CN108313893B - A kind of fool proof crane of tool - Google Patents
A kind of fool proof crane of tool Download PDFInfo
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- CN108313893B CN108313893B CN201810152587.6A CN201810152587A CN108313893B CN 108313893 B CN108313893 B CN 108313893B CN 201810152587 A CN201810152587 A CN 201810152587A CN 108313893 B CN108313893 B CN 108313893B
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- crane
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- mast
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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
- B66C23/60—Derricks
- B66C23/605—Derricks employing ships' masts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- 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
- B66C23/62—Constructional features or details
-
- 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
- B66C23/62—Constructional features or details
- B66C23/72—Counterweights or supports for balancing lifting couples
- B66C23/78—Supports, e.g. outriggers, for mobile cranes
-
- 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
- B66C23/88—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Disclose a kind of crane, crane includes beam mechanism, main hoisting mechanism, auxiliary hoisting mechanism, jib lubbing mechanism, swing mechanism, walking mechanism, mast mechanism, balance weight mechanism, crawler belt telescoping mechanism, support leg mechanism, hydraulic system, electrical system, dynamical system, display system, safety device, control cabinl pulpit, suspension hook crane of the invention has high-performance, high-tech feature, it is user-friendly for operation and intelligent, and it high-precision can control, smoothly operation, more economical property, the features such as higher utilization rate and certainly dismounting ability, conscientiously manipulation problem is solved.
Description
Technical field
The present invention relates to crane fields, more particularly, are related to a kind of jib crane.
Background technique
Gin pole is big with its lifting capacity, working space is big, band carries walking, grounding pressure is small and can be by attachment device
It realizes the unique advantages such as a tractor serves several purposes gradually to comform in a lot of heavy-duty machines to show one's talent, become the outstanding person in engineering construction,
The fields such as power construction, bridge construction, petrochemical industry, water conservancy and hydropower are used widely, and have other lifting equipments can not generation
The status replaced.With the high speed development of modern economy, municipal works, industrial and mining enterprises, harbour, airport, nuclear power etc. construction rule
Mould is increasing, and gin pole relies on its distinctive advantage, and application is increasingly extensive, and series, performance and the function of product are increasingly
It is perfect, as application breadth and depth continues to increase, crawler crane structure, transmission, in terms of but occur change
Change, to consolidate and improve the integral level of gin pole, constantly improve product.Therefore, for this status, urgently
Need to develop a kind of novel gin pole, to meet the needs of actual use.
Summary of the invention
Therefore, in view of the shortcomings of the prior art, providing example of the invention to substantially solve since correlation is led
One or more problems caused by the limitation and disadvantage in domain, safety and reliability increase substantially, and effectively play guarantor
Protect the effect of equipment.
According to technical solution provided by the invention, the crane include beam mechanism, main hoisting mechanism, auxiliary hoisting mechanism,
Jib lubbing mechanism, swing mechanism, walking mechanism, mast mechanism, balance weight mechanism, crawler belt telescoping mechanism, support leg mechanism, hydraulic system,
Electrical system, dynamical system, display system, safety device, control cabinl pulpit, suspension hook.
The support leg mechanism is 4 points of supports, and the horizontal and vertical all-hydraulic manipulation of supporting leg, manipulation and control platform is mounted on chassis
Two sides further include filling level meter for leveling the console of crane, and the stabilizer blade of supporting leg is received and kept under vertical leg with flexural pivot device.
The hydraulic system is open type variable and the system quantitatively combined, pumps control mode using variable displacement with constant power,
Load feedback multi-way reversing control valve device including guide's electric proportional control, main manipulation valve are that load sensitive proportional multi-path changes
To valve, the mobile angle of pilot valve handle is directly proportional to input current, and the valve core opening displacement of main manipulation valve is inputted with pilot valve
Electric current is also directly proportional.
