JPH09272457A - Truck steering control device for cranne with weight truck - Google Patents

Truck steering control device for cranne with weight truck

Info

Publication number
JPH09272457A
JPH09272457A JP8387296A JP8387296A JPH09272457A JP H09272457 A JPH09272457 A JP H09272457A JP 8387296 A JP8387296 A JP 8387296A JP 8387296 A JP8387296 A JP 8387296A JP H09272457 A JPH09272457 A JP H09272457A
Authority
JP
Japan
Prior art keywords
turning
weight
wheel
traveling
wheels
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.)
Granted
Application number
JP8387296A
Other languages
Japanese (ja)
Other versions
JP2895437B2 (en
Inventor
Akira Kahara
Hiroshi Ohashi
寛 大橋
晃 花原
Original Assignee
Sumitomo Constr Mach Co Ltd
住友建機株式会社
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 Sumitomo Constr Mach Co Ltd, 住友建機株式会社 filed Critical Sumitomo Constr Mach Co Ltd
Priority to JP8387296A priority Critical patent/JP2895437B2/en
Publication of JPH09272457A publication Critical patent/JPH09272457A/en
Application granted granted Critical
Publication of JP2895437B2 publication Critical patent/JP2895437B2/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Abstract

PROBLEM TO BE SOLVED: To turn the respective wheels of a plurality of trucks towed by a crane, in the optimum directions, during slewing or running of the crane body, and prevent the abrasion of the wheels and to enhance the turning manipulability. SOLUTION: A slewing direction detecting part 110 is provided in a slewing mechanism part in a crane body with a plurality of weight trucks, for detecting a slewing direction of an upper slewing body, relative to a lower running body. In addition, a running direction detecting part 120 is provided, for a running angle of the lower running body, relative to the upper slewing body. Center control parts 500, 600 are provided in the weight trucks 5, 6, respectively, and towing order determining parts 510, 610 are also provided. In addition, turning instructions for wheels are delivered from the central control parts 500, 600 of the weight trucks to turning control parts which therefore turn each wheels, independenly, in directions suitable for the turning or running of the main body.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane with a weight carriage, and more particularly, a plurality of weight carriages are towed to a rear portion of a main body, and each wheel of the weight carriage is rotated when the main body turns or travels. The present invention relates to a trolley steering control device to be turned.

[0002]

2. Description of the Related Art A crane with a weight carriage of this type comprises a body equipped with a boom and a winch unit and a weight carriage towed to the rear of the body. Attach freely.
Then, the tip of the mast boom and the weight carriage are connected by a suspension pendant rope, and a reaction force to the rear with respect to the hook load is taken. In addition, a steering cylinder is attached to the traveling portion of the weight carriage so that each wheel of the weight carriage can be independently turned.

Further, there is also known a crane in which a plurality of weight carriages are towed to the rear portion of the main body in order to increase the lifting load. In such a crane with weight carriage, balance brackets are installed and connected between the respective weight carriages, and the tip end of the mast boom and the balance bracket are connected by a suspension pendant rope. The shapes of the weight carriages are the same or similar.

Normally, when a crane with a weight carriage travels, the wheels of the weight carriage are set in the front-rear direction of the upper revolving structure. For example, the lower traveling structure is inclined with respect to the upper revolving structure. When traveling, each wheel is turned 45 degrees with respect to the front-rear direction of the upper swing body so that the weight carriage can easily move in the traveling direction of the main body. Further, when the main body turns, each wheel is turned 90 degrees with respect to the front-back direction of the upper turning body and directed in the circumferential direction of turning,
Allow the weight carriage to move easily in the turning direction.

The turning angle of each wheel of the weight truck is
A limit switch is provided separately for each steering cylinder of each wheel, and the operator sets the limit switch according to the set angle.

[0006]

In the conventional crane with weight carriage, each wheel of the weight carriage is turned in accordance with the traveling and turning directions of the main body, but the turning direction of each wheel is preset by the limit switch. Each wheel is not always rotated in the optimum direction because it is limited only to the specified angle. Therefore, the ground resistance of each wheel may become large and the wheels may be worn, or the weight carriage may become difficult to move.

Further, every time the traveling and turning directions of the main body are changed, it is troublesome to reset the limit switches of the wheels of the weight truck, and particularly when a plurality of weight trucks are being towed, the operator is required to reset the limit switches. The burden is extremely heavy.

