Cranes can be seen at any construction site. It is there that they stretch out their powerful paws. Mobile machines, like the crane shown here, can extend their hydraulically powered telescopic boom up to 130 feet and easily lift 45 tons of construction loads.

By removing the movable part of the boom inside, such a crane is made the size of a regular truck and simply goes further where it is needed. The winch mechanism controls the cable lowered from the boom. The load is attached to this cable using a hook. When the winch begins to wind the cable, the load rises. A multiple pulley and cable system between the hook and boom reduces the effort required on the winch to lift the load.

To balance a heavy load

When cranes lift heavy loads, they rely on cantilever beams or stabilizers to prevent them from tipping over. Each such beam acts as a fulcrum for a lever scale. With its help, the lifted load is balanced by the weight of the crane itself. The extendable legs of the support beam are made of steel, aluminum or nylon. Each leg can be raised and lowered individually until the crane is in the desired position.

Lowering and reducing boom

Two hydraulic cylinders control the movement of the boom. One cylinder raises and lowers the boom, while the other lengthens and shortens it.

Hook, rope and block of a truck crane

Block with hook with a lifting capacity of 20 tons

7-way block

Watching the crane. On-board computers monitor the operation of the crane: the weight of the load, the lifting angle and length of the boom, the angle of inclination of the crane itself, and in some models even the wind speed.

Truck crane load moment diagram

The top diagram shows that the more the boom is extended horizontally, the less load the crane can carry without the risk of tipping over.

Crane capacity- this is their main characteristic, and it is determined by the maximum weight of the load that it can lift while maintaining good stability and structural strength. With jib cranes, the maximum lifting capacity corresponds to the smallest boom radius - as the radius increases, the lifting capacity decreases. Therefore, self-propelled cranes have a lifting capacity at minimum reach that is almost several times greater than at maximum reach.

To improve the stability of the crane, sites are planned in advance and roads are prepared. It is strictly prohibited to operate the crane on terrain with a slope, even a slight one. If you neglect this requirement, something irreparable may happen, and in this case it will be the least of the troubles. The maximum permissible slope must be indicated in the technical passport. You can increase stability by using outriggers.

Also, the load capacity is largely determined by the load moment - this is the product of the mass of the load and the amount of reach in meters. It is measured in tonmeters. For example, the load moment of a crane is 16 tonmeters. At the smallest reach the load capacity is one ton, at the smallest - 2, at a reach of 16 meters the largest and 8 - the smallest. With these parameters, the load moment will be the same - 2*8 and 1*16. We get the required 16 tonmeters.

The length of the arrow reach is determined by the distance between the center of the axis of the head block and the axis of the arrow heel. Hook reach is the distance between the axis of rotation of the boom, passing vertically through the center of the portal or support trolley, and the vertical axis, which passes through the center of gravity of the load and aligns with the center of the hook cage.

Main parameters of load-lifting cranes

The main characteristics and parameters of cranes include lifting capacity, boom length, load moment, hook lifting height, boom movement angle, reach change time, load lowering or lifting speed, rotation speed, movement, power plant power, operating mode and overall dimensions.

But the main parameter is the lifting capacity; this is what people pay attention to when they want to purchase a crane or rent it. It should be noted that lifting capacity refers not only to the mass of the load being lifted, but also to the mass of lifting devices and devices.

This parameter can be slightly increased by supporting or bracing the boom. The most common methods of bracing are a brace with several branches and braces, the branches of which are equipped with pulleys - this ensures normal rotation of the boom and the possibility of departure. During unroping, the jib pulley is somewhat weakened, so that the entire load falls on the anchored brace. Thus, you can increase the carrying capacity by one and a half to two times.

The grips) began to be made of metal. In the 20s In the 19th century, the first all-metal cranes appeared, first with manual cranes, and in the 30s. - with mechanical drive. The first steam stationary crane was patented in 1827.

Duty cycle

The crane operating cycle consists of three stages:

1. cargo capture;
2. working stroke (cargo movement, unloading);
3. idling (returning the lifting mechanism to its original position).

Working and idling motion diagrams also have three characteristic sections: acceleration, steady motion and braking. Moreover, the acceleration and deceleration sections are very important, since it is at these moments that dynamic loads arise.