The safety device includes hydraulically balanced valve, Hydraulic Relief Valve, the hydraulic two-way lock positioned at hydraulic system, is also wrapped
Include limiter of moment, height limiting device, angular transducer, working arm extreme position alarm and protection system, complete machine horizontal sensor
Device, suspension hook Anti-hook releasing device, luffing hoisting ratchet lockable mechanism, excessive release of steel wire rope protective device, wirerope overwinding safety gears,
Anemobiagraph, crane arm anti-squat system, emergency stop button, monitoring system, long-range GPS monitoring system, memory black box, oil pressure
Sensor.
The angular transducer is installed on principal arm root, principal arm top, mast root and mast foot, the torque
Limiter includes that part of data acquisition, data calculating section and control output par, c, the part of data acquisition are converted by A/D
Device is constituted, and the calculating section is made of CPU, memory, and the defeated part of the control includes MOSFET driving.
The suspension hook upper end is equipped with double-shaft tilt angle beat sensor, defeated after the double-shaft tilt angle sensor measurement angle
Laser signal out is wirelessly transmitted to receiving end by ZigBee, IrDA and/or Wifi after converting using photoelectric conversion module, institute
Temperature sensor is additionally provided in the inclination angle beat sensor stated.
Further, the beam mechanism is truss structure, including principal arm and fixed auxiliary.
Further, the main hoisting mechanism include hydraulic motor, it is planet-gear speed reducer, rope groove elevator drum, normally closed
Formula brake, anti-winding wire ropes, there are three types of different lifting velocities for the main hoisting mechanism.
Further, the auxiliary hoisting mechanism include hydraulic motor, it is planet-gear speed reducer, rope groove elevator drum, normally closed
Formula brake, anti-winding wire ropes, can be with main hoisting mechanism individual operation, and there are three types of different raisings for the auxiliary hoisting mechanism
Speed.
Further, the jib lubbing mechanism by hydraulic differential motor, balanced valve, gear reduction unit, normally closed brake,
Pulley blocks, wirerope composition, independently can individually control.
Further, the swing mechanism include axial piston fixed displacement motor, planetary gear speed-reduction, Rotatary brake valve,
Pivoting support, normally closed brake, can 360 ° of full circle swinging campaigns and stepless time adjustment.
Further, the gearbox of the walking mechanism automatically controls, and manipulation can be selected automatically and/or manually, be had
16 forward gears and 2 are reversed gear, and track tensioning passes through jack tensioner.
Further, the mast mechanism includes pulling plate after mast front strut, counterweight, and when transport, mast, which is lain in, to be turned
Platform rear portion.
Further, the balance weight mechanism is Combined changable balance weight form, has manual remote control self-loading and self-unloading functions.
Further, the crawler belt telescoping mechanism includes supporting leg, cross cylinder, crawler belt, pulling plate, bolt, passes through vehicle frame
Outrigger connect with vehicle frame, it is flexible to be driven by oil cylinder.
Further, the electrical system includes 24V direct current, minus earth, 2 storage batteries, engine automatic start-stop
Device, engine preheating system, vehicle use CAN bus system.
Further, the engine of the dynamical system is six-in-line, water cooling, charge inter cooling, diesel engine.
Further, the display system includes 10.7 inches of big screen LCDs, shows engine speed, water
Temperature, fuel oil oil pressure, prexxure of the hydraulic pump, main motor pressure, host level of operation situation, engine use hour situation, when rise
When heavy-duty machine working condition exception, system will issue purple and/or warning red.
Further, the change angle of the jib lubbing mechanism is -1 ° ~ 82 °.
Further, the limiter of moment is made of digital lcd, host, signal adapter, sensor,
When hoisting moment reaches the 92% of rated moment, warning light is bright, and buzzer gives a warning, and is reaching the 98% of rated moment
When be automatically stopped the work of crane；The height limiting device includes the limit switch and weight on epimerite arm, when
Hook to operational height 98% when, limit switch movement issue signal, electrical system automatically cut off hook movement.
Further, the working arm extreme position alarm and protection system is by limiter of moment and limit switch twin-stage control
System；When wirerope is put to last three circles in reel, the excessive release of steel wire rope protective device issues signal, and electrical system is automatic
Rope off the hook movement is put in cutting；The sway bar of the crane arm anti-squat system is nested steel pipe, spring structure, is installed on principal arm
On coxopodite arm.
