CN107572432A - A kind of crawler crane self-balancing system - Google Patents
A kind of crawler crane self-balancing system Download PDFInfo
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- CN107572432A CN107572432A CN201710964868.7A CN201710964868A CN107572432A CN 107572432 A CN107572432 A CN 107572432A CN 201710964868 A CN201710964868 A CN 201710964868A CN 107572432 A CN107572432 A CN 107572432A
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- hydraulic cylinder
- crawler crane
- extension supporting
- supporting leg
- main frame
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Abstract
The invention discloses a kind of crawler crane self-balancing system,Including PLC,Moving counterweight,Counterweight adjusting module and at least three extension supporting legs on the outside of track frame surrounding,The moving counterweight is arranged on the main frame vehicle body upper portion of crawler crane by counterweight adjusting module,Multiple extension supporting legs are symmetrically distributed in track frame surrounding,Extension supporting leg includes horizontal component and vertical portion,Horizontal component is connected with track frame,Vertical portion is retractable supports,The pressure sensor for monitoring its pressure-bearing pressure is provided with the retractable supports,Main frame vehicle body upper portion is additionally provided with the position sensor for detecting its anglec of rotation,PLC bears pressure and the main frame vehicle body upper portion anglec of rotation by each extension supporting leg,Then moving counterweight position is adjusted by counterweight adjusting module,Reach the purpose of crawler crane self-balancing.The present invention greatly reinforces the stability of complete machine, high security, have greatly expanded crawler crane to operating environment accommodation.
Description
Technical field
The invention belongs to engineering machinery field, is related to a kind of crane stability regulating system, and in particular to a kind of crawler belt
Formula crane self-balancing system.
Background technology
Present crawler crane supporting leg just uses when simply mounting and dismounting main frame, and install does not make under working condition
With supporting leg, original host dismounting is small with supporting leg supporting surface, and the supporting surface of two crawler belt compositions is larger, therefore leans on two crawler belts during use
Contact ground.The important lifting occasion allowed for double-machine lifting crane occasion and space enrironment, the complete machine stability of original host is often
It is the weak link of whole lifting system；It is whole in the case of some extreme cases such as strong wind and heavy rain or uneven settlement of foundation
The risk tumbled be present in machine.
The content of the invention
It is an object of the invention to improve crawler crane stability in slinging work, increase operating environment, reduce
The risk toppled.
In order to solve the above problems, the technical solution adopted by the present invention is：
A kind of crawler crane self-balancing system, it is characterised in that：Including PLC, moving counterweight, with recanalization
Module and at least three extension supporting legs on the outside of track frame surrounding, the counterweight adjusting module include horizontal slide rail and longitudinal direction
Slide rail, the longitudinal slide rail are fixedly mounted on the main frame vehicle body upper portion of crawler crane, and horizontal slide rail is transported by longitudinal straight line
Dynamic drive device is arranged in longitudinal slide rail, and the moving counterweight is arranged on horizontal slide rail by horizontal actuating device of the linear motion
On, linear longitudinal movement drive device and horizontal actuating device of the linear motion are controlled by PLC, multiple extension supporting legs
Track frame surrounding is symmetrically distributed in, the extension supporting leg includes horizontal component and vertical portion, and horizontal component is connected with track frame,
Vertical portion is retractable supports, and the pressure sensor for monitoring its pressure-bearing pressure, main frame car body are provided with the retractable supports
Top, which is additionally provided with, detects its position sensor relative to the main frame lower car body anglec of rotation, what the position sensor detected
The pressure sensor signal of angle signal and each extension supporting leg accesses PLC, and PLC passes through each extension branch
Leg bears pressure and main frame vehicle body upper portion relative to the main frame lower car body anglec of rotation to adjust moving counterweight position, reaches shoe
The purpose of belt lifter self-balancing.