[0008] Therefore, when the main body of the crane towed by a plurality of weight carriages is turned or traveled, each wheel of each weight carriage is turned in an optimum direction to prevent wheel wear and a turning operation. The technical problem to be solved in order to improve the property arises, and an object of the present invention is to solve this problem.

[0009]

DISCLOSURE OF THE INVENTION The present invention has been proposed in order to achieve the above-mentioned object, in which a boom and winch unit are mounted on a main body composed of a lower traveling body and an upper revolving superstructure, and a rear portion of the main body is mounted. A plurality of weight carriages are towed and a mast boom is mounted at the boom rear position of the main body so as to be rotatable back and forth, and a balance bracket is erected and connected between the plurality of weight carriages to connect the tip end of the mast boom. In the crane with weight carriage, which is connected to the balance bracket with a suspension pendant rope, and further, each steering wheel is attached to the traveling part of each weight carriage so that each wheel can rotate independently. Each of the weight carriages is provided with a pulling order determination unit, and means for detecting the turning direction and the traveling direction of the main body, and each weight carriage Provided is a vehicle steering control device for a crane with a weight truck, which is provided with means for detecting the turning direction of the wheels, and turns each wheel of each weight truck in a direction suitable for turning or traveling of the main body. To do.

[0010]

Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 shows a crane 1 with a weight carriage, and a main body 4 on which a boom 2 and a winch unit 3 are mounted, and a plurality of weight carriages 5 and 6 are towed behind the main body 4. The weight truck 5 in front is the first unit,
If the rear weight truck 6 is No. 2, the weight truck 5 of No. 1 is connected to the rear portion of the upper revolving structure 4a by the connecting link L 1 , and the weight truck 6 of No. 2 is connected to the weight truck 5 by the connecting link L 2 . It is connected to the rear.

On the other hand, the boom 2 is attached to the front part of the main body 4 so as to be rotatable back and forth, and the mast boom 7 is placed at the rear position of the boom 2.
Also, a high mast 8 is mounted so as to be rotatable back and forth. A top sheave 9 and a guide sheave 10 are pivotally attached to the tip of the boom 2, and a hook rope 11 is attached to each sheave.
Is wound and the hook 12 is suspended. The hook rope 1
1 is connected to the winch unit 3 via guide sheaves 13 and 14 provided on the mast boom 7.

Further, one end of the boom pendant rope 15 is locked to the rear end of the boom 2, the bridle 16 is connected to the other end of the boom pendant rope 15, and the top sheave 17 is pivotally attached to the end of the mast boom 7. To do. Then, a boom hoisting rope 19 is wound between the bridle 16 and the bail 18.
Is connected to the winch unit 3 through the top sheave 17.

Further, one end of the mast pendant rope 20 is locked to the tip of the mast boom 7, a bridle 21 is connected to the other end of the mast pendant rope 20, and a top sheave 22 is pivotally attached to the tip of the high mast 8. . Then, a mast hoisting rope 24 is wound between the bridle 21 and the bail 23.
Is connected to the winch unit 3 through the top sheave 22.

Here, the high mast 8 is a gate-shaped strut 25 pivotally mounted so as to be rotatable back and forth, and the strut 2
5 includes a pair of left and right stays 26 that support the tip of the rear end 5 from the rear, and the stays 26 can be expanded and contracted by hydraulic pressure.

Further, a balance bracket 27 is erected and connected between the plurality of weight carriages 5 and 6, and the tip of the mast boom 7 and the balance bracket 27 are connected by a suspension pendant rope 28, and the mast boom 7 is connected. The reaction force to the rear against.

Reference numeral 29 is a boom back stop, which supports the lower portion of the rear surface of the boom 2 so that the boom 2 does not exceed the maximum angle. Further, reference numeral 30 is a mast boom back stop, which supports the lower part of the rear surface of the mast boom 7.

FIG. 2 shows a weight carriage 5. The weight carriage 5 is equipped with first to fourth wheels 31 to 34 whose front and rear positions are displaced from each other, and the jack cylinder 3 is provided at several places.
5, 35 ... Are provided. The jack cylinder 35 is kept in a contracted state during traveling of the crane 1 with weight truck and during normal work.