Further, the suspension hook has multiple groups model, and every group of suspension hook at least has 2 pulleys.
Further, the crane is unloaded by host is transported and is loaded and unloaded, and the host is unloaded to have and be held
Carrier vehicle bridge.
The crane has the characteristics that high-performance, high-tech, user-friendly for operation and intelligent, and high-precision can control
System, smoothly operate, more economical property, higher utilization rate and from dismounting ability the features such as.
Detailed description of the invention
Fig. 1 is overall schematic of the invention.
Fig. 2 is overall schematic of the invention.
Fig. 3 is disassembly schematic diagram of the invention.
Fig. 4 is assembling schematic diagram of the invention.
Specific embodiment
The present invention is further explained in the light of specific embodiments.
Below with reference to specific embodiment shown in the drawings, the present invention will be described in detail.But these embodiments are simultaneously
The present invention is not limited, structure that those skilled in the art are made according to these embodiments, method or functionally
Transformation is included within the scope of protection of the present invention.
With reference to the accompanying drawing and specific embodiment is further described application principle of the invention.
As illustrated in the accompanying drawings from 1 to 3, which includes beam mechanism, main hoisting mechanism, auxiliary hoisting mechanism, jib lubbing mechanism, returns
Rotation mechanism, mast mechanism, balance weight mechanism, crawler belt telescoping mechanism, support leg mechanism, hydraulic system, electrical system, moves walking mechanism
Force system, display system, safety device, control cabinl pulpit, suspension hook.
The support leg mechanism is 4 points of supports, and the horizontal and vertical all-hydraulic manipulation of supporting leg, manipulation and control platform is mounted on chassis
Two sides further include filling level meter for leveling the console of crane, and the stabilizer blade of supporting leg is received and kept under vertical leg with flexural pivot device.
The hydraulic system is open type variable and the system quantitatively combined, pumps control mode using variable displacement with constant power,
Load feedback multi-way reversing control valve device including guide's electric proportional control, main manipulation valve are that load sensitive proportional multi-path changes
To valve, the mobile angle of pilot valve handle is directly proportional to input current, and the valve core opening displacement of main manipulation valve is inputted with pilot valve
Electric current is also directly proportional.
The safety device includes hydraulically balanced valve, Hydraulic Relief Valve, the hydraulic two-way lock positioned at hydraulic system, is also wrapped
Include limiter of moment, height limiting device, angular transducer, working arm extreme position alarm and protection system, complete machine horizontal sensor
Device, suspension hook Anti-hook releasing device, luffing hoisting ratchet lockable mechanism, excessive release of steel wire rope protective device, wirerope overwinding safety gears,
Anemobiagraph, crane arm anti-squat system, emergency stop button, monitoring system, long-range GPS monitoring system, memory black box, oil pressure
Sensor.
The angular transducer is installed on principal arm root, principal arm top, mast root and mast foot, the torque
Limiter includes that part of data acquisition, data calculating section and control output par, c, the part of data acquisition are converted by A/D
Device is constituted, and the calculating section is made of CPU, memory, and the defeated part of the control includes MOSFET driving.
The suspension hook upper end is equipped with double-shaft tilt angle beat sensor, defeated after the double-shaft tilt angle sensor measurement angle
Laser signal out is wirelessly transmitted to receiving end by ZigBee, IrDA and/or Wifi after converting using photoelectric conversion module, institute
Temperature sensor is additionally provided in the inclination angle beat sensor stated.
The beam mechanism is truss structure, including principal arm and fixed auxiliary.
The main hoisting mechanism include hydraulic motor, planet-gear speed reducer, rope groove elevator drum, normally closed brake,
Anti- winding wire ropes, there are three types of different lifting velocities for the main hoisting mechanism.
The auxiliary hoisting mechanism include hydraulic motor, planet-gear speed reducer, rope groove elevator drum, normally closed brake,
Anti- winding wire ropes, can be with main hoisting mechanism individual operation, and there are three types of different lifting velocities for the auxiliary hoisting mechanism.
The jib lubbing mechanism is by hydraulic differential motor, balanced valve, gear reduction unit, normally closed brake, pulley blocks, steel
Cord composition, independently can individually control.
