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EP2455321B1 - A method for damping oscillations and a crane provided with an oscillation damper - Google Patents

A method for damping oscillations and a crane provided with an oscillation damper Download PDF

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Publication number
EP2455321B1
EP2455321B1 EP11187807.0A EP11187807A EP2455321B1 EP 2455321 B1 EP2455321 B1 EP 2455321B1 EP 11187807 A EP11187807 A EP 11187807A EP 2455321 B1 EP2455321 B1 EP 2455321B1
Authority
EP
European Patent Office
Prior art keywords
boom
hydraulic
pressure
brake mechanism
cylinder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP11187807.0A
Other languages
German (de)
French (fr)
Other versions
EP2455321A1 (en
Inventor
Fredrik Jonsson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
CRANAB AB
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CRANAB AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by CRANAB AB filed Critical CRANAB AB
Publication of EP2455321A1 publication Critical patent/EP2455321A1/en
Application granted granted Critical
Publication of EP2455321B1 publication Critical patent/EP2455321B1/en
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
    • B66C3/005—Grab supports, e.g. articulations; Oscillation dampers; Orientation
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations

Definitions

  • the present invention relates to a method and a device for providing oscillation damping in a hydraulically operated crane.
  • the invention relates to a crane having a loading tool attached to a slewable boom.
  • Such cranes are generally occurring, for example, in the forestry business for the loading of timber. It is in that connection, a generally familiar fact that it is difficult for the operator to bring the loading tool quickly and securely into an exact position for engagement with the cargo to be lifted.
  • DE 42 16 241 A1 discloses a damping device for damping pendling movements of a hydraulic crane. It includes a double acting hydraulic setting device connected to a hydraulic circuit for slewing the crane. There is a damping device arranged in a by-pass conduit which has a throttling portion in series with a hydraulic piston-cylinder arrangement movable between two end positions. The disclosed device however does not solve the above mentioned problem.
  • the hydraulic regulation of the boom embraces an operator-independent pressure detection provided for a rotator link belonging to the working tool and intended for the counteraction of undesired oscillations of the loading tool.
  • the pressure detection is advantageously effected on a hydraulic slew device arranged for the slewable boom and produces pressure information that is fed into a break means that, in the rotator link between the loading tool and the outer end of the boom, damps the oscillatory motion of the loading tool.
  • the oscillation damping is effected by the break means acting against at least one joint of the rotator link.
  • a rotator link belonging to the loading tool has a hydraulically actuated brake mechanism, the regulation of which is operator-independently pressure sensed for the counteraction of undesired oscillations of the loading tool.
  • the brake mechanism is formed with a hydraulically actuated brake, which, via a line, is coupled to a hydraulic slew device arranged for the slewable boom for the receipt of pressure information.
  • the rotator link is preferably double jointed and at least one of the joints thereof is formed with the hydraulically actuated brake mechanism.
  • the brake mechanism advantageously embraces a piston/cylinder device where the cylinder is coupled to one joint of the rotator link, the one joined to the loading tool.
  • the piston rod projecting into the cylinder is coupled to the other joint of the rotator link, the one joined to the boom of the crane.
  • the pressure detection is preferably effected on a hydraulic slew device - arranged for the turning of the slewable boom - for the receipt of pressure information from the same.
  • This pressure information from the hydraulic slew device arranged for the slewing of the boom is conveyed to the chamber in the cylinder of the break means via an axially extending channel in the piston rod projecting into the cylinder.
  • the pressure information is extracted from the hydraulic slew device, drive motor, of the boom in the hydraulic chamber of which pressure variations are produced upon the slewing of the boom.
  • a pressure detecting system is coupled to the hydraulic chamber of the drive motor for the transfer of the pressure information to the piston/cylinder device of the break means in the rotator link of the loading tool.
  • the pressure-sensing system embraces a shuttle valve connected to the hydraulic chamber of the drive motor in order to, via a pressure-indicating line, forward the occurring pressure present during the shewing of the boom to the cylinder in the break means of the loading tool.
