Abstract: A combined rope-rod-driven parallel palletizing robot, comprises a chassis, wherein, a base driving mechanism is arranged on the chassis, a torque transfer mechanism is mounted on the base driving mechanism, a top gearbox is mounted on the top of the torque transfer mechanism, a gib arm is movably connected to the top gearbox, and a mechanical arm end tool is arranged on the movable end of the gib arm to operate a work object; the robot further comprises three steel wire rope drivers and three corresponding steel wire ropes, the three steel wire rope drivers are located on the chassis and evenly distributed around the base driving mechanism. In the present invention, the top gearbox and the torque transfer mechanism are driven by a rope to execute two-freedom spatial movement, so as to do palletizing work in a bigger work space.

Abstract: An industrial robot with parallel kinematics comprises a robot base, a carrier element for receiving a gripper, a tool or a machine element, at least two moveable actuating units, which are connected at their one end to actuating unit drives arranged on the robot base and of which the other ends are moveably connected to the carrier element, a first rotational axis, which is designed as a hollow body and which has a continuous cavity running in the axial direction, a first rotational axis drive, which is arranged on the robot base and which generates a first torque and transmits it to the first rotational axis, a second rotational axis, which is arranged at least partially in the first rotational axis, a second rotational axis drive, which is arranged on the robot base and which generates a second torque and transmits it to the second rotational axis.

Abstract: System for moving a mobile tendon controlled platform robot, comprising a mobile platform, at least one drive and at least one tendon connected to the mobile platform, wherein the relative position of the at least one tendon with respect to the mobile platform is controllable with the at least one drive, and wherein the at least one tendon is enabled to move without chafing past a surface of an object external to the mobile tendon controlled platform robot.

Abstract: A crane includes a limiting device to limit a raising/lowering angle of the mast during suspending work to be equal to or less than an upper limit angle which is less than a value of the raising/lowering angle when the mast extends vertically; a release device into which a release instruction for causing the limiting device to release the limitation on the raising/lowering angle of the mast is input; and a first detection section adapted to detect that the mast support device is at an overhanging position where the mast support device pushes up and sets the mast in the work posture. The limiting device is operable whenever the first detection section does not detect that the mast support device is at the overhanging position, even if the release instruction is input into the release device, to prohibit the mast from being tilted rearward beyond the upper limit angle.

Abstract: A jib crane which can prevent an unexpected movement of a burden and can sufficiently ensure the safety of a burden handling work is disclosed. The jib crane has hoisting wire ropes for lifting and landing a hook, derricking wire ropes for derricking operation of a jib, and a conversion device for fixing tips of the wire ropes to a revolving frame of a revolving table. The conversion device has a V-shaped link pivotally supported on a bearing bracket via a pivot pin. The tips of the wire ropes are connected to paired link arms of the V-shaped link.

Abstract: The within invention relates to a crane with a boom slewable in a vertical pivoting plane and a bracing boom arrangement, particularly a derrick boom arrangement in which a luffing cable is arranged between the boom and the bracing boom arrangement, in which the luffing cable has at least two guying cables that run from two guying points arranged on the opposite side of the pivoting plane, which cables belong to the bracing cable arrangement, to the boom, in which the two guying cables are each movable by means of a winch and in which a mechanical coupling is provided between the two winches by means of which the movement of the two winches can be force coupled.

Abstract: The present invention relates to a hoisting crane comprising a substantially hollow vertical column, a jib and topping means for pivoting the jib up and down, comprising a jib winch and a jib hoisting cable. The crane further comprises hoisting means for hoisting a load, comprising a hoisting winch and an associated hoisting cable, the hoisting winch being disposed in the column, so that the hoisting cable extends from the winch through the hollow vertical column. The jib winch and the hoisting winch are arranged on a rotatable winch support, which is rotatable about a rotation axis substantially parallel with the vertical column, such that the winch support is mounted movable with respect to the vertical column.

