EP3339237B1 - Grue hydraulique - Google Patents

Grue hydraulique Download PDF

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Publication number
EP3339237B1
EP3339237B1 EP16205464.7A EP16205464A EP3339237B1 EP 3339237 B1 EP3339237 B1 EP 3339237B1 EP 16205464 A EP16205464 A EP 16205464A EP 3339237 B1 EP3339237 B1 EP 3339237B1
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EP
European Patent Office
Prior art keywords
crane
link
pair
link elements
boom
Prior art date
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EP16205464.7A
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German (de)
English (en)
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EP3339237A1 (fr
Inventor
Erik Nylander
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Cargotec Patenter AB
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Cargotec Patenter AB
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Priority to DK16205464.7T priority Critical patent/DK3339237T3/da
Priority to EP16205464.7A priority patent/EP3339237B1/fr
Priority to PCT/EP2017/080749 priority patent/WO2018114250A1/fr
Publication of EP3339237A1 publication Critical patent/EP3339237A1/fr
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Publication of EP3339237B1 publication Critical patent/EP3339237B1/fr
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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 present invention relates to a hydraulic crane according to the preamble of claim 1.
  • a hydraulic crane for instance in the form of a lorry crane or forestry crane, often comprises a column, which is rotatable about a vertical axis of rotation, and a crane boom system, which is mounted to the column and which is intended to carry a load in a load suspension point at an outer end of the crane boom system, wherein the crane boom system comprises two or more liftable and lowerable crane booms which form a connection between the load suspension point and the column and which are articulately connected to each other.
  • liftable and lowerable crane boom refers to a crane boom which can be pivoted in a vertical plane so as to thereby perform liftings and lowerings of a load carried by the crane.
  • hydraulic cylinder for lifting and lowering the crane boom here refers to the hydraulic cylinder which is associated with the liftable and lowerable crane boom and which carries out the pivoting thereof in a vertical plane.
  • the hydraulic crane according to the present invention is a so-called Z-type crane, where inner and outer booms of the crane are foldable into a compact Z-shaped parking position close to the column of the crane when the crane is to be transported or stored.
  • a Z-type crane according to the preamble of claim 1 is previously known from EP 1 475 345 A1 and US 4 183 712 A .
  • a further prior art document WO 2018/080403 A1 which is prior art according to Article 54(3) EPC, discloses the features of the preamble of claim 1 and additionally the further features of a link system comprising a first pair of link elements and a second pair of link elements arranged in parallel with each other on opposite sides of the first and second crane booms at said crane boom joint; that each pair of link elements comprises a first link element, which at one end is articulately connected to the first crane boom so as to be pivotable in relation to the first crane boom about an essentially horizontal third axis of rotation, and a second link element, which at one end is articulately connected to the second crane boom so as to be pivotable in relation to the second crane boom about an essentially horizontal fourth axis of rotation, wherein the first and second link elements in each pair are articulately connected to each other so as to be pivotable in relation to each other about an essentially horizontal fifth axis of rotation; that the second hydraulic cylinder at its outer end is articulately connected to the first pair of link elements; and that the link elements
  • the object of the present invention is to achieve a further development of a hydraulic crane of the above-mentioned type so as to provide a hydraulic crane that is improved in at least some aspect.
  • the hydraulic crane of the present invention comprises:
  • the above-mentioned link system is used in order to effect an automatic modification of the point of application of the force exerted by the second hydraulic cylinder as the piston rod of the second hydraulic cylinder is extended, and the link system thereby influences the moment arm of the force exerted by the second hydraulic cylinder.