The swing mechanism include axial piston fixed displacement motor, planetary gear speed-reduction, Rotatary brake valve, pivoting support,
Normally closed brake, can 360 ° of full circle swinging campaigns and stepless time adjustment.
The gearbox of the walking mechanism automatically controls, and manipulation can be selected automatically and/or manually, has 16 advances
Gear reverses gear with 2, and track tensioning passes through jack tensioner.
The mast mechanism includes pulling plate after mast front strut, counterweight, and when transport, mast lies in turntable rear portion.
The balance weight mechanism is Combined changable balance weight form, has manual remote control self-loading and self-unloading functions.
The crawler belt telescoping mechanism includes supporting leg, cross cylinder, crawler belt, pulling plate, bolt, passes through the outrigger of vehicle frame
It is connect with vehicle frame, it is flexible to be driven by oil cylinder.
The electrical system includes 24V direct current, minus earth, and 2 storage batteries, are started engine automatic start-stop device
Machine preheating device, vehicle use CAN bus system.
The engine of the dynamical system is six-in-line, water cooling, charge inter cooling, diesel engine.
The display system includes 10.7 inches of big screen LCDs, display engine speed, water temperature, fuel oil oil
Pressure, prexxure of the hydraulic pump, main motor pressure, host level of operation situation, engine use hour situation, when crane work shape
When state exception, system will issue purple and/or warning red.
The change angle of the jib lubbing mechanism is -1 ° ~ 82 °.
The limiter of moment is made of digital lcd, host, signal adapter, sensor, works as lifting power
When square reaches the 92% of rated moment, warning light is bright, and buzzer gives a warning, and stops automatically when reaching the 98% of rated moment
The only work of crane；The height limiting device includes the limit switch and weight on epimerite arm, works as hook
To operational height 98% when, limit switch movement issue signal, electrical system automatically cut off hook movement.
The working arm extreme position alarm and protection system is by limiter of moment and limit switch Two-level Control；Work as reel
When interior wirerope is put to last three circles, the excessive release of steel wire rope protective device issues signal, and electrical system, which is automatically cut off, puts rope
Off the hook movement；The sway bar of the crane arm anti-squat system is nested steel pipe, spring structure, is installed on principal arm coxopodite arm
On.
The suspension hook has multiple groups model, and every group of suspension hook at least has 2 pulleys.
The crane is unloaded by host to be transported and is loaded and unloaded, and the host, which is unloaded, has carrying vehicle bridge.
The crane has the characteristics that high-performance, high-tech, user-friendly for operation and intelligent, and high-precision can control
System, smoothly operate, more economical property, higher utilization rate and from dismounting ability the features such as.
The orientation or positional relationship indicated in this specification be based on the orientation or positional relationship shown in the drawings, merely to
Convenient for description the present invention and simplify description, rather than the device or element of indication or suggestion meaning must have a particular orientation,
It is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In the present specification, identical embodiment or example is necessarily directed to the schematic representation of technical term.
Moreover, particular features, structures, materials, or characteristics described can be in any one or more of the embodiments or examples with suitable
Mode combines.In addition, without conflicting with each other, those skilled in the art can be by difference described in this specification
The feature of embodiment or example and different embodiments or examples is combined.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: not
A variety of change, modification, replacement and modification can be carried out to these embodiments in the case where being detached from the principle of the present invention and objective, this
The range of invention is defined by the claims and their equivalents.