Abstract: A payload lifter/manipulator module includes a rotatable joint supporting spreader arms angularly spaced with respect to one another. A rigid arm is fixedly coupled to the joint and extends out therefrom to a tip. A tension arm has a first end and a second end with the first end being fixedly coupled to the tip of the rigid arm. The tension arm incorporates pivots along the length thereof. Each pivot can be engaged by or disengaged from the outboard end of a spreader arm based on a position of the spreader arm. A hoist, positioned remotely with respect to the module and coupled to the second end of the tension arm, controls the position of the spreader arms to thereby control the position of the rigid arm's tip. Payload lifter/manipulator assemblies can be constructed with one or more of the modules.

Abstract: A boom hoisting device comprising a mast having a pivotable front end portion connected to a front end portion of a boom through a guy line, a mast-side spreader provided at the front end portion of the mast, a frame-side spreader removably mounted to an upper rotating body and with a hoisting rope being stretched between and spread on both mast-side spreader and frame-side spreader, and a hoisting winch adapted to unwind and wind the hoisting rope to raise and lower the mast and the boom, the hoisting winch being mounted to the mast so that the mast and the hoisting winch are together removed from the upper rotating body by separation of a base end portion of the mast from the upper rotating body.

Abstract: A payload lifter/manipulator module includes a rotatable joint supporting spreader arms angularly spaced with respect to one another. A rigid arm is fixedly coupled to the joint and extends out therefrom to a tip. A tension arm has a first end and a second end with the first end being fixedly coupled to the tip of the rigid arm. The tension arm incorporates pivots along the length thereof. Each pivot can be engaged by or disengaged from the outboard end of a spreader arm based on a position of the spreader arm. A hoist, positioned remotely with respect to the module and coupled to the second end of the tension arm, controls the position of the spreader arms to thereby control the position of the rigid arm's tip. Payload lifter/manipulator assemblies can be constructed with one or more of the modules.

Abstract: A crane includes a boom and boom pivoting mast connected to a swivel body so as to be pivotable, a boom pivoting winch for pivoting the boom, and a main hoisting winch and auxiliary hoisting winch for hoisting up and hoisting down a hanging load. The main and auxiliary hoisting winches are mounted on the boom, while the boom pivoting winch is mounted on the boom pivoting mast.

Abstract: The present invention relates to a crane boom, in particular a telescopic boom of a mobile crane, comprising a boom guying which has at least one guy rope which is guided from an inner articulation point in the region of a boom articulation point to an outer articulation point in the region of a projecting boom part. In accordance with the invention, the guy rope is articulated at its outer end such that the guy rope force induces a bending moment in the crane boom which counters the sagging of the crane boom. This can be achieved in that the guy rope is articulated eccentrically from the boom part. In accordance with the invention, the outer articulation point of the guy rope is arranged spaced apart from the boom part at an articulation jib which is secured to the boom part such that a tensile force of the guy rope induces a bending moment into the crane boom via the articulation jib, said bending moment reducing the bending moment generated in the boom by a hook load and the boom's own weight.

Abstract: A traveling crane according to the present invention includes a hook hoisting guide sheave for guiding a hook hoisting rope from the top of a boom toward the end of a jib, and the hook hoisting guide sheave is arranged on the top of the boom in a state that the guide sheave can guide the hook hoisting rope along the upper surface of the boom by folding the rope toward an upper spreader placed at a position adjacent to a boom anchor during assembling/disassembling of the crane. Thereby, the upper spreader can be moved between the boom anchor and a far end of the boom without providing a guide sheave dedicated for moving the upper spreader. Pairs of support legs are downward provided on both sides and in front and in rear of the upper spreader and a roller is provided for each support leg, so that interference between the upper spreader during movement and obstacles on the boom upper surface can be prevented even in a horizontal movement system excellent in operating efficiency.

Abstract: The invention relates to a derrick crane having a main boom and having a derrick boom which are connected to one another by a stay cable to guy the main boom, having an auxiliary tip adjoining the main boom and a stay cable for its guying. In accordance with the invention, the stay cable of the auxiliary tip engages at the auxiliary tip at the one end and at the stay cable of the main boom at the other end.

Abstract: A foldable portable hoist system includes a foldable portable hoist assembly and a mounting base. The foldable portable hoist assembly includes a substantially vertical support, an upper support arm, and a diagonal brace assembly. Hinged attachment of slidable collars on either end of the diagonal brace enables the foldable portable hoist assembly to be folded up for ease of transport and storage.