The weight carriage 5 which is the first machine and the weight carriage 6 which is the second machine have almost the same shape. The difference between them is that the weight carriage 5 located in the front is connected to the front and rear connecting links L 1 and L 2 is attached,
A connecting link L 2 is attached only to the front of the weight carriage 6 located at the rear. In addition, a balance bracket 27 is provided between the weight carriage 5 and the weight carriage 6.
Is erected and connected, and the lower end of the suspension pendant rope 28 is connected.

FIG. 3 shows a first wheel 31 of the weight carriage 5 as an example of a traveling portion of the weight carriages 5 and 6.
A bracket 38 is pivotally attached to the carriage frame 36 through a revolving bearing 37 so as to be rotatable in the horizontal direction. A suspension cylinder 39 is arranged downward on the bracket 38, and an arm 40 is pivotally attached sideways. The piston rod of the suspension cylinder 39 is connected to the intermediate portion of the arm 40, and the hub 41 of the first wheel 31 is attached to the tip portion of the arm 40. A hydraulic motor 42 is attached to the first wheel 31.

The suspension cylinder 39 and the hydraulic motor 42 are connected to the carriage frame 3 via a rotary joint 43.
Pressure oil is supplied from the 6 side and the vertical movement of the first wheel 31 received from the ground is buffered by the suspension cylinder 39, and the first wheel 31 is rotationally driven by the hydraulic motor 42. Further, the suspension cylinder 39 is provided with a stroke detector 44 and a pressure detector 45,
The reaction force from the ground of the first wheel 31 is detected.

Here, the bracket 4 is attached to the carriage frame 36.
6, the steering cylinder 47 is arranged laterally, and the column 48 is provided above the bracket 38.
And the link arm 4 is attached to the upper end of the column 48.
The piston rod of the steering cylinder 47 is connected via 9, 50.

FIG. 4 shows the operation of the steering cylinder 47, with one end 4 of the link arm 49 on the carriage frame 36.
9a is pivotally attached, and the other end 49b of the link arm 49 is connected to the upper end of the column 48 via a link arm 50. In addition, the intermediate portion 49c of the link arm 49
A piston rod of a steering cylinder 47 is pivotally attached to the shaft, and one end of a sensor of a stroke detector 51 is locked.

When the piston rod of the steering cylinder 47 is contracted from the state shown by the solid line in the figure,
The link arm 49 rotates rightward in the drawing around its one end 49a. At this time, the other end 4 of the link arm 49
The column 48 is pressed to the right through the link arm 50 connected to 9b. Since the column 48 is fixedly mounted on the upper portion of the bracket 38, the bracket 38 rotates clockwise around the rotary joint 43 together with the column 48 as shown by the chain double-dashed line in the figure. On the other hand, when the piston rod of the steering cylinder 47 is extended, the bracket 38 rotates counterclockwise about the rotary joint 43.

Thus, the expansion and contraction of the steering cylinder 47 causes the bracket 38 to rotate in the horizontal direction, so that the first wheel 31 can be turned by an arbitrary angle. Then, the stroke detector 51 and the rotary joint 4
The turning direction detector 52 provided at 3 detects the turning angle and the turning direction of the first wheel 31.

Although not shown, the other wheels of the weight carriage 5 and the wheels of the weight carriage 6 are also provided with traveling portions in the same manner as the first wheels 31, and each wheel is independent. In addition to being able to drive and rotate, the reaction force of the wheels can be detected.

Here, as shown in FIG. 5, when the crane 1 with weight carriage is turned, the upper turning body 4a is turned around the turning center portion 53 of the main body 4 as an axis. At this time, the wheels 31 to 34 of the weight carriage 5 and the wheels 54 to 57 of the weight carriage 6 need to be turned in the turning direction.

Now, centering around the turning center portion 53 of the main body 4.
While turning the first and fourth wheels of the weight carriage 5
Circle passing through the cores (center axis of rotary joint) 31a, 34a
Lap D1And the turning center portion 32 of the second and third wheels.
D, the circumference passing through a and 33a TwoAnd Also the way
Turning central portions 54a, 5 of the first and fourth wheels of the carriage 6
D around the circumference passing 7aThreeOf the second and third wheels
The circumference passing through the turning center portions 55a and 56a is DFourToss
You.