  • the link elements of the link system are so arranged that the moment arm of the force acting on the crane boom joint between the first and second crane booms, i.e.
  • the moment arm of the force exerted by the second hydraulic cylinder is longer at the normal working positions of the first and second crane booms as compared to a corresponding Z-type crane lacking a link system at the joint between the first and second crane booms, which implies that the crane boom joint between the first and second crane booms of the crane according to the invention has a higher lifting capacity at these working positions as compared to a corresponding Z-type crane lacking a link system at the joint between the first and second crane booms.
  • the cross bar element stabilizes the link system.
  • the link elements of the link system are configured to move the cross bar element between a position below said crane boom joint when the first and second crane booms are in an extended working position and a position above the crane boom joint when the first and second crane booms are in the parking position, the cross bar element is prevented from restricting the angular range of the crane boom joint between the first and second crane booms.
  • a hydraulic crane 1 not forming part of the present claimed invention is illustrated in Figs 1-10 .
  • the crane 1 is for instance a lorry crane or forestry crane.
  • the crane according to the invention may also be a stationarily mounted crane, for instance at a timber-yard or in a factory.
  • the crane 1 is mounted on a frame 2, which for instance may be connected to the chassis of a lorry or a forestry vehicle.
  • the frame 2 may be provided with adjustable support legs (not shown) for supporting the crane 1.
  • the crane 1 comprises:
  • the second hydraulic cylinder 10 is arranged on a first side of the inner boom 6, and the third hydraulic cylinder 11 is arranged in parallel with the second hydraulic cylinder 10 on an opposite second side of the inner boom 6.
  • the second and third hydraulic cylinders 10, 11 are arranged in parallel with each other on opposite sides of the inner boom 6 and they are configured to be operated synchronously in order to pivot the outer boom 8 in relation to the inner boom 6.
  • the third hydraulic cylinder 11 could be omitted.
  • the first hydraulic cylinder 7 comprises a cylinder part 7a which is articulately connected to the column 4, and a piston which is received in the cylinder part 7a and displaceable in relation to it, wherein the piston is fixed to a piston rod 7b which is articulately connected to the inner boom 6.
  • each one of the second and third hydraulic cylinders 10, 11 has an inner end facing the column 4 and an opposite outer end facing the outer boom 8.
  • each one of the second and third hydraulic cylinders 10, 11 comprises a cylinder part 10a, 11a which is articulately connected to the inner boom 6, and a piston which is received in the cylinder part 10a, 11a and displaceable in relation to it, wherein the piston is fixed to a piston rod 10b, 11b which is articulately connected to the outer boom 8 through a link system 12.
  • the outer boom 8 is telescopically extensible to enable an adjustment of the extension length thereof.
  • the outer boom 8 comprises a base section 8a, through which the outer boom 8 is articulately connected to the inner boom 6, and several telescopic crane boom sections 8b which are carried by the base section 8a and displaceable in the longitudinal direction of the base section by means of one or more hydraulic cylinders (not shown) for adjustment of the extension length of the outer boom 8.
  • a load handling tool (not shown) is to be mounted to the outer end of the outer boom 8.
  • the above-mentioned link system 12 at the outer end of the second and third hydraulic cylinders 10, 11 comprises a first pair of link elements 13a, 14a and a second pair of link elements 13b, 14b arranged in parallel with each other on opposite sides of the inner and outer booms 6, 8 at the crane boom joint 9.
  • Each pair of link elements comprises a first link element 13a, 13b, which has an inner end and an opposite outer end.
  • Each first link element 13a, 13b is at its inner end articulately connected to the inner boom 6 so as to be pivotable in relation to the inner boom 6 about an essentially horizontal axis of rotation A3, in the following denominated third axis of rotation.
  • the first link elements 13a, 13b extend in parallel with each other on opposite sides of the inner boom 6 and they are of the same length.
  • the first link element 13a included in the first pair of link elements is arranged on the same side of the inner boom 6 as the second hydraulic cylinder 10