Abstract: The within invention concerns a crane with a rotating platform that can rotate on a vertical axle, a boom that is connected to the rotating platform and which can luff on a luffing axle, guying connected on the one hand with the boom and on the other hand with a guy support, which can slew on an axle parallel to the luffing axle of the boom and is connected with the rotating platform and/or the boom foot, as well as an adjustment mechanism, in particular adjustment cabling, that serves for the luffing of the boom and which is connected with the guy support. According to the invention, the crane is also characterized by the presence of an angle adjustment mechanism by means of which the angle of the guy support can be adjusted relative to the boom when the boom is raised.

Abstract: A traveling crane according to the present invention includes a hook hoisting guide sheave for guiding a hook hoisting rope from the top of a boom toward the end of a jib, and the hook hoisting guide sheave is arranged on the top of the boom in a state that the guide sheave can guide the hook hoisting rope along the upper surface of the boom by folding the rope toward an upper spreader placed at a position adjacent to a boom anchor during assembling/disassembling of the crane. Thereby, the upper spreader can be moved between the boom anchor and a far end of the boom without providing a guide sheave dedicated for moving the upper spreader. Pairs of support legs are downward provided on both sides and in front and in rear of the upper spreader and a roller is provided for each support leg, so that interference between the upper spreader during movement and obstacles on the boom upper surface can be prevented even in a horizontal movement system excellent in operating efficiency.

Abstract: A crane including a cabin provided on the left or right side, a boom raised and lowered around a pair of boom feet provided on the left and right sides of the base of the boom, and a gantry provided behind the boom. The boom foot on the side of the cabin is located in a position determined by the width of the crane and the width of the cabin. The center line of the boom is located on the opposite side of the center line of the gantry from the cabin so that the distance between the boom foot on the opposite side from the cabin and the center line of the gantry is greater than the distance between the boom foot on the side of the cabin and the center line of the gantry.

Abstract: The invention concerns a mobile crane with a long main boom. According to the invention, the main boom is in two parts linked at a swivel point in such manner that the boom can bend when raised and can be positioned in extended or quasi-extended final erection position.

Abstract: The present invention provides a construction machine in which a plurality of winches are arranged to be overlapped vertically at a rear part of an upper rotating body. Therefore, a space that the winches occupy is reduced, so that the space of the upper rotating body can be utilized effectively, and a radius of rotating rear end can be reduced.

Abstract: A jib is supported for its luffing movement by a luffing rope mounted to a longitudinally intermediate portion of the jib. The jib has a truss structure with upper and lower beam members respectively overhanging upward and downward of load action line which connects a lifting point with a support pin.

Abstract: A roll bar and crane device for use with vehicles such as a truck is adapted to be mounted to the truck bed. The device includes left and right leg members and a central beam extending therebetween and being selectively detachable thereto. A U-shaped boom extends over the left and right leg members when used as a roll bar. The boom, at one end, is pivotally connected to a pivot member about a horizontal axis of rotation and the pivot member is pivotally connected to one of the leg members and is pivotable about a vertical axis of rotation. A rope and pulley system is provided between the pivot member and the boom. A rope extends from the boom lift end to the pulley and rope system and to a winch that is located on and is rotatable with the pivot member. By pulling the rope via the winch, objects attached to the end of the rope are drawn up and to the boom lift end and the boom is also caused to pivot about the horizontal axis of rotation for lifting the boom lift end.

Abstract: An improved folding marker for an agricultural implement that is partially self-supporting in the use position and during a portion of the folding operation. An inner arm is pivotally attached to the agricultural implement for simultaneous movement in both the horizonal and vertical directions. A caster wheel is attached to the inner arm to support the inner arm above the ground. An outer arm is pivotally attached to the inner arm for movement in a generally vertical direction. A marker device is attached to the outer arm for scoring the ground. An actuator is attached to the implement and the back portion of the inner arm for moving the inner arm between the use position and backwards toward the rear of the implement to a transport position. A series of pulley systems are attached to the marker so that the inner and outer arms raise vertically upward when the inner arm is moved from the use position to the transport position, and vice versa.

