EP1721862B1 - Lattice-boom crane for lifting heavy loads - Google Patents

Lattice-boom crane for lifting heavy loads Download PDF

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Publication number
EP1721862B1
EP1721862B1 EP20060005637 EP06005637A EP1721862B1 EP 1721862 B1 EP1721862 B1 EP 1721862B1 EP 20060005637 EP20060005637 EP 20060005637 EP 06005637 A EP06005637 A EP 06005637A EP 1721862 B1 EP1721862 B1 EP 1721862B1
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EP
European Patent Office
Prior art keywords
lattice boom
crane
cranes
lattice
undercarriages
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EP20060005637
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German (de)
French (fr)
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EP1721862A2 (en
EP1721862A3 (en
Inventor
Rüdiger Zollondz
Ingo Nöske
Günter Karp
Alfons Weckbecker
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Terex Demag GmbH and Co KG
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Terex Demag GmbH and Co KG
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Priority to DE200510021859 priority Critical patent/DE102005021859B4/en
Application filed by Terex Demag GmbH and Co KG filed Critical Terex Demag GmbH and Co KG
Publication of EP1721862A2 publication Critical patent/EP1721862A2/en
Publication of EP1721862A3 publication Critical patent/EP1721862A3/en
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Publication of EP1721862B1 publication Critical patent/EP1721862B1/en
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    • 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
    • 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