Claims (5)
1. a kind of crane, the crane includes beam mechanism, main hoisting mechanism, auxiliary hoisting mechanism, jib lubbing mechanism, revolution
Mechanism, walking mechanism, mast mechanism, balance weight mechanism, crawler belt telescoping mechanism, support leg mechanism, hydraulic system, electrical system, power
System, display system, safety device, control cabinl pulpit and suspension hook, it is characterised in that:
The beam mechanism is truss structure, including principal arm and fixed auxiliary；
The main hoisting mechanism includes hydraulic motor, planet-gear speed reducer, rope groove elevator drum, normally closed brake, anti-twines
Around wirerope, there are three types of different lifting velocities for the main hoisting mechanism；
The auxiliary hoisting mechanism includes hydraulic motor, planet-gear speed reducer, rope groove elevator drum, normally closed brake, anti-twines
, can be with main hoisting mechanism individual operation around wirerope, there are three types of different lifting velocities for the auxiliary hoisting mechanism；
The jib lubbing mechanism is by hydraulic differential motor, balanced valve, gear reduction unit, normally closed brake, pulley blocks, wirerope
Composition, independently can individually control；
The swing mechanism includes axial piston fixed displacement motor, Rotatary brake valve, pivoting support, normally closed brake, can
360 ° of full circle swinging campaigns and stepless time adjustment；
The gearbox of the walking mechanism automatically controls, and manipulation can be selected automatically and/or manually, has 16 forward gears and 2
A to reverse gear, track tensioning passes through jack tensioner；
The mast mechanism includes pulling plate after mast front strut, counterweight, and when transport, mast mechanism lies in turntable rear portion；
The balance weight mechanism is Combined changable balance weight form, has manual remote control self-loading and self-unloading functions；
The crawler belt telescoping mechanism includes supporting leg, cross cylinder, crawler belt, pulling plate, bolt, passes through the outrigger and vehicle of vehicle frame
Frame connection；
The support leg mechanism is 4 points of supports, and horizontal support legs and the all-hydraulic manipulation of vertical leg, manipulation and control platform are mounted on chassis
Two sides further include filling level meter for leveling the console of crane, and the stabilizer blade of vertical leg receives and keeps vertical branch with flexural pivot device
Under leg；
The hydraulic system is open type variable and the system quantitatively combined, pumps control mode using variable displacement with constant power, including
The load feedback multi-way reversing control valve device of guide's electric proportional control, main manipulation valve are load sensitive proportional multi-path commutation
Valve, the mobile angle of pilot valve handle is directly proportional to input current, valve core opening displacement and the pilot valve input electricity of main manipulation valve
It flows also directly proportional；
The safety device includes hydraulically balanced valve, Hydraulic Relief Valve, the hydraulic two-way lock positioned at hydraulic system, further includes power
Square limiter, angular transducer, working arm extreme position alarm and protection system, complete machine horizon sensor, is hung height limiting device
Hook Anti-hook releasing device, luffing hoisting ratchet lockable mechanism, excessive release of steel wire rope protective device, wirerope overwinding safety gears, wind speed
Instrument, crane arm anti-squat system, emergency stop button, monitoring system, long-range GPS monitoring system, memory black box and oil pressure pass
Sensor；
The angular transducer is installed on principal arm root, principal arm top, mast root and mast foot, the torque limitation
Device includes part of data acquisition, data calculating section and control output par, c, and the part of data acquisition is by A/D converter structure
At the calculating section is made of CPU, memory, and the control output par, c includes MOSFET driving；Work as hoisting moment
When reaching the 92% of rated moment, warning light is bright, and buzzer gives a warning, and is automatically stopped when reaching the 98% of rated moment
The work of crane；The height limiting device includes the limit switch and weight on epimerite arm, when hook arrives
Operational height 98% when, limit switch movement issue signal, electrical system automatically cut off hook movement；
The suspension hook upper end is equipped with double-shaft tilt angle beat sensor, defeated after the double-shaft tilt angle beat sensor measurement angle
Laser signal out is wirelessly transmitted to receiving end by ZigBee, IrDA and/or Wifi after converting using photoelectric conversion module, institute
Temperature sensor is additionally provided in the double-shaft tilt angle beat sensor stated；
The electrical system includes that 24V direct current, minus earth, 2 storage batteries, engine automatic start-stop device and engine are pre-
Thermal, vehicle use CAN bus system；
The display system include 10.7 inches of big screen LCDs, display engine speed, water temperature, fuel oil oil pressure,
Prexxure of the hydraulic pump, main motor pressure, host level of operation situation, engine use hour situation, work as crane operating status
When abnormal, display system will issue purple and/or warning red；
The working arm extreme position alarm and protection system is by limiter of moment and limit switch Two-level Control；When steel in reel
When cord is put to last three circles, the excessive release of steel wire rope protective device issues signal, and electrical system, which is automatically cut off, puts rope off the hook
Movement；The sway bar of the crane arm anti-squat system is installed on principal arm coxopodite arm.