Crane design

The crane design includes:

• metal structure that forms the basis of the crane. In fact, everything that we see in a crane relates to metal structures - spans, supports, booms, etc. Metal structures come in box-shaped (on most truck cranes and overhead cranes) and lattice sections (mainly tower cranes). Depending on this, operating and supervision conditions, production methods and design calculations change. Each of these types has both pros and cons. The application of a specific type is selected according to technical, technological and other requirements. It should be noted that, in principle, these two types are interchangeable, but the adequacy of their application to operating conditions and tasks should also be assessed.
• a load lifting mechanism consisting of a flexible lifting device (steel rope or chain), a load-handling device (hook, loop, grab, etc.) and a cargo winch. To ensure safety in operation, the lifting mechanism is equipped with various limiters (load capacity, load moment, stroke of the lifting member);
• load-handling device may be non-automatic (hook, loop) or automatic (electromagnet, pneumatic suction cup, spreader, etc.).

Also, the crane can be equipped with mechanisms for moving the cargo trolley, changing the boom reach, rotating the load-bearing element around the support, etc. Stacker cranes are equipped with a column rotation mechanism. Without exception, all cranes registered with Rostechnadzor are equipped with load capacity or load moment limiters, which may also have work meters to collect information about the loads being lifted.

Classification of cranes

To begin with, it should be noted that the above classification cannot fully reflect all existing types of cranes, since many are located on the borders of the presented points, or combine them.

By design

Load-lifting cranes can be divided into the following main types by design:

Jib cranes The load-handling member is suspended from a boom or a trolley moving along the boom. These include tower, portal, semi-portal, jib cranes, etc. Bridge type cranes The supporting structure has the form of a bridge with a trolley or electric hoist moving along it. These include overhead, gantry, semi-gantry, cantilever cranes, bridge loaders, etc. Cranes with load-bearing ropes A load-handling member is suspended from a load trolley moving along load-bearing ropes fixed in supports. Stacker cranes Load-lifting cranes equipped with a vertical column with a device moving along it for stacking loads.

If possible, move

The stationary crane is fixedly fixed to the base and cannot be moved. The radial crane has the ability to move along a circular path relative to a stationary support. Radial cranes are used in round or sector-shaped warehouses. The adjustable crane is fixed to the base and can be moved using lifting machines or manually. Self-lifting crane is used in construction. Installed on the structures of a building under construction. As the structure is erected, the crane rises upward using special mechanisms. The crane is a quick-installed tower crane, installed on site using its own mechanisms, without steeplejack operations and with an operational installation time of no more than 30 minutes. The mobile crane has the ability to move. Types of mobile cranes: Self-propelled crane (has the ability to move during operation and transport cargo due to the supply of electricity using the following systems: trolley busbar, contact rail, overhead cable systems, cable drum with a spring or motor drive, contactless power transmission system); Trailed crane (moved by tug using a trailer).

By drive type

Manual drives are used when moving loads over short distances and at low work rates. Electric drive Electric cranes use primarily AC electric motors, but when continuously variable speed control is required, DC electric motors are used. The hydraulic drive is compact, allows for stepless adjustment of crane speeds, but has low efficiency. Pneumatic drives are mainly used when working in fire and explosive environments. Equipped with an internal combustion engine, they are used in cranes that operate independently of the electrical network: mobile automobile, railway, crawler, floating.

By degree of rotation

According to the degree of rotation of the crane, there are two types:

The rotary valve has the ability to rotate relative to the support. Rotary valves can be full-rotary (angle of rotation more than 360º) and not full-rotary (angle of rotation less than 360º). A non-rotating crane does not have the ability to rotate relative to the support.

By type of support

According to the type of support, cranes are divided into: support, suspended, pneumatic wheels, automobile, rail, railway, tractor, crawler cranes, wheeled cranes, cranes on a special chassis.

By type of load-handling device

Harbor crane with grapple

Hook cranes The load-handling element of the crane is the hook. This is the simplest and oldest device that is widely used in almost all types of taps. Grab cranes the load-handling element of a crane is a grab Magnetic cranes the load-handling element of a crane is an electromagnet Clamp cranes the load-handling element of a crane is tongs Container cranes the load-handling element of a crane is a spreader

There are also pin cranes, stacker cranes, foundry cranes, stripper cranes, landing cranes, well cranes, magnetic grab cranes, forging cranes, etc. The load-handling element is selected depending on the characteristics of the load.