  • the shuttle valve allows braking upon both acceleration and retardation of the slew motion of the boom.
  • the invention furthermore relates to a crane that comprises a device for damping oscillations in accordance with what has been mentioned above.
  • the oscillation damping according to the present invention which is operator-independent, automatic and self-locking, will be exemplified in an application of a crane 1 known per se , as shown in Fig. 1 .
  • This crane 1 has a boom 2 that comprises different, hydraulically driven regulating parts irrelevant to the present invention.
  • the boom 2 is fixedly anchored on a support, for example on a lorry/truck chassis (not shown), by means of a hydraulically driven slew device 6.
  • a loading tool in the form of a grip 3.
  • the boom 2 is slewable in the horizontal plane around the vertical axis 7 of the slew device 6. This slewing is operated by means of the hydraulically driven slew device 6.
  • the slew device 6 In the operation of the boom 2, the slew device 6 is thus brought to slew the same for adjustment into a position where the cargo to be lifted is placed. A certain technique is required of the operator conducting the crane in order to get the grip 3 into the correct position. Even if it is known to form the rotator 4 with a brake mechanism having oscillation dampers, the grip 3 will still obtain an undesired oscillation.
  • the present invention embraces an operator-independent pressure detection in the hydraulically driven slew device 6.
  • a pressure indication or pressure information is obtained that is fed to an oscillation damping rotator link 14 belonging to the rotator 4.
  • FIG. 2 This figure illustrates the invention in connection with a slew device 6 known per se and a rotator link 14 known per se . Therefore, it should be entirely clear to the reader that the invention is applicable also in other embodiments of slew devices and oscillation dampers for cranes.
  • the crane is equipped with a hydraulic slew device 6 that can slew the crane boom both clockwise and counter clockwise.
  • the hydraulics of the slew device 6 may be made as any hydraulic drive motor having hydraulic pressure chambers, but in the embodiment described herein, it embraces four actuator cylinders 11A, 11B, 12A, 12B, the pistons of which drive a gearwheel D for the slewing of the boom to the right or the left depending on the position of an operator-actuated actuator valve V.
  • the actuator valve V has three positions: L, 0 and R for the connection of the slew device 6 to a hydraulic source S.
  • the slew device 6 In the intermediate position 0, the slew device 6 is locked while the positions L and R feed the cylinders 11A, 11 B, 12A, 12B of the slew device 6 from the hydraulic source S for the slewing of the boom to the left and to the right, respectively.
  • the rotator link 14 known per se embraces a brake mechanism 16, 18. Furthermore, in this embodiment, the rotator link 14 is double jointed 5, 19, where at least one of the joints is actuatable by a brake function.
  • the brake mechanism 16, 18 of the rotator link 14 embraces a piston/cylinder device interconnected between the two joints 5, 19. The piston rod 16 is then joined to the joint 5 directed perpendicular to the plane of the drawing while the cylinder 18 is coupled to the joint 19 extending in the plane of the drawing.
  • the piston rod 16 is provided with a channel 17, which mouths in a chamber 20 formed by the cylinder 18.
  • the channel 17 is connected to a shuttle valve 10 via the line 9.
  • the shuttle valve 10 is joined to the slew device 6 for the output of the pressure that prevails in the hydraulics thereof in the slewing of the boom of the crane.
  • the shuttle valve 10 supplies said hydraulic pressure to the rotator link 14 and the piston/cylinder device 16, 18 arranged therein.
  • the shuttle valve 10 allows braking upon both acceleration and retardation of the slew motion of the boom.
  • the actuator valve V which is spring-loaded so as to normally assume the middle position 0, is brought into one of the outer positions, for example into L, for the slewing of the boom to the left.
  • the cylinder 11 B is pressurized from the hydraulic source S, while the cylinder 12B is pressure-relieved.
  • a pressure is then obtained (a pressure change, pressure increase, pressure pulse) that, via the shuttle valve 10 and the line 9, is supplied to the piston/cylinder device 16, 18 of the rotator link 14.
  • the slew device may equally well be hydraulic components of another embodiment where pressure detection may take place, and the rotator link may be designed differently with pressure action by, for example, drum brakes or disc brakes.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
  • Micro-Organisms Or Cultivation Processes Thereof (AREA)

