Arm head structure and crane

Abstract

The utility model relates to engineering machinery technical field discloses a kind of arm head structure and crane including frame structure, first pulley, second pulley and third pulley. First pulley and second pulley are spaced along first direction. Third pulley is set to the side of first pulley and second pulley along second direction, which intersects with first direction, and first pulley, second pulley and third pulley are respectively installed on frame structure by pin shaft sensor. Wherein, the axial direction of first pulley, second pulley and third pulley are all parallel to first direction, and first pulley, second pulley and third pulley are staggered in first direction, the utility model can provide necessary operating clearance in axial direction for each pin shaft sensor, so that sensor can be smoothly installed and disassembled.

Description

Technical Field

[0001] This utility model relates to the field of engineering machinery technology, specifically to a boom head structure and a crane. Background Technology

[0002] In the field of crane technology, to expand their operational capabilities, multiple guide pulleys are often installed at the boom head to guide the wire ropes of the main winch, auxiliary winch, and dragline under different working conditions. To achieve independent and accurate monitoring of the force on each wire rope, a straightforward technical approach is to use pin-shaft sensors to replace the traditional fixed shafts of these guide pulleys, thereby transforming each pulley into an independent force measurement unit.

[0003] However, due to the limited space at the boom head, when three pulleys with pin-mounted sensors are installed side by side, the large radial dimensions of the sensors themselves cause them to be pressed tightly against each other axially, or even interfere with each other. This compact layout leaves insufficient lateral operating space for each sensor, making it difficult to install them properly or remove them for maintenance.

[0004] Therefore, existing technologies lack an effective layout scheme that can rationally arrange multiple pulleys with pin-driven sensors within the limited head space of the boom, thereby achieving independent detection of multifunctional wire rope force while solving the problems of spatial interference and disassembly / reassembly between sensors. This structural obstacle restricts the improvement of the crane's monitoring capabilities under complex working conditions. Utility Model Content

[0005] This utility model provides a boom head structure and a crane to solve the problem of difficult disassembly and assembly caused by interference between sensors in the limited space.

[0006] In a first aspect, this utility model provides an arm head structure, comprising: Framework structure; The first pulley and the second pulley are spaced apart along the first direction; The third pulley is disposed on one side of the first pulley and the second pulley along a second direction intersecting the first direction. The first pulley, the second pulley and the third pulley are respectively mounted on the frame structure by a pin sensor. The first pulley, the second pulley, and the third pulley are all parallel to the first direction in terms of their axial direction, and the first pulley, the second pulley, and the third pulley are staggered in the first direction.

[0007] Beneficial effects: By arranging the first and second pulleys at intervals along a first direction, and placing the third pulley along a second direction on one side of the two pulleys, while ensuring that the three pulleys are axially parallel and staggered in the first direction, the spatial layout is cleverly utilized. This fundamentally solves the problem of axial interference caused by multiple pulleys with pin sensors installed side-by-side in the limited space of the boom head. This asymmetrical staggered structure provides the necessary axial operating clearance for each pin sensor, allowing the sensors to be easily installed and removed. This ensures independent and accurate monitoring of the force on each wire rope while maintaining the feasibility and maintainability of the structure.

[0008] In one alternative implementation, the framework structure includes: Framework body; The mounting base includes a pair of side plates, both of which are connected to the frame structure. The pair of side plates are distributed sequentially along the first direction, and an installation space is formed between the pair of side plates. Pin holes are provided on the side plates, and both ends of the pin shaft sensor are located in the pin holes of the pair of side plates, and both ends of the pin shaft sensor are connected to the pair of side plates.

[0009] Beneficial effects: By setting up a mounting base consisting of a pair of side plates and opening pin holes in the side plates to install and fix the pin-shaft sensor, a stable and reliable support structure is provided for the pulley and sensor assembly. This structure can not only withstand the huge radial force and vibration generated during the operation of the wire rope, ensuring the stability of the measurement, but its regular frame shape also facilitates positioning and welding at the boom head, simplifying the manufacturing and assembly process of the overall structure.

[0010] In one optional embodiment, three mounting bases are provided, each corresponding to one of the first pulley, the second pulley, and the third pulley. The three mounting bases are designated as a first mounting base, a second mounting base, and a third mounting base. The first pulley is rotatably mounted in the mounting space of the first mounting base via the pin sensor. The second pulley is rotatably mounted in the mounting space of the second mounting base via the pin sensor. The third pulley is rotatably mounted in the mounting space of the third mounting base via the pin sensor.