Design features

Crane with suspended cradle (Almaty)

• Tap boom type: load-bearing element boom. The load-handling member is suspended directly from the boom or from a load trolley moving along the boom.

Types of jib cranes: self-propelled jib crane, portal crane, mast crane, console crane, tower crane, floating crane, bicycle crane.

• Tap bridge type: is a type of crane, has a structure made in the form of a support or suspension bridge. The load-bearing elements rest directly on the crane runway. The bridge (bearing beam) moves on rails laid on the walls of buildings or on overpasses outside the building. Types of overhead cranes:
  • overhead support crane,
  • overhead overhead crane,
  • gantry crane,
  • polar faucet.
• Tap cable type: load-bearing element ropes secured to two supports. The load-handling member is suspended from a cargo trolley moving along ropes. Crane supports can be stationary or mobile.

Application area

• Overhead crane: refers to standard production equipment of workshops, power plants, closed and open warehouses. Its lifting capacity reaches 500-600 tons, spans (distances between the axes of the crane rails) - 50 - 60 m. Possible height of the crane (height of lifting the load) - 40 - 50 m and in a special version up to 500 m; speed of the bridge (working movement) - 30 - 160 m/min, cargo trolley - 10 - 60 m/min, load lifting up to 60 m/min.

General purpose overhead cranes include hook, magnetic, grab and magnetic grab cranes.

• Single girder crane(supported and suspended): as a cargo trolley, it has a self-propelled electric hoist (then called a crane beam) or a full-fledged trolley equipped with a mechanism for lifting loads and moving. A special group includes metallurgical pavements (foundry, filling, well, for “stripping” ingots, etc.), which are equipped with special load-handling devices and special mechanisms for controlling them.
• Stacker crane(a type of overhead crane) with a cargo trolley having a vertical rotating column along which a fork moves, carrying a package of cargo on a pallet and allowing stacking and dismantling of package stacks. Recently, stacker cranes have been equipped with automatic control, which allows reducing cargo processing time.
• Tower crane: used primarily in civil, industrial and hydraulic engineering (construction), as well as for servicing open stocks and outfitting works in shipbuilding, it allows for rapid installation and dismantling and transportation by road. The most common in the regions are KB-403, KB-405, KB-408. In 2004, Rosstat recorded 8 manufacturing enterprises of tower cranes with lifting capacity over 5 tons in Russia
• Tower crane: used in cramped construction conditions with limited space for crane installation, effective in low-rise construction (up to 30 meters), shopping centers, town houses, with the possibility of reinstallation to a new parking location during one work shift. The use of quickly erected cranes is effective due to low operating costs, with the advantage of high-precision positioning of loads by a horizontal boom and remote radio control of the crane. An example of a modern quick-installed crane is the cranes produced by San Marco international (Italy).
• Gantry crane: usually used for servicing warehouses, mainly for piece goods, containers and timber cargo, for the installation of prefabricated industrial and civil structures, servicing hydroelectric power plants and sectional installation in shipbuilding. They are manufactured mainly with hooks or with special load-handling devices. Gantry crane is a crane in which the load-bearing structural elements rest on the crane runway using two support posts. Gantry cranes belong to the category of bridge-type lifting devices. The average service life of gantry cranes is approximately 20 years, excluding operating mode and operating conditions. MTBF is approximately 3,000 cycles. The lifting capacity of gantry cranes reaches 1000 tons.
• Jib crane: adapted for mechanization of lifting and transport operations for lifting and moving cargo within the service area. Depending on the modification, the angle of rotation of the jib crane can be in the range of 0-360 degrees. A jib crane with a mechanized drive has found wide application and is successfully used for lifting operations in workshops, warehouses and construction sites at ambient temperatures from −20 to +40 °C. The angle of rotation of the crane boom is 360°. The speed of lifting the load and moving the hoists corresponds to the speeds of the hoists used. Cantilever stationary cranes (on a column) are designed to perform lifting and transport operations when servicing process equipment, loading and unloading operations, etc. in rooms at ambient temperatures from −20 to +40 °C. The angle of rotation of the crane boom is 270°. The speed of lifting the load and moving the hoists corresponds to the speeds of the hoists used.
• Crane arm: a jib-type crane mounted on a vehicle chassis and used to load and unload this chassis. Usually installed on a truck, it allows you to load and transport cargo with one piece of equipment.
• Railway crane: a jib-type crane mounted on a railway chassis, used on railways and large factories that have their own railway access roads. Common types - KZhDE (manufactured by the plant named after May 1st, Kirov); EDK plant named after. Kirov and the TAKRAF Association, Leipzig, GDR (now KRC from Kirow-Leipzig, Germany)
• Pneumatic wheel crane: a jib-type crane mounted on a pneumatic-wheeled chassis (i.e. it can only move when attached to another vehicle). Common types - KS-5363 (25t. load capacity), KS-4371 (16t. load capacity)
• Mobile pneumatic wheel crane, on special chassis: jib-type crane mounted on a pneumatic-wheeled self-propelled chassis. Often such cranes have an all-terrain chassis, with all or most of the drive axles. For better maneuverability, such cranes have more than one, often several, controlled axles. All this allows you to position the crane as close as possible to the work area. Modern mobile cranes allow operators to work in comfortable conditions: the cabins are equipped with air conditioning, comfortable chairs, and a computer monitors all manipulations, including warning the operator against mistakes. Examples of all-terrain mobile cranes on pneumatic traction include the German Terex AC300/6 with a lifting capacity of 300 tons. This compact all-terrain mobile crane has a synchronized telescopic boom and is able to move independently to the job site at speeds of up to 85 km/h. The all-terrain class includes, for example, the American-Italian Grove from the 700 series, for example the GROVE RT 700 E with a lifting capacity of 55 tons.
  The reach of the telescopic boom of such cranes is usually further increased if a jib is used. In modern crane models, not a single hydraulic or electrical line needs to be connected manually - all manipulations are carried out and controlled by the operator remotely.
• Crawler crane: a jib-type crane mounted on a crawler chassis (can only move on a heavy semi-trailer and often disassembled, and can only work on a specially prepared site, and may also have a tower version, a sliding move). Common types - MKG-25/MKG-25BS/MKG-25BR (load capacity: 5t - jib and 25t - main lift) Chelyabinsk Mechanical Plant or Donetsk Plant, RDK-25/RDK-250/RDK-250-2/RDK -250-3 Polar (load capacity: 5t - jib and 25t - main lift) - produced by Zemag Zeitz / TAKRAF, GDR (discontinued); RDK-400/RDK-400-1 (load capacity: 8t - jib and 40t - main lift) - produced by Zemag Zeitz / TAKRAF, GDR (discontinued); DEK-251/DEK-361/DEK-401/DEK-631A (5t.-jibs and 25t./36t./40t/63t) - produced by the Chelyabinsk Mechanical Plant and cranes of other series - SKG (up to 160t), KS, etc. d.