As an improvement, the horizontal component of the extension supporting leg is horizontal hydraulic cylinder, vertical portion is vertical hydraulic cylinder, described
Pressure sensor is in the rodless cavity oil circuit of vertical hydraulic cylinder.
As an improvement, the horizontal component of the extension supporting leg is used with track frame and is detachably connected, the horizontal hydraulic cylinder
With the hydraulic system of vertical hydraulic cylinder connecting band track formula lifting motor spindle.
As an improvement, the oil circuit of the vertical hydraulic cylinder is provided with the bidirectional hydraulic lock for being used for locking hydraulic cylinder extension.
As an improvement, the linear longitudinal movement drive device and horizontal actuating device of the linear motion are hydraulic cylinder knot
Structure, the oil circuit of both hydraulic cylinders are connected with crawler crane oil piping system.
As an improvement, the horizontal slide rail is made with longitudinal slide rail of two parallel I-steel.
As an improvement, stiffener plate is provided between the longitudinal slide rail bottom and main frame vehicle body upper portion.
As an improvement, the bottom of the vertical hydraulic cylinder of the extension supporting leg is provided with the row for being used for cutting off crane walking operation
Cheng Kaiguan, the travel switch signal access PLC, and the oil circuit of crane walking operation is cut off by PLC.
As an improvement, the extension supporting leg has 4,4 extension supporting legs are symmetrically distributed in track frame both sides.
The beneficial effects of the invention are as follows：
1st, the present invention sets a temporary support system again outside former crane structure, strengthens the overall stability of equipment.
For big part and superelevation lifting operation, resistivity of the Lift-on/Lift-off System to uneven settlement of foundation is strengthened；For strong wind and heavy rain
The windproof resistant to tipping ability of period parked hoisting machinery can also be strengthened.
2nd, pressure sensor is set inside temporary extension supporting leg, pressure is monitored, using extending pressure of support leg value (left and right
Contrast, front and rear contrast) control car body moving counterweight moving direction and stroke, make it is each extension supporting leg load close to equilibrium.
3rd, the setting (such as forbidding walking) of the security of auxiliary, the security of extension leg system has been ensured.
4th, the stability of complete machine is greatly reinforced, the important lifting occasion allowed for double-machine lifting crane occasion and space enrironment,
This frock can be used, improves security.Crane is in inactivity during strong wind or heavy rain, can also apply this frock.
Brief description of the drawings
Fig. 1 is main frame bottom and extension supporting leg layout drawing.
Fig. 2 is extension leg structure schematic diagram.
Fig. 3 controls oil circuit schematic diagram for extension supporting leg.
Fig. 4 is that main railcar body top extends supporting leg and moving counterweight location diagram when deflecting 0 °.
Fig. 5 is that main railcar body top extends supporting leg and moving counterweight location diagram when deflecting 90 °.
Fig. 6 is that main railcar body top extends supporting leg and moving counterweight location diagram when deflecting 180 °.
Fig. 7 is that main railcar body top extends supporting leg and moving counterweight location diagram when deflecting 270 °.
Fig. 8 is that main railcar body top extends supporting leg and moving counterweight location diagram when deflecting general angle.
Fig. 9 is counterweight adjusting module schematic top plan view.
Figure 10 is counterweight adjusting module side view.
Figure 11 is counterweight adjusting module hydraulic circuit diagram.
Figure 12 is that moving counterweight all around moves control block diagram.
Reference：1- main frame lower car bodies, 2- pivoting supports, 3- main frames peace tear landing leg hydraulic cylinder open, and 4- main frames peace tears branch open
Leg support, 5- track frames, 7- extension supporting leg periprocts, 8- extension supporting legs save substantially, 9- extension supporting leg stretching, extension sections, 10- vertical hydraulics
Cylinder, 11- horizontal hydraulic cylinders, 12- pressure sensors, 13- travel switches, 14- bidirectional hydraulic locks, 15- hand-operated direction valves one, 16-
Hand-operated direction valve two, 17- main frame vehicle body upper portions, 18- longitudinal slide rails, 19- horizontal slide rails, the longitudinally adjusted hydraulic cylinders of 20-, 21- are horizontal
To adjustment hydraulic cylinder, 22- moving counterweights, 23- stiffener plates, 24- solenoid directional control valves one, 25- solenoid directional control valves two.