Description

  • The present invention relates to a method and a device for providing oscillation damping in a hydraulically operated crane. In particular, the invention relates to a crane having a loading tool attached to a slewable boom.
  • Such cranes are generally occurring, for example, in the forestry business for the loading of timber. It is in that connection, a generally familiar fact that it is difficult for the operator to bring the loading tool quickly and securely into an exact position for engagement with the cargo to be lifted.
  • DE 42 16 241 A1 discloses a damping device for damping pendling movements of a hydraulic crane. It includes a double acting hydraulic setting device connected to a hydraulic circuit for slewing the crane. There is a damping device arranged in a by-pass conduit which has a throttling portion in series with a hydraulic piston-cylinder arrangement movable between two end positions. The disclosed device however does not solve the above mentioned problem.
  • This problem is obviated or at least brought down to a minimum by means of the present invention, as defined in method claim 1 and in apparatus claim 4.
  • In the method according to the invention, the hydraulic regulation of the boom embraces an operator-independent pressure detection provided for a rotator link belonging to the working tool and intended for the counteraction of undesired oscillations of the loading tool.
  • The pressure detection is advantageously effected on a hydraulic slew device arranged for the slewable boom and produces pressure information that is fed into a break means that, in the rotator link between the loading tool and the outer end of the boom, damps the oscillatory motion of the loading tool.
  • Preferably, the oscillation damping is effected by the break means acting against at least one joint of the rotator link.
  • By a device according to the invention, a rotator link belonging to the loading tool has a hydraulically actuated brake mechanism, the regulation of which is operator-independently pressure sensed for the counteraction of undesired oscillations of the loading tool.
  • Preferably, the brake mechanism is formed with a hydraulically actuated brake, which, via a line, is coupled to a hydraulic slew device arranged for the slewable boom for the receipt of pressure information.
  • The rotator link is preferably double jointed and at least one of the joints thereof is formed with the hydraulically actuated brake mechanism.
  • The brake mechanism advantageously embraces a piston/cylinder device where the cylinder is coupled to one joint of the rotator link, the one joined to the loading tool. The piston rod projecting into the cylinder is coupled to the other joint of the rotator link, the one joined to the boom of the crane.
  • The pressure detection is preferably effected on a hydraulic slew device - arranged for the turning of the slewable boom - for the receipt of pressure information from the same.
  • This pressure information from the hydraulic slew device arranged for the slewing of the boom is conveyed to the chamber in the cylinder of the break means via an axially extending channel in the piston rod projecting into the cylinder.
  • The pressure information is extracted from the hydraulic slew device, drive motor, of the boom in the hydraulic chamber of which pressure variations are produced upon the slewing of the boom. A pressure detecting system is coupled to the hydraulic chamber of the drive motor for the transfer of the pressure information to the piston/cylinder device of the break means in the rotator link of the loading tool.
  • Advantageously, the pressure-sensing system embraces a shuttle valve connected to the hydraulic chamber of the drive motor in order to, via a pressure-indicating line, forward the occurring pressure present during the shewing of the boom to the cylinder in the break means of the loading tool. The shuttle valve allows braking upon both acceleration and retardation of the slew motion of the boom.
  • The invention furthermore relates to a crane that comprises a device for damping oscillations in accordance with what has been mentioned above.
  • The invention will be explained more in detail below in connection with an embodiment that shown in the appended drawings and depicted in connection with a known crane for forestry use, wherein
    • Fig. 1 shows a view from the side of the crane and
    • Fig. 2 shows the principle for the oscillation damping according to the invention.
  • The oscillation damping according to the present invention, which is operator-independent, automatic and self-locking, will be exemplified in an application of a crane 1 known per se, as shown in Fig. 1. This crane 1 has a boom 2 that comprises different, hydraulically driven regulating parts irrelevant to the present invention. The boom 2 is fixedly anchored on a support, for example on a lorry/truck chassis (not shown), by means of a hydraulically driven slew device 6. At the free end 5 of the boom 2, there is suspended a loading tool in the form of a grip 3. The boom 2 is slewable in the horizontal plane around the vertical axis 7 of the slew device 6. This slewing is operated by means of the hydraulically driven slew device 6.