Description

    TECHNICAL AREA
  • The present invention relates to a lattice boom crane for lifting heavy loads such as reactors, generators, distillation columns or the like.
  • BACKGROUND OF THE INVENTION
  • Cranes are always designed for a specific payload range. Lifting heavier loads may not be possible with such a crane. For lower loads such a crane is not economical, since the acquisition and operating costs are higher than those of a smaller crane. In order to lift higher loads without having to purchase a larger crane, it is already known to lift a load with several cranes at the same time. In such so-called tandem or multiple lifts but is usually due to the problematic load distribution or the fact that the cranes are equipped with individual control, the necessary security guaranteed only under very specific conditions. For example, with such tandem or multiple lifts, the load to be lifted may only be so high that a maximum of 60 to 80 percent of the load capacity of a single crane is used. But this is not the load capacity gain by the use of a second crane when lifting the load satisfactory and often not economical.
  • In the JP 09086875 a crawler crane is disclosed which comprises an undercarriage and a revolving superstructure rotatably mounted thereon. On the superstructure two lattice boom are arranged parallel next to each other. For lifting a heavy load, the non-connected booms can be operated so that the load can be lifted together by means of hoists of the two booms.
  • In the JP 2001072379 a crane is shown comprising two independent booms, one of which is a master boom and the other a slave boom. It is probably possible to connect the two outriggers in the area of the undercarriage in order to lift heavy loads.
  • In the JP 2000086151 discloses a control method for a double crane, in which cranes can be operated in a manner not shown via a common control to improve the working efficiency.
  • From the GB 1,162,405 A It is already known to connect two cranes via a gantry to be attached to the free ends of each jib to lift heavy loads. The problem with this arrangement is that the position of the two cranes to each other is not fixed and it comes to constraining forces, whereby the load capacity must be reduced.
  • A twin gantry crane for bulky loads, especially container crane, is from the AT 28 28 76 known. This twin gantry crane consists of two separately movable crane gantries. Each crane gantry carries a crane trolley, preferably designed as an angled cat, with its hoist. The two crane gantries can be locked together at certain intervals. The cats are in a conventional manner independent of each other and synonymous with each other movable from an operating position. According to one embodiment, only one of the crane gantries may have a travel drive.
  • The Indian US 6,516,961 B1 shown ring lift crane has in one embodiment, a parallel connection of two lattice boom on a common undercarriage. The cantilevers stabilize each other, whereby the achievable loads are more than twice a single cantilever. Otherwise, the crane, like a conventional crane, comprises a single basic unit designed for the load capacities of the double jib. With only one boom, it can not be operated economically. In addition, a ring lift crane is usually not movable and thus severely limited in his work area, since this is possible only with a relatively high technical complexity.
  • In the DE 27 45 059 A1 is a double-turn crane described, which finds particular use as a ship crane. The double-pivot crane described here has two cranes arranged at the same distance from a common vertical pivot axis. The two cranes each have a boom and can be operated individually. Both cranes rest on a common stand tree, which is anchored, for example, in a ship's hull. On this stand tree, a sprocket is arranged, which is both part of the slewing of a crane and part of the slewing gear of the other crane.
  • Finally, in the DE 30 26 850 A1 discloses a ring lift crane, which should also be movable under load.
  • The good order is still on a hoist, especially in the manner of a crane according to the DE 29 02 767 A1 to point. On a self-propelled vehicle or a stationary plane, a main ring is attached, which is rotatably mounted. At the main ring is stiff and rigid with this the rotary motion mitmachende horizontal platform, which protrudes like a cantilever over the main ring on one side. Furthermore, two tower-like, rotatably mounted carrier are provided, which are mounted on the horizontal platform on the opposite to the main ring projecting part. At the tower-like carriers are two expandable, obliquely adjustable in any position boom available, which are independently operable. Similar to the ring lift crane according to the US 6,516,961 B1 is here So again a common chassis available, are arranged on the two independently operable boom.
  • In the DE 1 531 631 OS is a ship crane device with several independently rotatable luffing crane jibs known. Two of the crane jibs can be coupled together and in the coupling position about the central axis rotatable together and pivotable about horizontal axes together. The horizontal pivot axes of the crane boom are arranged on separately arranged annular, box-like concentric slewing rings. At least two crane jibs can be coupled to one another in a position which is approximated in the vertical and horizontal planes.
  • PRESENTATION OF THE INVENTION
  • The technical problem underlying the invention is to provide a lattice boom crane, which is on the one hand suitable for lifting particularly heavy loads and on the other hand also for lifting less heavy loads is economically used.
  • This problem is solved by a lattice boom crane, which is formed by parallel connection of at least two individual lattice boom cranes. The single cranes each consist of a base crane, on which a luffing lattice boom is arranged. The respective basic crane comprises an undercarriage and a superstructure rotatably mounted thereon. In such a lattice boom crane according to the invention, the lattice boom of the respective individual lattice boom cranes are aligned side by side aligned with each other and the luffing mechanisms of the individual lattice boom cranes are so synchronized that the at least two lattice boom are synchronously rockable.
  • For the sake of good order, it should be noted that the term "basic crane" describes a lower part of a crane without the boom resting thereon. A basic unit or basic crane thus comprises an undercarriage, a superstructure and the rotary connection connecting the undercarriage and the superstructure. An undercarriage of a basic crane can include wheels or caterpillars or caterpillar tracks for locomotion.