Abstract: A light weight conventional robot and method for use in connection with the surface preparation of large objects. The robot has a tool attached to an object flange which is supported by a collapsible member, allowing the tool to move to and fro. The member is pivotally mounted to a base so that the tool may be manipulated in all directions. There are at least three independently mountable blocks which allow the robot to be easily adapted to the work envelope without any change to the envelope itself. Tensile members connect the mounting blocks to the object flange to control the movement of the tool. The tensile members may be one continuous non-accumulating member or separate members which respectively allow the robot to move in two or three degrees of freedom, by varying the length of each member.

Abstract: A crane or derrick for use on an offshore platform comprising a base, a boom operatively connected to the base, and a sectioned kingpole secured to said base, the kingpole including a first kingpole section secured to the base and at least one additional kingpole section removably secured to the first kingpole section. The sectioned kingpole permits the installation of a crane having a tall kingpole and thereby greater lifting capacity such that equipment necessary to carry out operations such as the driving of conductor pipe and piling can be erected on the deck of the platform without the necessity for utilizing a derrick barge.

Abstract: A lightweight boom supported by a rotatable jib of a tower crane for introducing flowable concrete mix to form systems has a concrete conveying conduit which functions also as a structural member of the boom, in order that the overall weight of the latter is minimized. The elongated boom has a triangular configuration in transverse cross-section, with two parallel, co-planar, spaced upper members and a hollow, concrete conveying bottom member that is generally parallel to the two upper members and spaced below the same. Horizontally extending brace members interconnect the two upper members, and spacer bars depending from the two upper members are secured to the bottom member.

Abstract: A process for mooring a crane having a crane jib which is hingedly connected to a slewing frame, luffing wires for luffing the crane jib in and out, and a guy mast hingedly connected with the top of the frame, the luffing wires passing about hoisting blocks at the top of the frame. The process comprises positioning the crane jib in a fully luffed-in position, and connecting at least one guy wire between a fixed point at a distance from the crane and the free end of said guy mast. Some of the luffing hoisting blocks are then detached from the frame and are shifted toward the free end of the guy mast and are attached to that free end of the guy mast. The luffing wires are then tightened to swing the guy mast to a position to tension the guy wire by raising that end of the guy wire which is secured to the guy mast, after which the crane jib is luffed out.

Abstract: The invention is embodied in a manipulator for supporting and transmitting movement to a tool or the like comprising a base 10, a movable tripod tip 16 or plate 60 spaced from the base to which a tool may be attached, an elongated central spine 12, one end of which is attached to the tripod tip and the other pivotally mounted on the base, variable tension applying means comprising at least three cables 18 extending from the tripod tip to the base in a tripod configuration, and means 22, 24 at the base to continuously vary the length of each cable to vary its length.

Abstract: To permit an increase of the maximum permissible load of a crane for heavy loads, in particular an offshore crane, some of the luffing wires for luffing in and out the crane jib (4), are extended by guy wires (17); to avoid the disadvantage that the frame (3) of the crane with tie-back system can not slew, the part of the luffing wires connected with the guy wires, on the one hand, and the part of the luffing wires not connected with said guy wires, on the other, form part of separate hoists (6, 5) which can be operated by separated winches (14, 13).

Abstract: A compact pedestal crane having a boom pivoted at a front edge of a main frame with a winch frame aligned with the boom and a plurality of winches mounted on the winch frame. An A-frame gantry is mounted on and extends above the winch frame and an engine drawingly connected to a plurality of hydraulic pump is mounted on the frame underneath the winch frame to conserve space. A cab is supported from the main frame to one side of the boom and forward of the front edge.

Abstract: A self-erecting traveling crane having a machinery platform rotatably mounted with respect to a carbody utilizes a concentric support ring, a boom foot carrier pivotably mounted to the platform and rolling on the support ring, and a counterweight carrier with trailing counterweight pivotably mounted to the platform and rolling on the ring. A mast and boom are mounted near a forward end of the boom foot carrier. To change location for use, the crane can be rigged to move in forward or rearward direction carrying its support ring. A travel strut is pivotably mounted to an inner end of the boom foot carrier. A boom foot carrier tension pendant extends from the top of the travel strut to an outer end portion of the boom foot carrier. A live boom suspension linkage connects the points of the mast and the boom. Boom suspension pendants extend from the mast point to the trailing counterweight. A gantry is mounted on the machinery platform over a platform counterweight.