Embodiment
The present invention is illustrated below in conjunction with the accompanying drawings
As shown in Figure 1 to 11, a kind of crawler crane self-balancing system, including PLC, moving counterweight 22,
Counterweight adjusting module and 4 extension supporting legs on the outside of the surrounding of track frame 5, the counterweight adjusting module include horizontal slide rail 19
With longitudinal slide rail 18, the longitudinal slide rail 18 is fixedly mounted on the main frame vehicle body upper portion 17 of crawler crane, horizontal slide rail 19
It is arranged on by longitudinally adjusted hydraulic cylinder 20 in longitudinal slide rail 18, longitudinally adjusted hydraulic cylinder 20 drives horizontal slide rail 19 in longitudinal cunning
Moved forward and backward on rail 18；The moving counterweight 22 passes through transverse direction by laterally adjusting hydraulic cylinder 21 in horizontal slide rail 19
Adjustment hydraulic cylinder 21 drives moving counterweight 22 to be moved left and right in horizontal slide rail 19, so as to drive moving counterweight 22 relative to master
All around all directions move without dead angle on railcar body top 17, laterally adjust hydraulic cylinder 21 and longitudinally adjusted hydraulic cylinder 20
Oil circuit is connected with crawler crane oil piping system, is controlled by PLC control, using crawler crane in itself
Oil piping system be used as power source；
4 extension supporting legs are symmetrically distributed in the both sides of track frame 5, and the extension supporting leg includes horizontal component and vertical portion,
Horizontal component includes extension supporting leg periproct 7, extension supporting leg saves 8 and extension supporting leg stretching, extension section 9 substantially, and extension supporting leg saves 8 Hes substantially
The two parts of supporting leg stretching, extension section 9 for composition horizontal hydraulic cylinder 11 are extended, extension supporting leg periproct 7 is horizontal hydraulic cylinder 11 and track frame
5 parts being connected, extension supporting leg periproct 7 are connected with the sidewall weld of track frame 5；Vertical portion is vertical hydraulic cylinder 10, vertically
The pressure sensor 12 for monitoring its pressure-bearing pressure, horizontal hydraulic cylinder 11 and vertical hydraulic are provided with the rodless cavity oil circuit of hydraulic cylinder 10
Two oil circuits of cylinder 10 are equipped with the bidirectional hydraulic lock 14 for locking hydraulic cylinder extension, the horizontal hydraulic cylinder 11 and vertical liquid
The snap joint of the hydraulic system of the equal high-pressure hose connecting band track formula lifting motor spindle of cylinder pressure 10, without increase hydraulic pressure member in addition
Part, to connect the hydraulic system of crawler crane bottom as power source, main frame vehicle body upper portion 17 be additionally provided with detection its relative to
The position sensor of the anglec of rotation of main frame lower car body 1, the angle signal and each extension branch that the position sensor detects
The signal of pressure sensor 12 of leg accesses PLC, and PLC bears pressure and main frame by each extension supporting leg
Vehicle body upper portion 17 adjusts the position of moving counterweight 22 relative to the anglec of rotation of main frame lower car body 1, reaches crawler crane certainly
The purpose of balance.
As a preferred embodiment, the horizontal slide rail 19 is made with longitudinal slide rail 18 of two parallel I-steel, it is described
Stiffener plate 23 is provided between the bottom of longitudinal slide rail 18 and main frame vehicle body upper portion 17.
The bottom of the vertical hydraulic cylinder 10 of the extension supporting leg is provided with the travel switch for being used for cutting off crane walking operation
13, the signal of travel switch 13 accesses PLC, and the oil circuit of crane walking operation is cut off by PLC, is prevented
After extension supporting leg stretches out and put down, crawler crane walking causes huge infringement, plays safeguard protection effect.