  • In the operation of the boom 2, the slew device 6 is thus brought to slew the same for adjustment into a position where the cargo to be lifted is placed. A certain technique is required of the operator conducting the crane in order to get the grip 3 into the correct position. Even if it is known to form the rotator 4 with a brake mechanism having oscillation dampers, the grip 3 will still obtain an undesired oscillation.
  • In order to obviate or at least quickly bring down this undesired oscillation to a minimum, the present invention embraces an operator-independent pressure detection in the hydraulically driven slew device 6. In that connection, a pressure indication or pressure information is obtained that is fed to an oscillation damping rotator link 14 belonging to the rotator 4.
  • The principle for the invention will be described in more detail in the following, reference being made to Fig. 2. This figure illustrates the invention in connection with a slew device 6 known per se and a rotator link 14 known per se. Therefore, it should be entirely clear to the reader that the invention is applicable also in other embodiments of slew devices and oscillation dampers for cranes.
  • Thus, the crane is equipped with a hydraulic slew device 6 that can slew the crane boom both clockwise and counter clockwise. The hydraulics of the slew device 6 may be made as any hydraulic drive motor having hydraulic pressure chambers, but in the embodiment described herein, it embraces four actuator cylinders 11A, 11B, 12A, 12B, the pistons of which drive a gearwheel D for the slewing of the boom to the right or the left depending on the position of an operator-actuated actuator valve V. The actuator valve V has three positions: L, 0 and R for the connection of the slew device 6 to a hydraulic source S. In the intermediate position 0, the slew device 6 is locked while the positions L and R feed the cylinders 11A, 11 B, 12A, 12B of the slew device 6 from the hydraulic source S for the slewing of the boom to the left and to the right, respectively.
  • The rotator link 14 known per se embraces a brake mechanism 16, 18. Furthermore, in this embodiment, the rotator link 14 is double jointed 5, 19, where at least one of the joints is actuatable by a brake function. In the embodiment shown here, the brake mechanism 16, 18 of the rotator link 14 embraces a piston/cylinder device interconnected between the two joints 5, 19. The piston rod 16 is then joined to the joint 5 directed perpendicular to the plane of the drawing while the cylinder 18 is coupled to the joint 19 extending in the plane of the drawing.
  • For the provision of the operator-independent function counteracting undesired oscillations, the piston rod 16 according to the invention is provided with a channel 17, which mouths in a chamber 20 formed by the cylinder 18. The channel 17 is connected to a shuttle valve 10 via the line 9. By the two entrances thereof, the shuttle valve 10 is joined to the slew device 6 for the output of the pressure that prevails in the hydraulics thereof in the slewing of the boom of the crane. The shuttle valve 10 supplies said hydraulic pressure to the rotator link 14 and the piston/ cylinder device 16, 18 arranged therein. The shuttle valve 10 allows braking upon both acceleration and retardation of the slew motion of the boom.
  • When slewing of the boom of the crane is desired, the actuator valve V, which is spring-loaded so as to normally assume the middle position 0, is brought into one of the outer positions, for example into L, for the slewing of the boom to the left. In that connection, the cylinder 11 B is pressurized from the hydraulic source S, while the cylinder 12B is pressure-relieved. On the cylinder 11 B as well as on the cylinder 12A, a pressure is then obtained (a pressure change, pressure increase, pressure pulse) that, via the shuttle valve 10 and the line 9, is supplied to the piston/ cylinder device 16, 18 of the rotator link 14. By the pressure change arisen thereby in the chamber 20 of the cylinder 18, in the embodiment shown herein, the piston/ cylinder device 16, 18 is pressed apart against the respective joint 5 and 19, so that brake action is provided on these joints and thereby the desired oscillation damping. The same conditions occur when operating the slew device 6 in the right direction.
  • By the fact that the pressure detection is carried out automatically in the slew device 6 and is forwarded to the rotator link 14 via the shuttle valve 10, there is obtained an operator-independent damping oscillation function for the boom of the crane and the working tools thereof.
  • Even if the invention and the function thereof here has been exemplified in connection with a known embodiment of the slew device 6 and a known embodiment of the rotator link 14, a person skilled in the art appreciates that the invention also is applicable in other embodiments. Accordingly, the slew device may equally well be hydraulic components of another embodiment where pressure detection may take place, and the rotator link may be designed differently with pressure action by, for example, drum brakes or disc brakes.
  • Therefore, the present invention must not be considered limited to the above-mentioned designs, but its principle, as defined in the subsequent claims, is applicable in different embodiments.