Abstract: A breakaway bail for a pedestal mount crane pivotally attached to the gantry by a pin extending through bushings secured to a pair of parallel plates with a spacer between the plates aligned with the bushings. A beam having an upright flange is secured between the plates and a multiple sheave pulley is attached to beam by brackets. Each of the plates has a necked down section between the flange and the spacer to create a high stress area, which area will separate under overload conditions without affecting the connection of the crane to its pedestal.

Abstract: A flat box is interposed between the pulley carrying head and the top element of the main boom of a tower crane, with traverses being exchangeably hinged to the box, the traverses being tensioned against the head and respectively carry a load cable guiding sheave and a holding cable attachment for the boom.

Abstract: An apparatus is disclosed for maintaining a predetermined mast-boom working angle of a pendant supported boom substantially constant during extension and retraction of the boom. One embodiment of the invention includes control means connected between the boom and the mast for detecting slight angular changes and actuating power means for paying out or drawing in sufficient pendant to return the mast-boom angle to a predetermined angle. Another embodiment utilizes electrical controls having a first potentiometer capable of detecting linear changes in the effective boom supporting length of the pendant and another potentiometer for detecting linear changes in the length of the boom, said potentiometer sending output signal ratios which vary from a predetermined output signal ratio for actuating power means that takes up or pays out sufficient pendant to return the boom to the predetermined mast-boom working angle and returns the output signal ratio to said predetermined ratio.

Abstract: A transfer apparatus and method utilizing a boom having complete spatial freedom. The boom is supported by a series of ropes and may be moved in any of three mutually parallel planes so as to transfer material in any desired manner, as by utilizing a conveyor system or a lifting rope.

Abstract: A tower crane with a counterweighted luffing boom has its counterweight lines and pulleys so arranged that, in normal operating positions of the boom, the counterweights and lines tend to swing the boom upwardly, but when the boom angle is steep, beyond about 70.degree. from the horizontal, the counterweights and lines then pull on the boom in the opposite direction, tending to retard further upward travel. The boom and supporting structure are thereby protected against overbooming by wind forces when the boom is inclined at a very steep angle facing into the wind.

Abstract: A derrick crane has a jib pivoted by way of a horizontal pivot to the movable member of a bearing device supported by a vertically extending mast and includes devices for raising and lowering a load, luffing the jib and slewing the jib about the mast. The bearing device comprises a single ring of free running balls which are a running fit in part circular registering grooves formed in inner and outer bearing rings. The bearing device is located on the mast in such a position that the line of thrust of the jib passes within the pitch circle diameter of the ring of balls.

Abstract: A pedestal crane mounting system utilizes a spherical thrust bearing, for vertically supporting the crane gantry on the pedestal, and a spherical radial bearing, for eliminating radial loading on the thrust bearing. The upper race of the spherical thrust bearing and the outer race of the spherical radial bearing have common points of origin for the generatrices defining the race guide surfaces. The thrust and radial bearings are carried in a cartridge which mounts in a yoke connectable to a crane gantry by support pins at first and second points of attachment. Disposition of the bearing cartridge in the yoke is such that the centerline of the support pins coincides with the centerline of the spherical radial bearing. The bearing cartridge is fitted onto a vertical shaft fixed in the upper end of the pedestal.

Abstract: A Compact Heavy Duty Lifting Crane (CHDLC) for removing and installing heavy objects such as engines and transmission from vehicles. The CHDLC incorporates a feature that allows the vertical lifting angle of the telescoping boom (40) to remain constant as the telescoping pylon cylinder (18) is raised. This feature is particularly useful for removing engines located in limited-space engine compartments such as those encountered in vans and buses. The CHDLC consists of two major assemblies: a base assembly and a portable lifting crane. When the CHDLC is used as a standard utility crane in a repair shop the crane is mounted to the base assembly. When the CHDLC is required to be mounted on a truck bed the crane is removed from the base assembly and installed on a truck pylon plate (14a) that is permanently mounted to the bed of the truck. Additionally, the CHDLC may be placed in its storage configuration. In this configuration the CHDLC occupies a horizontal area of only four square feet.