It is pointed out that it is only a kind of for example, equal more than any quantity of three that the extension supporting leg, which is 4,
Can, it is more accurate that quantity gets over the monitoring of multi-track formula crane balance degree.
To the explanation of extension supporting leg operation：As shown in figure 3, full car one shares four extension supporting legs, what Fig. 3 was represented is one
Extend the asphalt principle schematic diagram of supporting leg.Wherein pressure oil-source P and T picks up heavy-duty machine bottom hydraulic system.Each extension supporting leg contains
10 1, vertical hydraulic cylinder and horizontal hydraulic cylinder 11 1, controlled respectively by hand-operated direction valve 1 and hand-operated direction valve 2 16.
Bidirectional hydraulic lock 14 is designed with each hydraulic cylinder, to ensure that hydraulic cylinder can reliably stop stretching at an arbitrary position, is had
The outer force-disturbance of resistance causes the ability that hydraulic cylinder is stretched or contracted；The stroke length of horizontal hydraulic cylinder 11 is, it is necessary to according to site contour
The situation of environment, the full part stretched out, can only stretch out total travel sometimes, bidirectional hydraulic lock 14 play guarantee stopping sometimes
The effect of the stability of position (the manual valve element of hand-operated direction valve 2 16 is in middle position) hydraulic cylinder length；Vertical hydraulic cylinder 10
Bidirectional hydraulic lock 14 just it is even more important, operation hand-operated direction valve 1 make extension supporting leg vertical hydraulic cylinder 10 hydraulic cylinder rod
Elongation, makes hydraulic cylinder head just contact ground with leg pads, and now can stops the operation of hand-operated direction valve 1, makes hand
Dynamic reversal valve 1 is located at middle position, hydraulic cylinder two chambers up and down is sealed by bidirectional hydraulic lock 14 during follow-up use, by vertical liquid
The passive locking pressure of the rodless cavity of cylinder pressure 10 carrys out pressure-bearing.Pressure is provided with the rodless cavity oil circuit of vertical hydraulic cylinder 10 of extension supporting leg
Sensor 12, to detect the size of passive locking pressure, this pressure value is input to PLC, to control moving counterweight
22 movement；Alarm signal is sent when pressure is excessive, reminds driver to pay attention to.In the lower end of the vertical hydraulic cylinder 10 of extension supporting leg
Provided with travel switch 13, to indicate whether vertical hydraulic cylinder 10 is in stretching state, cut using the sender of travel switch 13
Disconnected crane walking operation oil circuit, avoid vertical hydraulic cylinder 10 contact to earth after parts damages caused by walking motion.
Explanation is adjusted to moving counterweight 22：As shown in figure 11, longitudinally adjusted hydraulic cylinder 20 and laterally adjust hydraulic cylinder 21 and divide
Do not controlled by solenoid directional control valve 1 and solenoid directional control valve 2 25.Longitudinally adjusted hydraulic cylinder 20 and the oil for laterally adjusting hydraulic cylinder 21
Bidirectional hydraulic lock 14 is designed with road, ensures that the influence of external disturbance power can be resisted, any position of total travel can be rested on
Put.Two solenoid directional control valves by PLC output control (referring to Figure 12), four extension supporting leg vertical hydraulic cylinders 10 in
The pressure signal that detects of pressure sensor 12 be input to PLC, (corner passes vehicle body top and the bottom relative position sensor
Sensor) deflection angle that detects also enters into PLC, and PLC is handled according to the input of this five tunnel, according to front and rear
Balance, the principle of left-right balance, send signals to drive solenoid directional control valve 1 and solenoid directional control valve 2 25, pass through the activity of getting on the bus
The movement of counterweight 22 come realize the adjustment of machine gravity (by taking the operating mode of Fig. 40 ° of deflection angle as an example, if left side pressure ratio on the right of
Low, then moving counterweight 22 is past moves left, otherwise turns right；If front pressure ratio back is low, moving counterweight 22 is moved along, instead
Backward)；The pressure sensor 12 that this adjustment influences in the vertical hydraulic cylinder 10 of four extension supporting legs in turn again detects
Pressure signal value；So adjustment reaches balance repeatedly.Action (lifting, luffing, revolution) if over crane can make again
The pressure signal detected into the pressure sensor 12 of the rodless cavity of four extension supporting leg vertical hydraulic cylinders 10 causes change, passes through
PLC starts the adjustment of a new round again.