[0011] Beneficial effects: By independently configuring dedicated first, second, and third mounting bases for the first, second, and third pulleys, a modular layout of the three pulley units is achieved. This discrete design allows each pulley and its sensor to have an independent mounting reference and force transmission path, effectively avoiding mechanical interference between them, ensuring the independence and accuracy of the monitoring data from each sensor, and also facilitating independent repair or replacement of individual pulley units, thus improving maintenance convenience.

[0012] In one optional embodiment, a first limiting plate is provided on the side plate of the first mounting base away from the second mounting base along the first direction, and on the side plate of the second mounting base away from the first mounting base along the first direction. A first limiting rod is provided between the two first limiting plates, and the first limiting rod is spaced apart from the circumferential surfaces of the first pulley and the second pulley.

[0013] In one optional embodiment, a second limiting plate is provided on each of the two side plates of the third mounting base, and a second limiting rod is provided between the two second limiting plates. The second limiting rod is spaced apart from the circumferential surface of the third pulley.

[0014] Beneficial effects: By installing limiting plates and limiting rods on the sides of the first, second, and third pulleys, an effective anti-derailment device for the wire rope is formed. The limiting rod maintains a certain gap with the pulley's circumference, allowing the wire rope to pass smoothly while providing mechanical resistance when it sways, preventing the wire rope from coming out of the pulley groove. This avoids equipment downtime, structural damage, and even safety accidents caused by derailment, thus improving the reliability and safety of the crane's operation.

[0015] In one alternative embodiment, the first pulley is adapted to have a main lifting wire rope wound around it, the main lifting wire rope being located between the circumference of the first pulley and the first limiting rod, and the second pulley is adapted to have an auxiliary lifting wire rope wound around it, the auxiliary lifting wire rope being located between the circumference of the second pulley and the first limiting rod.

[0016] In one alternative embodiment, the third pulley is adapted to have a dragline working wire rope wound around it, the dragline working wire rope being located between the circumferential surface of the third pulley and the second limiting rod.

[0017] In one alternative implementation, it further includes: The arm head pulley assembly is located on the side of the third pulley that is away from the first pulley and the second pulley. The arm head pulley assembly includes three fourth pulleys, which are respectively arranged in a one-to-one correspondence with the first pulley, the second pulley and the third pulley. The fourth pulleys are rotatably connected to the frame structure by pins. The third limiting plate is provided in pairs, and the pair of third limiting plates are respectively provided on two opposite sides of the frame structure. A third limiting rod is provided between the pair of third limiting plates, and the third limiting rod is spaced apart from the circumferential surface of the fourth pulley.

[0018] Beneficial effects: By adding a boom head pulley block and a corresponding third limiting rod to the outside of the third pulley, a secondary guiding and protective system for the wire rope is formed. This structure can further constrain the exit angle and position of the wire rope, working in conjunction with the aforementioned pulley block to ensure that the wire rope remains neatly arranged under complex stress. This effectively prevents problems such as wear and derailment caused by excessive exit angle or tangled rope, extends the service life of the wire rope, and improves the stability of the entire hoisting system.

[0019] Secondly, this utility model also provides a crane, including a boom head structure, a main lifting winch, a secondary lifting winch, and an auxiliary winch. The boom head structure is located at the top of the crane's truss boom. The main lifting wire rope of the main lifting winch passes through a first pulley of the boom head structure, the secondary lifting wire rope of the secondary lifting winch passes through a second pulley of the boom head structure, and the dragline working wire rope of the auxiliary winch passes through a third pulley.

[0020] Beneficial effects: By integrating the boom head structure, the crane has the ability to independently and accurately monitor the stress on multiple wire ropes, solving the problem of spatial interference in sensor layout.

[0021] In one alternative implementation, it further includes: The controller is electrically connected to each of the pin sensors, and the controller is adapted to acquire the force information of each pulley; The display is electrically connected to the controller and is adapted to generate data based on the force information acquired by the controller.

[0022] Beneficial effects: By setting up controllers and displays electrically connected to each pin sensor, a complete data acquisition and display system was constructed. This system can collect and process the force information of each pulley in real time and present it to the operator in an intuitive form. It realizes centralized monitoring and visualization of the force status of multiple wire ropes, providing operators with direct basis for judging working conditions and preventing overload, and improving the intelligence level and safety of equipment operation. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the arm head structure according to an embodiment of the present utility model; Figure 2 This is a top view of an arm head structure according to an embodiment of the present utility model.

[0025] Explanation of reference numerals in the attached figures: 1. Frame structure; 101. Frame body; 102. Mounting base; 1021. Side panel; 2. First pulley; 3. Second pulley; 4. Third pulley; 5. Pin sensor; 6. First limiting plate; 7. First limiting rod; 8. Second limiting plate; 9. Second limiting rod; 10. Arm head pulley block; 1001. Fourth pulley; 11. Third limiting plate; 12. Third limiting rod; X, the first direction; Y, the second direction. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0027] The following is combined Figures 1 to 2 The following describes embodiments of the present invention.