Then, the wheels 31 to 34 and 54 to 57, respectively.
By operating a steering cylinder provided in the vehicle to move the first and fourth wheels 31, 34 of the weight carriage 5 around the circumference D.
While turning in the tangential direction of 1 , the second and third wheels 32, 33 are turned in the tangential direction of the circumference D 2 . Further, the first and fourth wheels 54 and 57 of the weight carriage 6 are turned in the tangential direction of the circumference D 3 , and the second and third wheels 55 and 56 are turned in the tangential direction of the circumference D 4. Direct.

In this way, when the main body 4 turns, the wheels 31 to 34 of the weight carriage 5 and 54 to 5 of the weight carriage 6 are moved.
7 Turning the wheels independently in correspondence with the turning direction is referred to as the state in which the vehicle steering control is in the "turning mode".

Further, as shown in FIG. 6, the upper swing body 4a
On the other hand, when the lower traveling body 4b is caused to travel obliquely by the angle α, it is necessary to turn the wheels 31 to 34 of the weight carriage 5 and the wheels 54 to 57 of the weight carriage 6 in the traveling direction of the main body 4. is there.

That is, the steering cylinders provided on the wheels 31 to 34 and 54 to 57 are operated to move the wheels 31 to 31 by an angle α with respect to the center line C of the upper swing body 4a.
Turn 34 and 54-57 to the right. In this way, the wheels 31 to 3 of the weight carriage 5 when the main body 4 travels.
Turning the wheels 54 to 57 of the vehicle 4 and the weight carriage 6 to the same angle in correspondence with the traveling direction is referred to as the state that the vehicle steering control is in the "travel mode".

Next, the bogie steering control device will be described with reference to the block diagram of FIG. An operation selection unit 70 and an operation display unit 80 for trolley steering control are provided in the cabin of the main body 4. The operation selection unit 70 includes a turning mode switch 71, a traveling mode switch 72, an emergency operation stop switch 73, and the like. The operation / display section 80 is provided with a turning mode indicator lamp 81, a traveling mode indicator lamp 82, an alarm device 83, and the like.

The operator determines which trolley steering control mode the weight trolleys 5 and 6 are to be in by operating the crane 1 with weight trolley, and selects either the turning mode switch 71 or the traveling mode switch 72. Turn on. The switch signal of the operation selection unit 70 is sent to the main body safety management unit 90 and the general control unit 100.

The upper swing body 4a and the lower traveling body 4 are also provided.
The turning direction detecting unit 110 is installed in the turning mechanism provided between the upper traveling body 4b and the lower traveling body 4b.
The traveling direction detection unit 12 detects the turning direction of a.
0 is set to detect the traveling angle of the lower traveling body 4b with respect to the upper revolving body 4a. The detection signals of the turning direction detecting unit 110 and the traveling direction detecting unit 120 are sent to the main body safety management unit 90. Based on this detection signal and the switch signal, the main body safety management unit 90 determines whether or not it is possible to change to the cart steering control mode selected by the operator, and sends the determination result to the general control unit 100.

When the mode can be changed, the general control unit 100 sends an operation signal including data such as the turning direction and traveling direction of the main body 4 to the operation centralized control unit 500 of the weight carriage 5, and the weight carriage 6 is operated. Centralized control unit 60
Similarly, an operation signal is sent to 0. At the same time, a signal is sent to the operation display unit 80 to turn on or blink the turning mode indicator lamp 81 or the traveling mode indicator lamp 82 according to the selected mode.

In the present embodiment, the turning mode indicator lamp 81 or the traveling mode indicator lamp 82 is made to blink in the middle of the control after the control of the mode change is started, and the turning of each wheel is completed and the target mode is set. When reaching, the turning mode indicator lamp 81 or the traveling mode indicator lamp 82 is turned on.

On the other hand, when the mode cannot be changed,
The comprehensive control unit 100 sends a stop signal to the operation display unit 80 to activate the alarm device 83 to notify the operator of the stop of the truck steering control.

Here, the weight trucks 5 and 6 are respectively provided with pulling order determination units 510 and 610, and it is determined whether the trucks are the first vehicle or the second vehicle. As described above, the weight carriage 5 and the weight carriage 6 have almost the same shape, but the connecting links L 1 and L 2 are provided in front of and behind the carriage.
Is attached, it is determined to be the first machine in the front, and when the connecting link L 2 is attached only to the front of the carriage, it is determined to be the second machine in the rear.