Regulatory document

The main mandatory regulatory document in Russia for the design, operation and repair of cranes is PB 10-382-00

Notes

Links

Notes

Wikimedia Foundation. 2010.

See what a “crane” is in other dictionaries:

See Lifting crane. * * * LIFTING CRANE LIFTING CRANE, a lifting machine (see LOADING MACHINE) of cyclic action with a reciprocating movement of the lifting member; used for lifting and moving loads. Cycle... ... encyclopedic Dictionary

crane- - Topics oil and gas industry EN derrickhoisting cranegin ... Technical Translator's Guide

Crane- Lifting crane LIFTING CRANE, see Lifting crane. ... Illustrated Encyclopedic Dictionary

The crane is an indispensable assistant in many industries. The need for it arises when you need to move loads vertically or the load is so heavy that it is not possible to remove or load it into a car or railway transport manually.

First, let's look at the GPK chassis.

There are purely narrowly targeted cranes. Such as railway. Their main purpose is to load and unload trains. Sometimes they are used to organize warehouses near railway tracks. In rare cases, to remove rubble and build the same railway tracks.

Stationary cranes. They are used by large enterprises where it is necessary to constantly move cargo from place to place. These include any ports and large warehouses with constantly changing saturation. Those. The crane's life will be exhausted before it becomes necessary to move it. - a bright representative of this type of load-lifting cranes.

Truck-mounted cranes. Extremely high mobility, extremely low load capacity - most construction and residential complex enterprises love them for these qualities. In these organizations, idle work directly affects the cost of work and the loads are usually not so heavy.