2. a kind of crane according to claim 1, it is characterised in that:
The change angle of the jib lubbing mechanism is -1 ° ~ 82 °.
3. a kind of crane according to claim 1, it is characterised in that:
The engine of the dynamical system is six-in-line, water cooling, charge inter cooling, diesel engine.
4. a kind of crane according to claim 1, it is characterised in that:
The suspension hook has multiple groups model, and every group of suspension hook at least has 2 pulleys.
5. a kind of crane according to claim 1, it is characterised in that:
The crane is unloaded by host to be transported and is loaded and unloaded, and the host, which is unloaded, has carrying vehicle bridge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810152587.6A CN108313893B (en) | 2018-02-17 | 2018-02-17 | A kind of fool proof crane of tool |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810152587.6A CN108313893B (en) | 2018-02-17 | 2018-02-17 | A kind of fool proof crane of tool |
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| Publication Number | Publication Date |
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| CN108313893A CN108313893A (en) | 2018-07-24 |
| CN108313893B true CN108313893B (en) | 2019-10-08 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109235514A (en) * | 2018-10-23 | 2019-01-18 | 江苏天煤机电科技有限公司 | A kind of mining multi-purpose crawler type traction loading truck-mounted crane |
| CN110550564A (en) * | 2019-08-14 | 2019-12-10 | 江苏天煤机电科技有限公司 | Special independent crawler type explosion-proof traction truck-mounted crane for mine |
| CN110436358A (en) * | 2019-08-14 | 2019-11-12 | 江苏天煤机电科技有限公司 | The explosion-proof traction truck-mounted crane of mining multifunctional crawler type |
| CN111120432B (en) * | 2020-03-05 | 2022-05-10 | 徐州徐工基础工程机械有限公司 | Rotary partition constant-pressure control system and method and tunnel cleaning robot |
| CN112185231A (en) * | 2020-09-29 | 2021-01-05 | 自贡华龙科技有限公司 | Anti-toppling large dinosaur simulation model installation method |
| CN112279169A (en) * | 2020-11-18 | 2021-01-29 | 江苏博宇建筑工程设备科技有限公司 | Suspension arm mechanism |
| CN114212716B (en) * | 2021-11-09 | 2024-04-05 | 中船华南船舶机械有限公司 | Crane system |
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| CN103171973A (en) * | 2013-03-28 | 2013-06-26 | 辽宁抚挖重工机械股份有限公司 | Main hook hoisting method under tower type work condition of crawler crane |
| CN203639019U (en) * | 2013-12-20 | 2014-06-11 | 太原重工股份有限公司 | Caterpillar crane with narrow gauge and large supporting legs |
| CN106185627A (en) * | 2016-07-06 | 2016-12-07 | 林汉丁 | Suspension hook drift angle monitoring device, vertical lifting supervising device and mobilecrane |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101700856A (en) * | 2009-10-30 | 2010-05-05 | 上海三一科技有限公司 | Hydraulic system for automatically controlling mast retraction of crawler crane |
| CN102259799A (en) * | 2011-05-05 | 2011-11-30 | 长沙中联重工科技发展股份有限公司 | Crawler crane installation torque control method and device, and crawler crane |
| CN103171973A (en) * | 2013-03-28 | 2013-06-26 | 辽宁抚挖重工机械股份有限公司 | Main hook hoisting method under tower type work condition of crawler crane |
| CN203639019U (en) * | 2013-12-20 | 2014-06-11 | 太原重工股份有限公司 | Caterpillar crane with narrow gauge and large supporting legs |
| CN106185627A (en) * | 2016-07-06 | 2016-12-07 | 林汉丁 | Suspension hook drift angle monitoring device, vertical lifting supervising device and mobilecrane |
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| Publication number | Publication date |
|---|---|
| CN108313893A (en) | 2018-07-24 |
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