  • The invention is based on the idea to couple at least two individual lattice boom cranes, which are actually intended for lifting less heavy loads, for lifting very heavy loads in the manner described above. Since according to the invention at least two individual lattice boom cranes are releasably coupled to a unit, only minor modifications to the individual lattice boom cranes are necessary in order to be able to lift the carrying capacity of a single lattice boom crane heavy loads. At the same time it remains possible to continue to use the individual lattice boom cranes for their originally intended purposes. This modular concept requires no disproportionately high conversions and also allows the economic use of each lattice boom cranes in the originally intended use areas. In particular, it is possible with little additional parts and thus costs to combine the carrying capacity of the individual lattice boom cranes in such a way that even higher loads can be lifted than the sum of the individual loads of the individual cranes.
  • An exemplary further embodiment of the present invention comprises two or more parallel side by side arranged basic cranes, which are connected to at least one basic crane component, with each other, to ensure an exact positioning of the single cranes to each other. For example, the base cranes may thus be connected to one another at a part of the undercarriage, the superstructure or the rotary connection. The basic cranes can be mechanically connected to one another, for example, by one or more rods, connecting beams or the like. But it is also possible, for example, rigidly connect the crawler carrier of the undercarriage at one or more points. Another alternative may be that two side by side basic cranes are connected by a common crawler. This allows the cranes to stand closer together.
  • As an alternative to a mechanical connection of the base cranes can also be provided that a control with a corresponding measuring device is present, which monitors the position of the base cranes to each other and optionally controls the drives of the base cranes so that they remain aligned parallel to each other. However, if the positional deviation still increases to a certain extent, the control automatically shuts off the crane to avoid an unsafe condition.
  • The optional training with crawler under a lattice boom crane according to the invention, the method with heavy loads is possible, whereby the working range of the crane is extended. In contrast to the above-mentioned prior art, therefore, even with such an advantageous Ausftihrungsbeispiel a lattice boom crane according to the invention a large work area given, although the rotatable on itself superstructure can not rotate by the rigid connection of the lattice boom.
  • An exemplary embodiment of the present invention provides that the individual lattice boom cranes each comprise an undercarriage with laterally mounted caterpillars. The single cranes are placed side by side with the caterpillars aligned in parallel. The right caterpillar of the left crane is connected to the left caterpillar of the right crane. Furthermore, the jibs of the single cranes are connected to each other. Turning the single crane is therefore no longer possible. However, the entire crane can move forward and drive curves conditionally, whereby a rotation of the entire crane can be achieved.
  • A further alternative embodiment of the present invention may provide that the beads are arranged not parallel, but one behind the other, to allow a transverse method. The connection of the single cranes can be done in this case on the tracks or the two undercarriage. A compound of caterpillars is particularly advantageous if the caterpillars are already divided in the middle, as is already common in large equipment for transport logistical reasons. Then an adapter piece between two caterpillar halves can be attached, the chain runs around all three parts.
  • Yet another exemplary embodiment of the present invention provides that the two undercarriages are rigidly connected to one another and in each case at least one bead is arranged on all outer sides of the two undercarriages. As a result, the crane is well able to turn on the spot. A lateral or longitudinal method is very limited but may be facilitated by lifting an opposing pair of tracks off the ground.
  • The main function of each connection is to ensure the position of the single cranes to each other. This can also be done by a connecting element that connects the two superstructure of the single cranes with each other. This would have the advantage that the rotary connection of the single cranes can continue to be used to align the beads either in the longitudinal or transverse direction or intermediate positions. The connection of the connecting element with the superstructure can be done for example by means of bolting or screwing. Also a quick connection, as in the DE 19549244 C2 is described, can be used advantageously.
  • In all of the aforementioned embodiments of the present invention, furthermore, the turning and moving of the load is at least possible to a limited extent by the crawler tracks being moved in the same direction or in opposite directions, which in the latter case leads to a turning of the lattice boom cranes assembled into one unit.
  • An advantageous embodiment of the present invention provides that the crane controls are connected. It is expedient to synchronize or coordinate the movements of the hoists, luffing gears and caterpillar drives, so that the function and safety of the crane can be ensured. This can be done by a communication between the controllers or by a controller, which is connected upstream of the individual controls in a master-slave circuit. The master control can be operated in one of the two cranes or outside the cranes. Alternatively or in addition to a synchronization of the drives via the controller, a mechanical or hydraulic coupling can also take place.
  • The rigid connection of the parallel juxtaposed lattice boom can be done in a lattice boom crane according to the first aspect by one or more fasteners such as rods, tubes or grid connection elements. The latter can be designed as lattice mast sections. The connection can be made for example by bolting.
  • For the sake of good order, it should be understood that individual features of embodiments described herein may be combined with other features of other embodiments. In addition, connections between cantilevers, tracked carriers, lower or upper carriages can be designed as detachable connections. But it is also readily possible to produce all or only certain compounds by per se permanent connections such as welding or the like. Nevertheless, such connections may possibly be destroyed again after the use of a lattice boom crane formed from a plurality of individual lattice boom cranes. The term compound in the present case therefore includes both non-destructively releasable compounds and only by destruction releasable compounds.
  • BRIEF DESCRIPTION OF THE DRAWINGS
  • In the following, for further explanation and for better understanding, several embodiments of the present invention will be described in detail with reference to the accompanying drawings. It shows:
  • Fig. 1
    a perspective view of a lattice boom crane according to the invention, which consists of two individual lattice boom cranes,