Cranes on their own. These cranes are able to move not due to the engine of the car or train on which they are installed, but, as they say, on their own two feet. These cranes are used in cases where there is no need to install a stationary high-capacity crane covering the entire work site, and it is not financially feasible to install several cranes. These cranes are mainly used on construction sites, where it is almost impossible for such a crane to travel.

Crane support structure

The supporting structure determines the basic operating height of the crane. For truck cranes, this is the height of the vehicle itself. For a tower it is called “Supporting Structure”. For an overhead crane, this value exceeds the lifting height of the load.

Load-bearing structure of load-lifting cranes.

For a tower crane this is a boom. For some cranes, the boom changes size, for some, the location of the load on the boom changes. In an overhead crane this is called a girder. The boom/beam with the load attachment point can be connected by ropes, chains, etc. All this together allows you to position the load in space.

In everyday communication, a load-handling member is an attachment to a crane. Something with which the load is grabbed and held. Modern cranes are usually equipped with all possible grips for any job. You just need to select the one you need. For example:

LOAD-LIFTING CRANE, a cyclic machine designed for lifting and horizontal movement of cargo held by a load-handling device until unloading. A lifting crane operates within a limited work area (construction site, workshop, terminal, warehouse, etc.). The main characteristic of a load-lifting crane is its lifting capacity, which refers to the largest mass of the load being lifted.

Historical reference. The simplest lifting machines, used for excavation work in construction, in mines and mines, until the end of the 18th century were made of wooden parts and had a manual drive. By the beginning of the 19th century, wear parts began to be replaced with metal ones. In the 1820s, the first lifting machines made entirely of metal appeared, first with a manual drive, and in the 1830s with a mechanical drive. The first steam crane was created in Great Britain in 1830, a crane with a hydraulic drive was created there in 1847. The electric motor was used on load-lifting cranes in 1880-85 almost simultaneously in the USA and Germany; in 1895 the internal combustion engine was used. The load-lifting cranes had a bridge truss and a single-engine drive.

Modern type lifting cranes began to be produced in Russia at the end of the 19th century at a number of factories (Putilovsky, Bryansk, Kramatorsk, Nikolaevsky, etc.). In the 1920s, a new branch of transport engineering was created with specialized factories producing cranes for various purposes. The main direction of production development is the introduction of automated control, increasing lifting capacity, specialization and ensuring the reliability and safety of crane equipment.

Classification. Load-lifting cranes differ in design, type of load-handling device corresponding to the nature of the work performed, the specified trajectory of the load; angle of rotation of the working parts, running gear, type of mechanism drive. The variety of designs of load-lifting cranes ensures their wide application. Based on the characteristic features of their design, load-lifting cranes are divided into overhead cranes, jib cranes, and special ones often created on their basis.

Bridge cranes have a truss structure along which a cargo trolley moves with a load-handling device suspended on it by means of ropes (hook suspension, lifting electromagnet, grab, etc.). The trolley moves across a truss structure supported by bridge beams, which can move along a special crane track laid on an overpass or load-bearing beams of a workshop, warehouse, etc. (Figure 1). Load-lifting cranes of this type include a gantry crane, the cargo trolley of which is mounted on rigid racks (Figure 2). The entire structure moves along a rail track or concrete base. The lifting mechanism of the crane is a hoist or winch mounted on a cargo trolley. The trolley movement mechanisms can have a flexible traction drive (chain or rope) or drive wheels mounted on the trolley frame or on running beams that have special balancing trolleys and drives with shoe or disc brakes. The lifting capacity of typical overhead cranes is 500-600 tons; goats - up to 1600 tons.

Jib cranes have the most varied designs: equipped with replaceable booms of various lengths, telescopic or truss (straight or curved), providing the required scope of work; equipped with specialized lifting equipment (cargo trolley or hoist); depending on the location of the work, they have appropriate supporting and running devices. Based on the design features and location of the boom, lifting cranes are distinguished that are designed to perform specific work. There are gantry cranes (Figure 3) with a boom mounted on a slewing gantry or self-propelled cranes with a vehicle- or crawler-mounted undercarriage; tower - with the boom located at the top of the structure (sometimes on the portal) of the tower; cable-stayed - with a boom on a foundation support with its upper end fastened with guy ropes, mast - with a rigid fastening of the boom; cantilever - when the boom is permanently attached to a wall, column (Figure 4) or on a movable cart; bicycles - with a trolley moving along a floor single-rail track and held by its upper guide. To change the length (extension) of the boom when it is hinged to a support, load-lifting cranes are equipped with a winch. Tower structures are made in the form of lattice or tubular sections connected by flanges, with the possibility of expanding them from below or from above to change the height of the load lifting. The stability of a lifting crane is usually ensured by the use of counterweights. Rotation (turning) is carried out on roller or ball slewing bearings using a gear drive or a rope drive. In the construction of high-rise buildings (100-300 m), they use attachment cranes that are attached to the wall of the tower building and built on top, and for heights over 300 m, mobile tower cranes are used, resting on the building structure from above and self-lifting using a winch that has a large pulley mechanism multiplicity. The lifting capacity of mobile cranes is from 40-300 tons, special installation cranes - up to 1600 tons.