  • the first link element 13b included in the second pair of link elements is arranged on the same side of the inner boom 6 as the third hydraulic cylinder 11.
  • Each pair of link elements further comprises a second link element 14a, 14b, which has an inner end and an opposite outer end.
  • Each second link 14a, 14b is at its inner end articulately connected to the outer boom 8 so as to be pivotable in relation to the outer boom 8 about an essentially horizontal axis of rotation A4, in the following denominated fourth axis of rotation.
  • the second link elements 14a, 14b extend in parallel with each other on opposite sides of the outer boom 8 and they are of the same length.
  • the first and second link elements 13a, 14a of the first pair of link elements are articulately connected to each other so as to be pivotable in relation to each other about an essentially horizontal axis of rotation A5, in the following denominated fifth axis of rotation.
  • the first and second link elements 13b, 14b of the second pair of link elements are also articulately connected to each other so as to be pivotable in relation to each other about the fifth axis of rotation A5.
  • the link system 12 further comprises a cross bar element 15, through which the first pair of link elements 13a, 14a is connected to the second pair of link elements 13b, 14b.
  • the cross bar element 15 is configured to support the link elements 13a, 14a of the first pair of link elements in relation to the link elements 13b, 14b of the second pair of link elements so as to thereby stabilize the link system 12.
  • the cross bar element 15 has the form of a pivot shaft, wherein at least one of the link elements 13a, 14a, 13b, 14b in each pair of link elements is pivotally mounted to the cross bar element 15.
  • the cross bar element 15 extends linearly along the above-mentioned fifth axis of rotation A5, wherein the second and third hydraulic cylinders 10, 11 at their outer ends are articulately connected to the first pair of link elements 13a, 14a and the second pair of link elements 13b, 14b, respectively, through the cross bar element 15.
  • the second and third hydraulic cylinders 10, 11 are at their outer ends fixed to the cross bar element 15 at opposite ends of the cross bar element, and both of the link elements 13a, 14a, 13b, 14b in each pair of link elements are at their outer ends pivotally mounted to the cross bar element 15.
  • the second link element 14a, 14b in each pair of link elements has a prolonged part 16 which extends beyond the above-mentioned fifth axis of rotation A5, wherein the cross bar element 15 extends between the outer end of the second link element 14a of the first pair of link elements and the outer end of the second link element 14b of the second pair of link elements.
  • the second and third hydraulic cylinders 10, 11 are at their outer ends fixed to the cross bar element 15 at opposite ends of the cross bar element.
  • the second and third hydraulic cylinders 10, 11 may at their outer ends be articulately connected to the second link elements 14a, 14b at any position between the fifth axis of rotation A5 and the outer end of the second link elements.
  • the first link element 13a, 13b in each pair of link elements has a prolonged part 17 which extends beyond the above-mentioned fifth axis of rotation A5, wherein the cross bar element 15 extends between the outer end of the first link element 13a of the first pair of link elements and the outer end of the first link element 13b of the second pair of link elements.
  • the second and third hydraulic cylinders 10, 11 are at their outer ends fixed to the cross bar element 15 at opposite ends of the cross bar element.
  • the second and third hydraulic cylinders 10, 11 may at their outer ends be articulately connected to the first link elements 13a, 13b at any position between the fifth axis of rotation A5 and the outer end of the first link elements.
  • the links 13a, 14a, 13b, 14b of the link system 12 effect an automatic modification of the point of application of the lifting force exerted by the second and third hydraulic cylinders 10, 11 as the piston rods 10b, 11b of the second and third hydraulic cylinders are extended and retracted, and the link system 12 thereby influences the moment arm of the force exerted by these hydraulic cylinders 10, 11.
  • the hydraulic crane 1 is a Z-type crane, wherein the inner and outer booms 6, 8 are foldable into a compact Z-shaped parking position close to the column 4 when the crane is to be transported or stored, as illustrated in Figs 6 and 7 .