    Fig. 2
    a schematic plan view of two mutually coupled undercarriage with parallel caterpillars of a lattice boom crane according to the invention,
    Fig. 3
    a schematic plan view of two mutually coupled undercarriage of a lattice boom crane according to the invention, in which the two undercarriages are coupled together via a common bead,
    Fig. 4
    a schematic plan view of two undercarriages of a lattice boom according to the invention with caterpillars connected in series, and
    Fig. 5
    a schematic plan view of another exemplary embodiment of a crane according to the invention with adjacent undercarriage and arranged on the outer sides of the coupled together undercarriage caterpillars.
    DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS OF THE PRESENT INVENTION
  • In the Fig. 1 a first exemplary embodiment of a lattice boom crane according to the invention with crawler undercarriage is shown in a perspective view. In this embodiment, the lattice boom crane according to the invention comprises two individual lattice boom cranes 1, 11, each having an undercarriage 2, 12 and an upper carriage 3 rotatably mounted thereon, 13 include. At the respective uppercarriage 3, 13 each have a lattice boom 4, 14 is mounted tiltable. The rocking angle of the two lattice boom 4, 14 is adjustable via a here shown only schematically luffing 5 and 15. Here, the luffing mechanisms 5, 15, not shown, include rocking winches on which a rope is unwound, which is attached to the respective uprising stand 23, 24. By winding or unwinding the two ropes, the respective rocking angle can be adjusted. Characterized in that according to the present invention, the luffing gears 5, 15 are synchronized, which can be done by electronic means or by mechanical coupling of the winds, the tilting of the lattice boom 4, 14 is synchronized.
  • Like in the Fig. 1 are shown, the two lattice boom via grid connection elements 21, 22 are rigidly interconnected. In the embodiment of the present invention shown here, a first lattice mast connection element 21 is mounted in the upper third of the two lattice boom 4, 14. Another lattice mast connection element 22 is present in the lower third of the two lattice boom 4, 14. Of course, in order to improve the rigidity, it is also possible to provide further lattice mast connecting elements in further sections of the two lattice boom 4, 14. Due to this rigid coupling of the two lattice boom 4, 14, the carrying capacity is possibly even higher than the sum of the individual load capacities.
  • Like in the Fig. 1 can be seen, in this embodiment, the two undercarriages 2, 12 of the individual lattice boom cranes arranged side by side and each have their own caterpillars 6, 7 and 16, 17. Preferably, the two undercarriages are also rigidly connected to each other in this embodiment via connecting elements to avoid relative movement between the two undercarriage 2, 12 upon actuation of the caterpillars 6, 7 and 16, 17. In this embodiment of the present invention, the newly formed lattice boom crane can be controlled from a service stand 8 or 18. For this purpose, a control of a crane is designed as a slave relative to the master of the other crane. The coupling of the two controllers via a not shown here cable. It should be noted that the coupling of the two controllers comprises in particular that of the luffing mechanisms 5, 15. However, it is also possible to electronically couple the drives of the tracks 6, 7 and 16, 17 in the required manner, so that the operation of the tracks 6, 7 and 16, 17 is controlled such that one method of turning the lattice boom crane is possible, but only in one operator level 18 or 8 the necessary actuators are actuated. The same then applies to the Hubseilbetätigungseinrichtungen not shown here and their control.
  • In the Fig. 2 an alternative embodiment of a coupling of two undercarriages 2, 12 of a lattice boom crane according to the invention is shown. Here, the caterpillars 41, 42 of the one undercarriage 2 and the caterpillars 43, 44 of the other undercarriage 12 are not as in the Fig. 1 connected in series, but arranged in parallel. Via a connecting element 32, the two beads 42, 43, which are opposite to each other in this arrangement, coupled together. It should be noted that here the turntables 30 and 31 of the two superstructure 3, 13 are indicated.
  • When in the Fig. 2 In the illustrated embodiment of the present invention, the tracks 41-44 may be simultaneously moved to laterally move the lattice boom crane according to the present invention. By opposing movement of the beads 41, 42 with respect to the beads 43, 44, despite the in Fig. 1 shown rigid connection of the two lattice boom 4, 14 a rotation of the coupled together lattice boom crane done.
  • In the Fig. 3 is a modified embodiment of the parallel arrangement of two undercarriages 2, 12 with respect to the Fig. 2 shown. Here are only three caterpillars 41, 44, 45 available. Opposite in the Fig. 2 shown embodiment of the present invention, the beads 42, 43 are combined to form a bead 45. As a result, the individual cranes are closer to each other and the transport of a caterpillar is eliminated.
  • The Fig. 4 shows another modified embodiment of the present invention as similar in the Fig. 1 already described. In the plan view shown here of two parallel arranged side by side undercarriage 2, 12, the caterpillars are similar as in the Fig. 1 shown in series. However, those are in the Fig. 1 shown individual beads 6, 16 and 7, 17 combined to form a bead 50 and 51, respectively.
  • A final exemplary embodiment of the present invention is shown in a top view in FIG Fig. 5 shown. Here again, the two undercarriages 2, 12 are rigidly coupled together. On the respective outer sides of the rigidly interconnected undercarriage caterpillars 61, 64 are attached. Through this "square" arrangement, at least one rotation of the mutually coupled undercarriage 2, 12 are made possible. A lateral or longitudinal method is only possible to a very limited extent, but can be facilitated by lifting respective opposite caterpillars off the ground.
  • For the sake of good order, it should be noted that in all the aforementioned embodiments of the present invention, the attachment of the detachable beads to the respective undercarriage can be carried out, for example, by hydraulic bolting, as is already known in the case of single cranes.
  • Thus, in particular the applicability of the single cranes is not impaired by the present invention, in particular their construction is not or only slightly to modify in terms of a possible coupling with another crane. The merging of several single lattice boom cranes can be carried out by taking advantage of the previous characteristics and the caterpillar designs of the single cranes. Thus, with minor modifications and thus quite cost and the lifting of very heavy loads economically possible, since for the first time continues the applicability of such crawler crane masts as a single crane remains possible.