Figure 3. Portal crane with articulated boom and grab grip.

Special cranes are designed to perform lifting and transport or technological operations, often carried out under special conditions. Such load-lifting cranes have the necessary mechanisms that perform specified technological operations, perform specific movements and are equipped with special load-handling devices. For most of them, the base is a bridge-type structure, which is complemented by special equipment - grab, magnetic grab, special load-handling equipment, for example, buckets for molten metal, stackers. To work in large areas (terminals, container yards), bridge loaders are used, equipped with spreaders (Figure 5) to capture and securely hold the cargo; bridge cranes, which are similar in design to gantry cranes, but have a larger bridge span, one of the supports is often connected to the bridge with a hinge, which increases the service area. In ports, warehouses for bulk materials and timber cargo, gantry cranes are used, which have a boom mounted on a fully revolving platform mounted on a portal moving along crane rails. Work on cleaning the bottom of reservoirs is carried out from floating jib-type cranes, which are also most often equipped with turntables and form a single structure with the hull of the vessel (pontoon). They are used in ports, docks and in the construction of hydraulic structures, for lifting heavy loads (up to 2500 tons). Self-propelled cranes have tower and boom structures similar to tower cranes and are equipped with outriggers (outriggers) for stability. Such load-lifting cranes are used for reloading heavy piece and bulk cargo, and are used in the installation of high-rise structures, bridge construction, debris removal, emergency response, etc.

Design features. Load-lifting cranes are divided into: stationary; attached, attached to a structure under construction; adjustable (moving them from one place to another manually or using other machines); mobile, moved from one working position to another under its own power (on a car, pneumatic wheels, caterpillar tracks and railway platforms) or using a tractor (trailer). The running device can rest on top of the crane rails (supporting) or be suspended on the lower I-beam shelves of a special crane runway (suspended). The drive of all mechanisms, as a rule, is individual from electric motors of three-phase alternating current 380 V or (if smooth speed control is necessary) direct current obtained from a generator set or from a diesel engine. To ensure safe operation, all load-lifting cranes are equipped with automatic limiters for load capacity, load lifting height, load moment on the boom, and limit switches for the extreme positions of working bodies. To stop the operation of the crane in strong winds, wind pressure indicators with alarms, shutdown drives, and anti-theft grips - rail clamping pliers - are used. At the end of the rail tracks, stops are installed for buffer devices (shock absorbers, hydraulic stops). To operate on rough terrain, load-lifting cranes are equipped with tilt indicators, and near power lines - with light and sound signaling devices about dangerous approach of the crane to the lines.

The operation of the load-lifting crane is controlled by a push-button remote control “from the floor” or by power controllers or command controllers located in the cabin. In most lifting cranes, control is provided by the crane operator, and in automated mode - using a computer. When working in hazardous conditions or with insufficient visibility from the cab, remote control is used.

Depending on the purpose and design, load-lifting cranes can have different load lifting heights, for example, for bridge cranes 50-60 m; operating speed of the bridge is 30-160 m/min; cargo trolley up to 60 m/min; For boom cranes, the boom lifting speed is 1-3 minutes; boom reach 60-100 m.

Lit.: Load-lifting cranes: In 2 books. / Edited by M. P. Alexandrov. M., 1981; Petukhov P. Z., Ksyunin G. P., Serlin L. G. Special cranes. M., 1985; Zertsalov A. I., Pevzner B. I., Benenson I. I. Stacker cranes. 3rd ed. M., 1986; Vainson A. A. Lifting and transport machines. 4th ed. M., 1989; Aleksandrov M.P. Load-lifting machines. M., 2000.