Because main frame vehicle body upper portion 17 and main frame lower car body 1 have deflection angle, so according under main frame car body
Portion 1 extends the left and right pressure differential that the pressure sensor 12 in the perpendicular straight hydraulic cylinder of supporting leg detects, front and rear pressure differential, not necessarily with
Front and rear hydraulic cylinder during face state or so hydraulic cylinder is corresponding, i.e., corresponding relation is influenceed by deflection angle.
The horizontal hydraulic cylinder 11 and vertical hydraulic cylinder 10 for extending supporting leg are operated by operation driver operation hand-operated direction valve, as
Conventional vehicle formula crane is the same, and the lower supporting leg of extension well just no longer adjusts；Adjust the longitudinally adjusted hydraulic cylinder 20 of moving counterweight 22
Then being adjusted with hydraulic cylinder 21 is laterally adjusted by two solenoid directional control valves, this adjustment is that PLC is realized automatically, with
Reach the optimum stabilization of whole Lift-on/Lift-off System.The adjustment of PLC is according to the vertical hydraulic cylinder 10 for being four extension supporting legs
Interior locking pressure and main frame vehicle body upper portion 17 are relative to the anglec of rotation of main frame lower car body 1.So extension supporting leg is both in itself
Expand the direct measure of supporting surface increase complete machine stability, be that the control moving direction of moving counterweight 22 and amount of movement are complete to adjust again
The car weight heart further improves the detection of stability and the means of feedback.Due to the stretching, extension of extension supporting leg farther out, machine gravity change is drawn
Each upper cavity pressure of vertical hydraulic cylinder 10 change risen is more apparent.
Each epicoele (rodless cavity) of vertical hydraulic cylinder 10 sets pressure switch or pressure sensor 12, alarm switch of connecting,
Reach the position that setting value just automatically adjusts car body moving counterweight 22；Pressure value reaches the upper limit then warning reminding driver.
Claims (9)
- A kind of 1. crawler crane self-balancing system, it is characterised in that：Including PLC, moving counterweight, with recanalization mould Block and at least three extension supporting legs on the outside of track frame surrounding, the counterweight adjusting module includes horizontal slide rail and longitudinal direction is sliding Rail, the longitudinal slide rail are fixedly mounted on the main frame vehicle body upper portion of crawler crane, and horizontal slide rail passes through linear longitudinal movement Drive device is arranged in longitudinal slide rail, and the moving counterweight is arranged on horizontal slide rail by horizontal actuating device of the linear motion On, linear longitudinal movement drive device and horizontal actuating device of the linear motion are controlled by PLC, multiple extension supporting legs Track frame surrounding is symmetrically distributed in, the extension supporting leg includes horizontal component and vertical portion, and horizontal component is connected with track frame, Vertical portion is retractable supports, and the pressure sensor for monitoring its pressure-bearing pressure, main frame car body are provided with the retractable supports Top, which is additionally provided with, detects its position sensor relative to the main frame lower car body anglec of rotation, what the position sensor detected The pressure sensor signal of angle signal and each extension supporting leg accesses PLC, and PLC passes through each extension branch Leg bears pressure and main frame vehicle body upper portion relative to the main frame lower car body anglec of rotation to adjust moving counterweight position, reaches shoe The purpose of belt lifter self-balancing.