Claims (16)

  1. Lattice boom crane, consisting of at least two individual lattice boom cranes (1, 11), each of which comprising a superstructure (3, 13) attached to an undercarriage (2, 12), on which superstructure (3, 13) a luffable lattice boom (4, 14) is arranged, the luffing angle of which is adjustable by means of a luffing mechanism (5, 15), wherein the lattice booms (4, 14) are oriented in parallel and connected with each other and the luffing mechanisms (5, 15) of the lattice boom cranes (1, 11) are synchronized such that the at least two lattice booms (4, 14) can synchronously be luffed.
  2. Lattice boom crane according to claim 1, characterized in that the single base cranes are rigidly connected to at least one base crane component (2, 12; 3, 13).
  3. Lattice boom crane according to claim 1 or 2, characterized in that a controller is provided that monitors the relative position of the base cranes (2, 12; 3, 13) with respect to each other and, if necessary, corrects their position with respect to each other or potentially prohibits a crane operation when the positions of the base cranes (2, 12; 3, 13) deviate too severely from each other.
  4. Lattice boom crane according to one of claims 1-3, characterized in that the luffing mechanisms (5, 15) of the single lattice boom cranes (1, 11) each comprise a winch and the winches are mechanically synchronized with each other.
  5. Lattice boom crane according to one of claims 1-3, characterized in that the luffing mechanisms (5, 15) of the single lattice boom cranes (1, 11) each comprise a winch and the winches are electronically synchronized with each other.
  6. Lattice boom crane according to one of the preceding claims, characterized in that, in a master/slave function, a controller is connected upstream of the respective controllers of the single lattice boom cranes (1, 11), which controller ensures a synchronous luffing of the respective lattice booms (4, 14) and/or monitors the relative position of the base cranes (2, 12; 3, 13) with respect to each other and, if necessary, corrects their position with respect to each other.
  7. Lattice boom crane according to one of claims 1-6, characterized in that the lattice booms (4, 14) oriented in parallel are rigidly connected with a boom unit with respect to each other.
  8. Lattice boom crane according to one of the preceding claims, characterized in that the single lattice boom cranes (1, 11) each comprise an undercarriage (2, 12), on which lateral crawlers are releasably affixed, and the undercarriages (2, 12) are rigidly connected with each other.
  9. Lattice boom crane according to one of the preceding claims, characterized in that the undercarriages (2, 12) of the single lattice boom cranes (1, 11) are oriented in parallel and adjacent to each other and the respective crawlers (41-44; 41, 44, 25; 50, 51) of the undercarriages (2, 12) are disposed in parallel.
  10. Lattice boom crane according to claim 9, characterized in that the crawler tracks (42, 43), facing each other and being oriented in parallel and adjacent to each other, of two undercarriages (2, 12) of the single lattice boom cranes (1,11) are rigidly connected with each other.
  11. Lattice boom crane according to claim 8 or 9, characterized in that those sides of the parallel and adjacent undercarriages (2, 12) of the single lattice boom cranes (1, 11), which are facing each other, are rigidly connected with each other via a common crawler track (45).
  12. Lattice boom crane according to one of claims 1-8, characterized in that the undercarriages (2, 12) of the single lattice boom cranes (1, 11) are oriented in parallel and adjacent to each other and the crawlers (6, 7, 16, 17; 50, 51) are disposed in series.
  13. Lattice boom crane according to claim 12, characterized in that the crawlers disposed in series and on one side of the undercarriages (2, 12) of the single lattice boom cranes (1, 11) are combined into a common crawler (50, 51).
  14. Lattice boom crane according to one of claims 1-8, characterized in that the undercarriages (2, 12) of the single lattice boom cranes (1, 11) are connected in parallel and adjacent to each other and crawlers (61-64) are arranged on all outsides of the undercarriages (2, 12) connected with each other.
  15. Lattice boom crane according to one of the preceding claims, characterized in that the superstructures (3, 13) of the single lattice boom cranes (1, 11) are connected with each other.
  16. Lattice boom crane according to one of the preceding claims, characterized in that there is a connection both between the superstructures (3, 13) and the undercarriages (2, 12) of the single lattice boom cranes (1, 11).
EP20060005637 2005-05-11 2006-03-20 Lattice-boom crane for lifting heavy loads Active EP1721862B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE200510021859 DE102005021859B4 (en) 2005-05-11 2005-05-11 Lattice boom crane for lifting heavy loads