Abstract: A coupling and latching mechanism for a multisection extensible boom that includes a manual section and is operable from a remote location such as the cab of a crane. The mechanism includes pairs of spaced jaw type couplings secured to adjacent boom sections and adapted to be selectively coupled to the piston rod or the like of an extensible power means for operating the boom either with the manual section extended or retracted. Remotely controlled latch means are provided to latch the manual section in a plurality of extended positions, or in a retracted position.

Abstract: An apparatus is disclosed for maintaining a predetermined mast-boom working angle of a pendant supported boom substantially constant during extension and retraction of the boom. One embodiment of the invention includes control means connected between the boom and the mast for detecting slight angular changes and actuating power means for paying out or drawing in sufficient pendant to return the mast-boom angle to a predetermined angle. Another embodiment utilizes electrical controls having a first potentiometer capable of detecting linear changes in the effective boom supporting length of the pendant and another potentiometer for detecting linear changes in the length of the boom, said potentiometer sending output signal ratios which vary from a predetermined output signal ratio for actuating power means that takes up or pays out sufficient pendant to return the boom to the predetermined mast-boom working angle and returns the output signal ratio to said predetermined ratio.

Abstract: A method and apparatus is disclosed for controlling the angle of a pivoted, pendant supported extensible boom and the mast-boom angle between working positions and a transport position. The structure for controlling the angle includes a wire rope driven by a winch and trained over a boom supporting hoist and over a pendant take-up hoist which includes a floating sheave assembly connected to an extensible portion of the boom by a fixed length pendant. Another fixed length pendant determines the mast-boom angle when the boom is in working position, and a floating sheave stop is pivoted to the mast in position to cradle and/or abut a portion of the floating sheave assembly for enabling complete control of the mast when moved between its transport position and working positions relative to the boom.

Abstract: A telescopic boom is disclosed which is pivotally supported by its base section for movement about a horizontal axis. The boom is supported by a live mast through multi-part pendant lines, which pendant lines are each reeved over sheaves attached to the boom at the forward end of the base section and at the forward end of another boom section to support the boom at a plurality of points forwardly of the live mast. The forward end of each pendant is preferably received within the boom over sheaves journaled on the cylinder case of a boom extending ram and on selected sections of the boom. The multi-part pendant supported boom reduces boom droop caused by extension of the boom approximately 50% of that of a boom supported at a single point by each pendant line.

Abstract: A pendant supported extensible boom is disclosed having the boom and a live mast pivoted to a base about an axis near the lowermost surface of the boom for providing a stowed mast-boom angle of about 10.degree., and a fixed length pendant is provided to maintain a predetermined mast-boom working angle. A live pendant is trained over a winch, a boom supporting hoist, and a pendant take-up hoist connected between the mast and an outer end portion of the boom. Driving the winch to haul in pendant controllably raised the mast to its mast-boom working angle and then raises the boom to its desired working angle. When extending or retracting the boom, the boom working angle is maintained constant by paying out pendant from the winch, respectively. The boom and mast are controllably returned to a stowed position by paying out line from the boom supporting hoise and pendant take-up hoist.

Abstract: A rotary crane having a telescopic mast with a liftable upper portion and a boom pivotally mounted at the end of that portion. The boom includes an end hinged element, a hinged tip and an intermediate member between the end element and the tip. Each portion of the boom is of a triangular shape and has two lower chords and one upper chord interconnected by rods. The boom is foldable and expandable by a rope system which includes boom supporting ropes and a boom folding rope. The end hinged element is connected to the intermediate member by a shackle having an oblong opening into which a pin is inserted to pivotally connect the end element to the intermediate member.

Abstract: A ring supported mobile lift crane includes a load carrier and a counterweight carrier in riding contact with the ring and a tower mounted on the carrier for pivotal movement between generally horizontal and vertical positions with a boom pivoted to the outer end of the tower and a rearwardly inclined mast mounted on said carrier and connected to the counterweight carrier by rigging a mast pendant, a tower backstay connected to the top of the tower and through tower hoist rigging to the top of the mast.