The determination results of the pulling order determination units 510 and 610 become turning angle reference signals, which are input to the respective operation centralized management units 500 and 600 and sent to the main body safety management unit 90. Then, the centralized operation management unit 500 recognizes that the weight carriage 5 is the first unit, and based on the turning angle reference signal and the operation signal sent from the general control unit 100, turning of the first wheel 31 is performed. The control management unit 520,
Turning control management unit 530 of second wheel 32, third wheel 3
A turning signal for each wheel is sent to the turning control management unit 540 of No. 3 and the turning control management unit 550 of the fourth wheel 34.

Similarly to this, the operation centralized management unit 600
Then, it recognizes that the weight carriage 6 is the second machine, and based on the turning angle reference signal and the operation signal sent from the general control unit 100, the turning control management unit 62 of the first wheel 54.
0, a turning control management unit 630 for the second wheel 55, a turning control management unit 640 for the third wheel 56, and a turning control management unit 650 for the fourth wheel 57. send.

As shown in FIG. 8, each turning control management section is provided with a wheel turning control section, and the turning angle and turning direction of the wheel are controlled by the stroke detector and turning direction detector described above. When there is a turning command to the turning control management unit, the control valve of the steering cylinder is feedback-controlled to turn the wheel to the turning angle calculated by the operation centralized management unit. Then, when the turning of the wheels is completed, a turning end signal is sent from the turning control management unit to the operation centralized management unit.

As shown in FIG. 7, each of the weight carriages 5 and 6 is provided with a turning control management section for each wheel, and each wheel is independently set according to the turning direction and the traveling direction of the main body 4. Then, when the turning of each wheel is completed, a turning completion signal is sent to the operation centralized management unit 500 or 600.

When the steering control in each turning control management unit is completed, the total control unit 100 is operated.
Sends a signal to the operation display unit 80 to turn on the turning mode indicator lamp 81 or the traveling mode indicator lamp 82 to inform that the change to the cart steering control mode selected by the operator is completed.

Now, for example, when the operator selects the turning mode switch 71 to carry out steering control, the turning mode indicator lamp 81 blinks, and as shown in FIG. 5, the weight is moved in the direction suitable for turning of the main body 4. The wheels 31 to 34 of the dolly 5 and the wheels 54 to 57 of the weight dolly 6 independently turn, and when the turning is completed in a predetermined direction, the turning mode indicator lamp 81 is turned on.

On the other hand, when the operator selects the traveling mode switch 72 to carry out steering control, the turning mode indicator lamp 82 blinks and the main body 4 as shown in FIG.
The wheels 31 to 31 of the weight carriage 5 in a direction suitable for traveling
34 and the wheels 54 to 57 of the weight carriage 6 are turned at the same angle, and when the turning is completed in a predetermined direction, the turning mode indicator lamp 82 is turned on.

If the operator feels a danger or wants to interrupt the control during steering control,
Emergency stop switch 73 provided in the operation selection unit 80
By pressing, the control is stopped midway and the operation of all the steering cylinders can be stopped. At this time, the alarm 83 of the operation display unit 80 is activated to notify the suspension of the vehicle steering control.

The present invention can be modified in various ways without departing from the spirit of the present invention, and it goes without saying that the present invention covers the modifications.

[0048]

As described above, according to the present invention, the pulling order of a plurality of weight carriages is determined and each wheel of each weight carriage is independently controlled, so that the main body can be turned or run. Turn each wheel in the direction automatically. Therefore, since each wheel turns in the optimum direction, the ground resistance of each wheel becomes small, and the wheel wear can be prevented.

Further, since all the wheels of the plurality of weight carriages automatically turn, the burden on the operator is reduced and the operability of turning and traveling is improved.

[Brief description of drawings]

FIG. 1 is a side view of a crane with a weight truck showing an embodiment of the present invention.

FIG. 2 (a) is a plan view of the first weight truck, and FIG. 2 (b).
Is a rear view of the weight truck.

FIG. 3 is a vertical cross-sectional view showing a traveling portion of a first wheel.

FIG. 4 is a plan view showing the operation of the steering cylinder of the first wheel.

FIG. 5 is an explanatory diagram showing a trolley steering control state in a “turning mode”.

FIG. 6 is an explanatory diagram showing a trolley steering control state in a “travel mode”.

FIG. 7 is a block diagram of a bogie steering control device.

FIG. 8 is a block diagram of a turning control management unit.