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EP1721862A2 EP1721862A2 (en) 2006-11-15
EP1721862A3 EP1721862A3 (en) 2007-11-07
EP1721862B1 true EP1721862B1 (en) 2010-05-05

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US (1) US7828163B2 (en)
EP (1) EP1721862B1 (en)
JP (1) JP5096692B2 (en)
CN (1) CN1899949B (en)
AT (1) AT466809T (en)
DE (2) DE102005021859B4 (en)

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CN105439011A (en) * 2015-12-25 2016-03-30 同济大学 Self-assembly device for boom crane and use method thereof
CN105439011B (en) * 2015-12-25 2017-06-13 同济大学 For the self assembly device and its application method of arm derrick crane
CN106429870A (en) * 2016-10-21 2017-02-22 周东宁 Combined structure movable crane

Also Published As

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DE102005021859B4 (en) 2007-03-29
JP5096692B2 (en) 2012-12-12
JP2006315864A (en) 2006-11-24
CN1899949B (en) 2010-05-12
US20060273057A1 (en) 2006-12-07
CN1899949A (en) 2007-01-24
DE102005021859A1 (en) 2006-11-30
EP1721862A3 (en) 2007-11-07
AT466809T (en) 2010-05-15
EP1721862A2 (en) 2006-11-15
DE502006006883D1 (en) 2010-06-17
US7828163B2 (en) 2010-11-09

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