the post 2 and the lifting boom 3, i.e. in a disadvantageous position, where the lifting cylinder 7 cannot alone move the lifting boom 3 with respect to the post 2.
  • the angle AOD defined by the line AB passing through via joints 17 and 16 of the cylinder 7 and the line CD travelling via the joint 17 of the lifting cylinder and the joint 18 between the post 2 and the lifting boom 3 is smaller than 180 degrees.
  • This angle is denoted by a curved arrow in Figure 4.
  • the blind spot refers to the angle AOD when it is smaller than 180 degrees as shown in Figure 4.
  • the angle AOD is 180 degrees, and then the control of the lifting cylinder 7 is switched from the piston rod side to the piston side and the auxiliary cylinder 9 is pushed against the stopper provided in the lifting boom 3 until the position shown in Figure 5 is reached.
  • the auxiliary cylinder 9 is completely extended out and the angle AOD defined by the joints 18, 17 and 16, which is illustrated by a curved arrow in the figure, is larger than 180 degrees.
  • the lifting boom 3 and the rest of the boom arrangement connected to it is in a position where the moment of the lifting cylinder 7 alone is sufficient for moving the lifting boom 3 and the rest of the boom arrangement apart from the post 2 by joint rods articulated with it.
  • the control of the auxiliary cylinder 9 may be arranged in various ways to make it independent of the control of the lifting cylinder 7, in which case the auxiliary cylinder can be moved independently of the moving of the lifting cylinder.
  • the position of the auxiliary cylinder in the boom arrangement may be varied.
  • the auxiliary cylinder may be arranged in the lifting boom, in which case it is pressed during use against the post or the stopper attached to it.
  • the position of the boom arrangement where the auxiliary cylinder is needed is specific to each crane structure and varies according to the boom geometry, as well as the size, strength, position and direction of movement of the auxiliary cylinder.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)
EP04101857A 2003-05-09 2004-04-30 Verfahren zum Steuern eines Kranauslegers und Vorrichtung zur Durchführung des Verfahrens Ceased EP1475345A1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FI20030700 2003-05-09
FI20030700A FI20030700A (fi) 2003-05-09 2003-05-09 Menetelmä nosturin puomiston ohjaamiseksi ja laitteisto menetelmän toteuttamiseksi

Publications (1)

Publication Number Publication Date
EP1475345A1 true EP1475345A1 (de) 2004-11-10

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EP04101857A Ceased EP1475345A1 (de) 2003-05-09 2004-04-30 Verfahren zum Steuern eines Kranauslegers und Vorrichtung zur Durchführung des Verfahrens

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EP (1) EP1475345A1 (de)
CA (1) CA2466626A1 (de)
FI (1) FI20030700A (de)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2248753A1 (de) * 2009-05-07 2010-11-10 EPSILON Kran GmbH. Kran mit Totpunktüberwindung
AT13362U1 (de) * 2012-10-01 2013-11-15 Waizinger Gottfried Ing Lastfahrzeug
EP2789566A1 (de) 2013-04-11 2014-10-15 HMF Group A/S Faltbarer Kran
EP3333112A1 (de) 2016-12-09 2018-06-13 Cargotec Patenter AB Lasthandhabungswerkzeug und hydraulischer kran mit einem derartigen lasthandhabungswerkzeug
EP3339237A1 (de) 2016-12-20 2018-06-27 Cargotec Patenter AB Hydraulikkran
CN110438551A (zh) * 2019-09-09 2019-11-12 庚显表面处理(江门)有限公司 一种环形自动电镀清洗生产线

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4183712A (en) * 1976-12-10 1980-01-15 Hiab-Foco Aktiebolag Device in loading cranes
EP0733585A2 (de) * 1995-03-24 1996-09-25 Rochus Penz GmbH Kranbau Ladekran

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4183712A (en) * 1976-12-10 1980-01-15 Hiab-Foco Aktiebolag Device in loading cranes
EP0733585A2 (de) * 1995-03-24 1996-09-25 Rochus Penz GmbH Kranbau Ladekran

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2248753A1 (de) * 2009-05-07 2010-11-10 EPSILON Kran GmbH. Kran mit Totpunktüberwindung
RU2471702C2 (ru) * 2009-05-07 2013-01-10 Эпзилон Кран Гмбх. Кран с преодолением мертвой точки
US8596474B2 (en) 2009-05-07 2013-12-03 Epsilon Kran Gmbh Crane
AT13362U1 (de) * 2012-10-01 2013-11-15 Waizinger Gottfried Ing Lastfahrzeug
EP2789566A1 (de) 2013-04-11 2014-10-15 HMF Group A/S Faltbarer Kran
EP3333112A1 (de) 2016-12-09 2018-06-13 Cargotec Patenter AB Lasthandhabungswerkzeug und hydraulischer kran mit einem derartigen lasthandhabungswerkzeug
WO2018104042A1 (en) 2016-12-09 2018-06-14 Cargotec Patenter Ab Load handling tool and hydraulic crane comprising such a load handling tool
EP3339237A1 (de) 2016-12-20 2018-06-27 Cargotec Patenter AB Hydraulikkran
WO2018114250A1 (en) 2016-12-20 2018-06-28 Cargotec Patenter Ab Hydraulic crane
CN110438551A (zh) * 2019-09-09 2019-11-12 庚显表面处理(江门)有限公司 一种环形自动电镀清洗生产线
CN110438551B (zh) * 2019-09-09 2024-01-05 庚显表面处理(江门)有限公司 一种环形自动电镀清洗生产线

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Publication number Publication date
FI20030700A (fi) 2004-11-10
FI20030700A0 (fi) 2003-05-09
CA2466626A1 (en) 2004-11-09

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