[Explanation of symbols]

 1 Crane with weight truck 2 Boom 3 Winch unit 4 Main body 4a Upper swing body 4b Lower traveling body 5,6 Weight truck 7 Mast boom 27 Balance bracket 28 Suspended pendant rope 31, 54 First wheel 32, 55 Second wheel 33 , 56 Third wheel 34, 57 Fourth wheel 47 Steering cylinder 110 Turning direction detection unit 120 Traveling direction detection unit 500, 600 Centralized operation management unit 510, 610 Traction order determination unit

Claims (1)

[Claims]
1. A boom and winch unit is attached to a main body composed of a lower traveling body and an upper revolving structure, a plurality of weight carriages are towed to the rear of the main body, and a mast boom is rotated back and forth to a position behind the boom of the main body. While being freely attached,
A balance bracket is erected and connected between the plurality of weight carriages, the tip of the mast boom and the balance bracket are connected by a suspension pendant rope, and further, a steering cylinder is attached to the traveling portion of each weight carriage. In a crane with a weight carriage capable of independently turning each wheel, a means for detecting a turning direction and a traveling direction of the main body is provided, while each of the plurality of weight carriages is provided with a pulling order determination unit. Means for detecting the turning direction of each wheel of the weight truck, and each wheel of each weight truck is turned in a direction suitable for turning or traveling of the main body. A truck steering control device for a crane with a truck.
JP8387296A 1996-04-05 1996-04-05 Bogie steering control device for crane with weight bogie Expired - Fee Related JP2895437B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP8387296A JP2895437B2 (en) 1996-04-05 1996-04-05 Bogie steering control device for crane with weight bogie

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8387296A JP2895437B2 (en) 1996-04-05 1996-04-05 Bogie steering control device for crane with weight bogie

Publications (2)

Publication Number Publication Date
JPH09272457A true JPH09272457A (en) 1997-10-21
JP2895437B2 JP2895437B2 (en) 1999-05-24

Family

ID=13814757

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8387296A Expired - Fee Related JP2895437B2 (en) 1996-04-05 1996-04-05 Bogie steering control device for crane with weight bogie

Country Status (1)

Country Link
JP (1) JP2895437B2 (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007056970A1 (en) * 2005-11-17 2007-05-24 Terex-Demag Gmbh & Co. Kg Modular counterweight carriage for cranes, in particular for large cranes
CN102001593A (en) * 2009-08-26 2011-04-06 利勃海尔爱茵根有限公司 Crane
JP2011162306A (en) * 2010-02-09 2011-08-25 Kobelco Cranes Co Ltd Mobile crane
CN103086286A (en) * 2011-11-01 2013-05-08 神钢起重机株式会社 Crane equipped with travelable counterweight unit
JP2013100161A (en) * 2011-11-08 2013-05-23 Kitashikoku Crane Co Ltd Counterweight support device for crane, and crane system
US20170015533A1 (en) * 2015-07-14 2017-01-19 Kobelco Construction Machinery Co., Ltd. Mobile crane

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007056970A1 (en) * 2005-11-17 2007-05-24 Terex-Demag Gmbh & Co. Kg Modular counterweight carriage for cranes, in particular for large cranes
US8162160B2 (en) 2005-11-17 2012-04-24 Terex Demag Gmbh Modular counterweight carriage for cranes, in particular for large crane
CN102001593A (en) * 2009-08-26 2011-04-06 利勃海尔爱茵根有限公司 Crane
EP2289834A3 (en) * 2009-08-26 2013-03-06 Liebherr-Werk Ehingen GmbH Crane
JP2011162306A (en) * 2010-02-09 2011-08-25 Kobelco Cranes Co Ltd Mobile crane
CN103086286A (en) * 2011-11-01 2013-05-08 神钢起重机株式会社 Crane equipped with travelable counterweight unit
JP2013095283A (en) * 2011-11-01 2013-05-20 Kobelco Cranes Co Ltd Counterweight truck controlling device
US8960461B2 (en) 2011-11-01 2015-02-24 Kobelco Cranes Co., Ltd. Crane equipped with travelable counterweight unit
JP2013100161A (en) * 2011-11-08 2013-05-23 Kitashikoku Crane Co Ltd Counterweight support device for crane, and crane system
US20170015533A1 (en) * 2015-07-14 2017-01-19 Kobelco Construction Machinery Co., Ltd. Mobile crane
US9850107B2 (en) * 2015-07-14 2017-12-26 Kobelco Construction Machinery Co., Ltd. Mobile crane

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