  • the inner boom 6 In the parking position, the inner boom 6 is folded downwards to a position close to the column 4, and the outer boom 8 is folded backwards and lies against the inner boom 6 on the upper side thereof.
  • the inner and outer booms 6, 8 extend essentially in parallel with each other in the parking position.
  • the link elements 13a, 14a, 13b, 14b of the link system 12 are configured to mechanically guide the cross bar element 15 in an arcuate path about the crane boom joint 9 between the inner and outer booms 6, 8 when the outer boom 8 is pivoted in relation to the inner boom 6, so as to make the cross bar element 15 assume a position below the crane boom joint 9 when the inner and outer booms 6, 8 are in an extended working position, as illustrated in Figs 1-5 , and a position above the crane boom joint 9 when the inner and outer booms 6, 8 are in the parking position, as illustrated in Figs 6 and 7 .
  • the cross bar element 15 is moveable from the position illustrated in Fig 5 to the position illustrated in Fig 6 , which implies that the cross bar element 15 is moveable over a very large angular range about the crane boom joint 9 between the inner and outer booms 6, 8.
  • the link system 12 In order to allow the link system 12 to operate as desired in the embodiment not forming part of the present claimed invention illustrated in Figs 1-10 , the link system 12 should be so configured that it fulfils the following conditions:
  • Figs 8-10 illustrate one possible manner of moving the inner and outer booms 6, 8 from the working position illustrated in Fig 1 to the parking position illustrated in Figs 6 and 7 .
  • a first step see Fig 8
  • the piston rod 7b of the first hydraulic cylinder 7 is extended in order to lift the inner boom 6 as high as possible
  • the piston rods 10b, 11b of the second and third hydraulic cylinders 10, 11 are extended to the end position illustrated in Fig 8 .
  • the longitudinal axis of the second and third hydraulic cylinders 10, 11 cross the second axis of rotation A2, which implies that the moment arm of the force exerted by the second and third hydraulic cylinders 10, 11 is zero.
  • the moment arm between the crane boom joint 9 and the centre of gravity of the outer boom 8 is rather long at this angular position of the outer boom 8, which implies that the outer boom 8 will fall downwards towards the upper side of the inner boom 6 under the effect of gravity.
  • the outer end of the piston rods 10b, 11b of the second and third hydraulic cylinders 10, 11 will move to the other side of the crane boom joint 9, while increasing the moment arm of the force exerted by the second and third hydraulic cylinders 10, 11, as illustrated in Fig 9 .
  • the piston rod 7b of the first hydraulic cylinder 7 is retracted in order to fold the inner boom 6 downwards to a parking position close to the column 4, and the piston rods 10b, 11b of the second and third hydraulic cylinders 10, 11 are retracted in order to fold the outer boom 6 downwards to a parking position close to the upper side of the inner boom 6.
  • FIG. 13 A prior art crane 100 with no link system at the crane boom joint 109 between the inner and outer booms 106, 108 is illustrated in Fig 13 in a position corresponding to the position illustrated in Fig 8 . Except for the lack of the link system 12, the prior art crane 100 illustrated in Fig 13 has exactly the same design as the crane 1 according to the embodiment not forming part of the present claimed invention illustrated in Figs 1-10 .
  • the outer end of the second hydraulic cylinder 110 is articulately connected to the outer boom 108 by a joint 120.
  • the outer boom 108 of the prior art crane 100 is more vertically directed than the outer boom 8 of the crane 1 according to the present invention at the moment when the moment arm of the force exerted by the second hydraulic cylinder 110 is zero, which in its turn implies that the moment arm between the crane boom joint 109 and the centre of gravity of the outer boom 108 is much shorter in the prior art crane 100 than in the crane 1 according to the invention, at this stage during the movement of the inner and outer booms to the parking position.
  • one of the positive effects of the link system 12 is that it will give the outer boom 8 an increased inclination in relation to the inner boom 6 at the moment when the moment arm of the force exerted by the second and third hydraulic cylinders 10, 11 is zero, which in its turn will facilitate the movement of the outer boom 8 to the parking position.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Claims (7)