- A kind of 2. crawler crane self-balancing system as claimed in claim 1, it is characterised in that：The water of the extension supporting leg Flat part is horizontal hydraulic cylinder, and vertical portion is vertical hydraulic cylinder, and the pressure sensor is located at the rodless cavity of vertical hydraulic cylinder In oil circuit.
- A kind of 3. crawler crane self-balancing system as claimed in claim 2, it is characterised in that：The water of the extension supporting leg Flat part uses with track frame to be detachably connected, horizontal hydraulic cylinder and vertical hydraulic cylinder connecting band track the formula lifting motor spindle Hydraulic system.
- A kind of 4. crawler crane self-balancing system as claimed in claim 2, it is characterised in that：The vertical hydraulic cylinder Oil circuit is provided with the bidirectional hydraulic lock for being used for locking hydraulic cylinder extension.
- A kind of 5. crawler crane self-balancing system as claimed in claim 2, it is characterised in that：The linear longitudinal movement Drive device and horizontal actuating device of the linear motion are hydraulic cylinder structure, the oil circuits of both hydraulic cylinders with crawler type lifting Oil way system is connected.
- A kind of 6. crawler crane self-balancing system as claimed in claim 2, it is characterised in that：The horizontal slide rail and vertical It is made to slide rail of two parallel I-steel.
- A kind of 7. crawler crane self-balancing system as claimed in claim 6, it is characterised in that：The longitudinal slide rail bottom Stiffener plate is provided between main frame vehicle body upper portion.
- A kind of 8. crawler crane self-balancing system as claimed in claim 2, it is characterised in that：The extension supporting leg erects The bottom of straight hydraulic cylinder is provided with the travel switch for being used for cutting off crane walking operation, the travel switch signal access PLC controls Device processed, the oil circuit of crane walking operation is cut off by PLC.
- A kind of 9. crawler crane self-balancing system as described in claim 1 to 8 any one, it is characterised in that：It is described Extension supporting leg has 4, and 4 extension supporting legs are symmetrically distributed in track frame both sides.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710964868.7A CN107572432B (en) | 2017-10-17 | 2017-10-17 | Self-balancing system of crawler crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710964868.7A CN107572432B (en) | 2017-10-17 | 2017-10-17 | Self-balancing system of crawler crane |
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| Publication Number | Publication Date |
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| CN107572432A true CN107572432A (en) | 2018-01-12 |
| CN107572432B CN107572432B (en) | 2019-12-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710964868.7A Active CN107572432B (en) | 2017-10-17 | 2017-10-17 | Self-balancing system of crawler crane |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502734A (en) * | 2018-04-25 | 2018-09-07 | 宁波城市职业技术学院 | Crane with gravity center adjuster and its method of adjustment |
| CN108980546A (en) * | 2018-08-13 | 2018-12-11 | 六安微云电子科技有限公司 | A kind of electronic whiteboard bracket of automatic controlled height and width |
| CN110143551A (en) * | 2019-06-14 | 2019-08-20 | 湖南五新隧道智能装备股份有限公司 | A kind of tunnel arch installation vehicle Anti-inclining protection system |