[0028] According to an embodiment of this utility model, an arm head structure is provided, including a frame structure 1, a first pulley 2, a second pulley 3, and a third pulley 4. The first pulley 2 and the second pulley 3 are spaced apart along a first direction X. The third pulley 4 is disposed on one side of the first pulley 2 and the second pulley 3 along a second direction Y intersecting the first direction X. The first pulley 2, the second pulley 3, and the third pulley 4 are respectively mounted on the frame structure 1 via pin sensors 5. The axial directions of the first pulley 2, the second pulley 3, and the third pulley 4 are all parallel to the first direction X, and the first pulley 2, the second pulley 3, and the third pulley 4 are staggered along the first direction X.

[0029] It should be noted that, as the basic support, frame structure 1 has the first pulley 2 and the second pulley 3 spaced apart along the first direction X. The third pulley 4 is not aligned with the first pulley and the second pulley 3 in the first direction X, but is positioned in front of the first pulley 2 and the second pulley 3 on the same side along the second direction Y. The rotation axes of these three pulleys are parallel to each other and all parallel to the aforementioned first direction X. Furthermore, these three pulleys are not aligned in the first direction X, but are misaligned. This misalignment is specifically manifested in the fact that the axial projection position of the third pulley 4 does not completely overlap with the first pulley 2 and the second pulley 3, thus forming an axial gap. Each pulley is mounted to frame structure 1 via a pin sensor 5. This pin sensor 5 serves both as the pulley's rotation axis and as the core sensing element for measuring the tension of the wire rope. This solves the problem that the three pin sensors 5, due to their excessively large radial dimensions, cannot be installed side-by-side in the narrow space of the boom head, providing the necessary axial operating space for the on-site installation, debugging, and maintenance of the sensors.

[0030] Understandably, the first direction X is the width direction of the boom, and the second direction Y is the length direction of the boom.

[0031] In this embodiment, by arranging the first pulley 2 and the second pulley 3 at intervals along the first direction X, and placing the third pulley 4 along the second direction Y on one side of the two pulleys, while ensuring that the three pulleys are axially parallel and staggered in the first direction X, the spatial layout is cleverly utilized. This fundamentally solves the problem of axial interference caused by multiple pulleys with pin sensors 5 being installed side by side in the limited space of the boom head. This asymmetrical staggered structure provides the necessary operating clearance for each pin sensor 5 in the axial direction, allowing the sensors to be installed and removed smoothly. Thus, while achieving independent and accurate monitoring of the force on each wire rope, the feasibility and maintainability of the structure are ensured.

[0032] In one embodiment, the frame structure 1 includes a frame body 101 and a mounting base 102. The mounting base 102 includes a pair of side plates 1021, both of which are connected to the frame structure 1. The pair of side plates 1021 are distributed sequentially along a first direction X, and an installation space is formed between the pair of side plates 1021. Pin holes are provided on the side plates 1021, and both ends of the pin shaft sensor 5 are respectively located in the pin holes of the pair of side plates 1021, and both ends of the pin shaft sensor 5 are respectively connected to the pair of side plates 1021.

[0033] The frame structure 1 includes a main frame body 101 and a mounting base 102 welded or bolted to it. The mounting base 102 includes a pair of parallel and oppositely arranged side plates 1021, both of which are securely connected to the frame body 101. The pair of side plates 1021 are distributed along a first direction X, forming a mounting space for accommodating pulleys. Each side plate 1021 has a coaxial pin hole precisely machined into it. Both ends of the pin-shaft sensor 5 extend into and are positioned within the pin holes of the pair of side plates 1021, and are fixedly connected by means of lock nuts, snap rings, or interference fits. This mounting base 102 structure provides a stable and reliable support foundation for the pin-shaft sensor 5, ensuring the connection rigidity and measurement accuracy between the sensor and the frame under heavy load and vibration conditions.

[0034] In this embodiment, a mounting base 102 consisting of a pair of side plates 1021 is provided, and pin holes are made in the side plates 1021 to install and fix the pin shaft sensor 5, providing a stable and reliable support structure for the pulley and sensor assembly. This structure can not only withstand the huge radial force and vibration generated during the operation of the wire rope, ensuring the stability of the measurement, but its regular frame shape also facilitates positioning and welding at the boom head, simplifying the manufacturing and assembly process of the overall structure.