  1. Grue hydraulique comprenant :
    - une colonne (4) ;
    - une première flèche de grue (6) pouvant être levée et abaissée, qui s'articule sur la colonne (4) de manière à pouvoir pivoter par rapport à la colonne autour d'un premier axe de rotation (A1) essentiellement horizontal ;
    - un premier vérin hydraulique (7) pour lever et abaisser la première flèche de grue (6) par rapport à la colonne (4) ;
    - une seconde flèche de grue (8) pouvant être levée et abaissée, qui s'articule sur la première flèche de grue (6) par un raccord de flèche de grue (9) de manière à pouvoir pivoter par rapport à la première flèche de grue autour d'un deuxième axe de rotation (A2) essentiellement horizontal, dans laquelle les première et seconde flèches de grue (6, 8) peuvent se plier vers la colonne (4) afin d'adopter une position de stationnement compacte en forme de Z avec la colonne ; et
    - un deuxième vérin hydraulique (10) agencé sur un premier côté de la première flèche de grue (6) pour lever et abaisser la seconde flèche de grue (8) par rapport à la première flèche de grue (6), le deuxième vérin hydraulique (10) comportant une extrémité intérieure faisant face à la colonne (4) et une extrémité extérieure opposée, dans laquelle le deuxième vérin hydraulique (10) au niveau de son extrémité intérieure s'articule sur la première flèche de grue (6) ;
    caractérisée en :
    - ce que la grue hydraulique (1) est pourvue d'un système de liaison (12) comprenant une première paire d'éléments de liaison (13a, 14a) et une seconde paire d'éléments de liaison (13b, 14b) agencées parallèlement entre elles sur des côtés opposés des première et seconde flèches de grue (6, 8) a niveau dudit raccord de flèche de grue (9) ;
    - ce que chaque paire d'éléments de liaison comprend un premier élément de liaison (13a, 13b), qui au niveau d'une extrémité s'articule sur la première flèche de grue (6) de manière à pouvoir pivoter par rapport à la première flèche de grue (6) autour d'un troisième axe de rotation (A3) essentiellement horizontal, et un second élément de liaison (14a, 14b), qui au niveau d'une extrémité s'articule sur la seconde flèche de grue (8) de manière à pouvoir pivoter par rapport à la seconde flèche de grue (8) autour d'un quatrième axe de rotation (A4) essentiellement horizontal, dans laquelle les premiers et seconds éléments de liaison (13a, 14a, 13b, 14b) de chaque paire s'articulent l'un sur l'autre de manière à pouvoir pivoter l'un par rapport à l'autre autour d'un cinquième axe de rotation (A5) essentiellement horizontal ;
    - ce que le deuxième vérin hydraulique (10) au niveau de son extrémité extérieure s'articule sur la première paire d'éléments de liaison (13a, 14a) ; et
    - ce que le système de liaison (12) comprend un élément de barre transversale (15), par le biais duquel la première paire d'éléments de liaison (13a, 14a) est reliée à la seconde paire d'éléments de liaison (13b, 14b), dans lequel les éléments de liaison (13a, 14a, 13b, 14b) du système de liaison sont configurés pour guider mécaniquement l'élément de barre transversale (15) dans un chemin arqué autour dudit raccord de flèche de grue (9) lorsque la seconde flèche de grue (8) pivote par rapport à la première flèche de grue (6), de manière à amener l'élément de barre transversale (15) à adopter une position sous le raccord de flèche de grue (9) lorsque les première et seconde flèches de grue (6, 8) sont dans une position de travail étendue et une position au-dessus du raccord de flèche de grue (9) lorsque les première et seconde flèches de grue sont dans la position de stationnement,
    dans laquelle :
    -- le second élément de liaison (14a, 14b) de chaque paire d'éléments de liaison comporte une partie prolongée (16) qui s'étend au-delà du cinquième axe de rotation (A5) et l'élément de barre transversale (15) s'étend entre l'extrémité extérieure du second élément de liaison (14a) de la première paire d'éléments de liaison et l'extrémité extérieure du second élément de liaison (14b) de la seconde paire d'éléments de liaison, ou