Claims (11)

  1. Method for damping oscillations in a hydraulically operated crane (1) having a loading tool (3) attached to a slewable boom (2), where the boom (2), by means of hydraulic regulation and a hydraulic motor, is swung into different working positions, and where the loading tool (3) is fastened to a rotator link (14) attached to the outer end of the boom (2), which rotator link (14) is provided with a brake mechanism (16, 18), characterized in that the hydraulic regulation is performed by operator-independently detecting the pressure upon the slewing of the boom (2) for the counteraction of undesired oscillations of the loading tool (3), by and hydraulically coupling the hydraulic motor to the brake mechanism (16, 18) via a shuttle valve (10).
  2. Method according to claim 1, characterized in that the pressure detection is effected on a hydraulic slew device (6) arranged for the slewable boom (2) and produces pressure information that is fed to a brake mechanism (16, 18) that, in the rotator link (14) between the loading tool (3) and the outer end (5) of the boom (2), damps the oscillatory motion of the loading tool (3).
  3. Method according to claim 2, characterized in that the oscillation damping is effected by the brake mechanism (16, 18) acting against at least one joint (5, 19) of the rotator link (14).
  4. Device for damping oscillations in a hydraulically operated crane (1) embracing a rotator link (14) attached to a slewable boom (2) and arranged for attaching a loading tool (3), which rotator link (14) is provided with a brake mechanism (16, 18), and where the slewing of the boom (2) is driven by means of a hydraulic slew device (6) comprising a hydraulic motor for the adjustment thereof into different working positions, characterized in that the brake mechanism is hydraulically actuated (16, 18), and has regulation means including operator-independently pressure sensing means for the counteraction of undesired oscillations of the loading tool (3), and the hydraulic motor being hydraulically coupled to the brake mechanism (16, 18) via a shuttle valve (10).
  5. Device according to claim 4, characterized in that the rotator link (14) is double jointed, where at least one of the joints (5, 19) is equipped with the hydraulically actuated brake mechanism (16, 18).
  6. Device according to any one of claims 4-5, characterized in that the brake mechanism (16, 18) embraces a piston/cylinder device where the cylinder (18) is coupled to one joint (19) of the rotator link (14), the one joined to the loading tool (3), and the piston rod (16) projecting into the cylinder (18) is coupled to the other joint (5) of the rotator link (14), the one joined to the boom (2) of the crane.
  7. Device according to claim 6, characterized in that the chamber (20) of the cylinder (18) is in hydraulic pressure communication with the hydraulic slew device (6) arranged for the slewing of the slewable boom (2) for the receipt of pressure information from the same.
  8. Device according to claim 6, characterized in that the piston rod (16) projecting into the cylinder (18) has an axially extending channel (17), which mouths in the chamber (20) of the cylinder (18) and the free end of which is coupled to the hydraulic slew device (6) of the slewable boom (2) for the receipt of pressure information from the same.
  9. Device according to any one of claims 4-8, characterized in that the hydraulic slew device (6) for the slewable boom (2) is a hydraulic drive motor, from the chambers (11A, 11B, 12A, 12B) of which a pressure-sensing system (9, 10) is arranged to feed the pressure information to the piston/cylinder device of the brake mechanism (16, 18).
  10. Device according to claim 9, characterized in that the pressure-sensing system (9, 10) embraces a shuttle valve (10) arranged to connect the side of the chambers (11A, 11B, 12A, 12B) of the drive motor that has the pressure occurring during the slewing of the boom (2) to a pressure-indicating line (9) connected to the chamber (20) of the cylinder (18) in the brake mechanism (16, 18) of the rotator link (14).
  11. Crane comprising a device for damping oscillations according to any one of claims 4-10.
EP11187807.0A 2010-11-19 2011-11-04 A method for damping oscillations and a crane provided with an oscillation damper Not-in-force EP2455321B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1051216A SE535364C2 (en) 2010-11-19 2010-11-19 Swing damping and load crane equipped with such

Publications (2)

Publication Number Publication Date
EP2455321A1 EP2455321A1 (en) 2012-05-23
EP2455321B1 true EP2455321B1 (en) 2014-01-01

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EP11187807.0A Not-in-force EP2455321B1 (en) 2010-11-19 2011-11-04 A method for damping oscillations and a crane provided with an oscillation damper

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI126943B (en) * 2016-03-10 2017-08-15 Vallius Forestry Oy Ltd Hanke

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2262942C3 (en) * 1972-12-22 1978-11-02 Massey-Ferguson Services N.V., Curacao (Niederlaendische Antillen) Pendulum brake for hydraulic grabs
GB2009351B (en) * 1977-12-06 1982-05-26 Poclain Sa Device for the rotary assembly of a member controlled by pressurised fluid
SE508992C2 (en) * 1991-05-22 1998-11-23 Einar Karlsson Device for damping oscillations in a hydraulic load crane
DE9418697U1 (en) * 1994-11-22 1996-03-21 Kinshofer Greiftechnik GmbH, 83666 Waakirchen Load suspension device

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SE535364C2 (en) 2012-07-10
EP2455321A1 (en) 2012-05-23
SE1051216A1 (en) 2012-05-20

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