| CN112144878A (en) * | 2019-06-28 | 2020-12-29 | 河北雷萨重型工程机械有限责任公司 | Pump truck |
| CN112173977A (en) * | 2020-09-29 | 2021-01-05 | 闽江学院 | Hoisting structure for double-door crane |
| CN113173192A (en) * | 2021-05-31 | 2021-07-27 | 杭州华新机电工程有限公司 | Counterweight method of railway vehicle and railway vehicle |
| CN113336098A (en) * | 2021-05-28 | 2021-09-03 | 上海华兴数字科技有限公司 | Automatic frame leveling system and overhead working truck |
| CN113605890A (en) * | 2021-07-26 | 2021-11-05 | 北京理工大学 | Crawler propelling device of grooving machine under mine and control method thereof |
| CN113800447A (en) * | 2021-10-09 | 2021-12-17 | 万全重工（常州）机械有限公司 | Counterweight mechanism suitable for bilateral elevator is convenient for adjust |
| CN114380215A (en) * | 2022-03-26 | 2022-04-22 | 河南卫华重型机械股份有限公司 | Tower crane for building |
| CN114408776A (en) * | 2022-01-24 | 2022-04-29 | 浙江三一装备有限公司 | Crane and arm lifting method thereof |
| CN115246453A (en) * | 2021-04-27 | 2022-10-28 | 中国农业机械化科学研究院 | Mobile robot, crawler-type chassis thereof, gravity center self-balancing device and method |
| CN115321408A (en) * | 2021-05-10 | 2022-11-11 | 中冶宝钢技术服务有限公司 | Belt conveyor counterweight block jacking device and jacking method thereof |
| EP4357293A3 (en) * | 2018-07-13 | 2024-07-17 | Kobelco Construction Machinery Co., Ltd. | Mobile crane |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502734A (en) * | 2018-04-25 | 2018-09-07 | 宁波城市职业技术学院 | Crane with gravity center adjuster and its method of adjustment |
| EP4357293A3 (en) * | 2018-07-13 | 2024-07-17 | Kobelco Construction Machinery Co., Ltd. | Mobile crane |
| CN108980546A (en) * | 2018-08-13 | 2018-12-11 | 六安微云电子科技有限公司 | A kind of electronic whiteboard bracket of automatic controlled height and width |
| CN110143551A (en) * | 2019-06-14 | 2019-08-20 | 湖南五新隧道智能装备股份有限公司 | A kind of tunnel arch installation vehicle Anti-inclining protection system |
| CN112144878A (en) * | 2019-06-28 | 2020-12-29 | 河北雷萨重型工程机械有限责任公司 | Pump truck |
| CN112173977A (en) * | 2020-09-29 | 2021-01-05 | 闽江学院 | Hoisting structure for double-door crane |
| CN115246453A (en) * | 2021-04-27 | 2022-10-28 | 中国农业机械化科学研究院 | Mobile robot, crawler-type chassis thereof, gravity center self-balancing device and method |
| CN115246453B (en) * | 2021-04-27 | 2023-10-03 | 中国农业机械化科学研究院 | Mobile robot, crawler chassis thereof, gravity center self-balancing device and gravity center self-balancing method |
| CN115321408A (en) * | 2021-05-10 | 2022-11-11 | 中冶宝钢技术服务有限公司 | Belt conveyor counterweight block jacking device and jacking method thereof |
| CN113336098A (en) * | 2021-05-28 | 2021-09-03 | 上海华兴数字科技有限公司 | Automatic frame leveling system and overhead working truck |
| CN113173192A (en) * | 2021-05-31 | 2021-07-27 | 杭州华新机电工程有限公司 | Counterweight method of railway vehicle and railway vehicle |
| CN113605890A (en) * | 2021-07-26 | 2021-11-05 | 北京理工大学 | Crawler propelling device of grooving machine under mine and control method thereof |
| CN113800447A (en) * | 2021-10-09 | 2021-12-17 | 万全重工（常州）机械有限公司 | Counterweight mechanism suitable for bilateral elevator is convenient for adjust |
| CN114408776A (en) * | 2022-01-24 | 2022-04-29 | 浙江三一装备有限公司 | Crane and arm lifting method thereof |
| CN114408776B (en) * | 2022-01-24 | 2023-03-10 | 浙江三一装备有限公司 | Crane and arm lifting method thereof |
| CN114380215A (en) * | 2022-03-26 | 2022-04-22 | 河南卫华重型机械股份有限公司 | Tower crane for building |
| CN114380215B (en) * | 2022-03-26 | 2022-08-23 | 河南卫华重型机械股份有限公司 | Tower crane for building |
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