    -- le premier élément de liaison (13a, 13b) de chaque paire d'éléments de liaison comporte une partie prolongée (17) qui s'étend au-delà du cinquième axe de rotation (A5) et l'élément de barre transversale (15) s'étend entre l'extrémité extérieure du premier élément de liaison (13a) de la première paire d'éléments de liaison et l'extrémité extérieure du premier élément de liaison (13b) de la seconde paire d'éléments de liaison.
  2. Grue hydraulique selon la revendication 1, caractérisée en :
    - ce que la grue hydraulique (1) comprend un vérin hydraulique (11) supplémentaire, appelé ici troisième vérin hydraulique, pour lever et abaisser la seconde flèche de grue (8) par rapport à la première flèche de grue (6), dans laquelle le troisième vérin hydraulique (11) est agencé sur un second côté de la première flèche de grue (6) à l'opposé du deuxième vérin hydraulique (10) et parallèlement à celui-ci, le troisième vérin hydraulique (11) comportant une extrémité intérieure faisant face à la colonne (4) et une extrémité extérieure opposée ; et
    - ce que le troisième vérin hydraulique (11) au niveau de son extrémité intérieure s'articule sur la première flèche de grue (6) et au niveau de son extrémité extérieure s'articule sur la seconde paire d'éléments de liaison (13b, 14b).
  3. Grue hydraulique selon la revendication 2, caractérisée en ce que les deuxième et troisième vérins hydrauliques (10, 11) au niveau de leurs extrémités extérieures s'articulent sur la première paire d'éléments de liaison (13a, 14a) et la seconde paire d'éléments de liaison (13b, 14b), respectivement, par le biais de l'élément de barre transversale (15), dans laquelle les deuxième et troisième vérins hydrauliques (10, 11) au niveau de leurs extrémités extérieures sont fixés à l'élément de barre transversale (15) au niveau des extrémités opposées de celui-ci.
  4. Grue hydraulique selon l'une quelconque des revendications 1 à 3, caractérisée en ce que les deuxième et troisième vérins hydrauliques (10, 11) au niveau de leurs extrémités extérieures s'articulent sur les seconds éléments de liaison (14a, 14b) dans une position entre le cinquième axe de rotation (A5) et l'extrémité extérieure des seconds éléments de liaison.
  5. Grue hydraulique selon l'une quelconque des revendications 1 à 3, caractérisée en ce que les deuxième et troisième vérins hydrauliques (10, 11) au niveau de leurs extrémités extérieures s'articulent sur les premiers éléments de liaison (13a, 13b) dans une position entre le cinquième axe de rotation (A5) et l'extrémité extérieure des premiers éléments de liaison.
  6. Grue hydraulique selon l'une quelconque des revendications 1 à 5, caractérisée en ce que la seconde flèche de grue (8) est télescopiquement extensible de manière à permettre un réglage de la longueur d'extension de celle-ci.
  7. Grue hydraulique selon l'une quelconque des revendications 1 à 6, caractérisée en ce que la grue hydraulique (1) est une grue de camion ou une grue forestière.
EP16205464.7A 2016-12-20 2016-12-20 Grue hydraulique Active EP3339237B1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DK16205464.7T DK3339237T3 (da) 2016-12-20 2016-12-20 Hydraulisk kran
EP16205464.7A EP3339237B1 (fr) 2016-12-20 2016-12-20 Grue hydraulique
PCT/EP2017/080749 WO2018114250A1 (fr) 2016-12-20 2017-11-29 Grue hydraulique

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP16205464.7A EP3339237B1 (fr) 2016-12-20 2016-12-20 Grue hydraulique

Publications (2)

Publication Number Publication Date
EP3339237A1 EP3339237A1 (fr) 2018-06-27
EP3339237B1 true EP3339237B1 (fr) 2020-07-22

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WO (1) WO2018114250A1 (fr)

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Publication number Priority date Publication date Assignee Title
CN112405603B (zh) * 2019-08-20 2021-10-22 沈阳新松机器人自动化股份有限公司 一种重载大惯量转载机器人

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018080403A1 (fr) * 2016-10-25 2018-05-03 Tajfun Liv, Proizvodnja In Razvoj D.O.O. Grue pliable

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Publication number Priority date Publication date Assignee Title
SE402903B (sv) 1976-12-10 1978-07-24 Hiab Foco Ab Vid lastkranar fellbar kranarm
SE466911B (sv) * 1990-08-29 1992-04-27 Hiab Ab Vipparmskran
FI20030700A (fi) 2003-05-09 2004-11-10 Loglift Oy Ab Menetelmä nosturin puomiston ohjaamiseksi ja laitteisto menetelmän toteuttamiseksi

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