[0035] In one embodiment, three mounting bases 102 are provided, each corresponding to a first pulley 2, a second pulley 3, and a third pulley 4. The three mounting bases 102 are designated as the first mounting base 102, the second mounting base 102, and the third mounting base 102. The first pulley 2 is rotatably mounted in the mounting space of the first mounting base 102 via a pin sensor 5. The second pulley 3 is rotatably mounted in the mounting space of the second mounting base 102 via a pin sensor 5. The third pulley 4 is rotatably mounted in the mounting space of the third mounting base 102 via a pin sensor 5.

[0036] Instead of a single mounting base 102, each of the first pulley 2, second pulley 3, and third pulley 4 is equipped with its own dedicated mounting base 102. These three mounting bases 102 can be structurally identical, making each pulley unit an independent functional module. This simplifies manufacturing and assembly processes and prevents interference between pulleys under load through shared structures, ensuring the independence and accuracy of the measurement data from each pin sensor 5.

[0037] In this embodiment, a modular layout of the three pulley units is achieved by independently configuring dedicated first mounting bases 102, second mounting bases 102, and third mounting bases 102 for the first pulley 2, second pulley 3, and third pulley 4, respectively. This discrete design allows each pulley and its sensor to have an independent mounting reference and force transmission path, effectively avoiding mechanical interference between them, ensuring the independence and accuracy of the monitoring data of each sensor, and also facilitating independent repair or replacement of individual pulley units, thus improving maintenance convenience.

[0038] In one embodiment, a first limiting plate 6 is provided on the side plate 1021 of the first mounting base 102 away from the second mounting base 102 along the first direction X, and on the side plate 1021 of the second mounting base 102 away from the first mounting base 102 along the first direction X. A first limiting rod 7 is provided between the two first limiting plates 6. The first limiting rod 7 is spaced apart from the circumferential surface of the first pulley 2 and the second pulley 3.

[0039] In one embodiment, the two side plates 1021 of the third mounting base 102 are respectively provided with second limiting plates 8, and a second limiting rod 9 is provided between the two second limiting plates 8. The second limiting rod 9 is spaced apart from the circumferential surface of the third pulley 4.

[0040] In this embodiment, a limiting plate and a limiting rod are provided on the sides of the first pulley 2, the second pulley 3, and the third pulley 4, forming an effective wire rope anti-derailment device. The limiting rod maintains a certain gap with the pulley's circumference, allowing the wire rope to pass smoothly while providing mechanical obstruction when it sways, preventing the wire rope from coming out of the pulley groove. This avoids equipment downtime, structural damage, and even safety accidents caused by derailment, thus improving the reliability and safety of the crane's operation.

[0041] In one embodiment, the first pulley 2 is adapted to be wound with a main lifting wire rope, which is located between the circumference of the first pulley 2 and the first limiting rod 7, and the second pulley 3 is adapted to be wound with an auxiliary lifting wire rope, which is located between the circumference of the second pulley 3 and the first limiting rod 7.

[0042] In one embodiment, the third pulley 4 is adapted to have a dragline working wire rope wound around it, the dragline working wire rope being located between the circumference of the third pulley 4 and the second limiting rod 9.

[0043] Specifically, the main lifting wire rope passes around the first pulley 2 and is constrained within the space between the rope groove circumference of the first pulley 2 and the first limiting rod 7 above it. The auxiliary lifting wire rope passes around the second pulley 3 and is constrained within the space between the rope groove circumference of the second pulley 3 and the same first limiting rod 7. In the dragline operation, the wire rope passes around the third pulley 4 and is constrained within the space between the rope groove circumference of the third pulley 4 and the second limiting rod 9.

[0044] In one embodiment, the system further includes a head pulley assembly 10 and a third limiting plate 11. The head pulley assembly 10 is located on the side of the third pulley 4 opposite to the first pulley 2 and the second pulley 3. The head pulley assembly 10 includes three fourth pulleys 1001, which are respectively arranged in a one-to-one correspondence with the first pulley 2, the second pulley 3, and the third pulley 4. The fourth pulleys 1001 are rotatably connected to the frame structure 1 via pins. A pair of third limiting plates 11 are provided, which are respectively arranged on two opposite sides of the frame structure 1. A third limiting rod 12 is provided between the pair of third limiting plates 11, and the third limiting rod 12 is spaced apart from the circumferential surface of the fourth pulleys 1001.

[0045] In this embodiment, by adding a boom head pulley group 10 and a corresponding third limiting rod 12 to the outside of the third pulley 4, a secondary guiding and protective system for the wire rope is formed. This structure can further constrain the exit angle and position of the wire rope, and work in conjunction with the aforementioned pulley group to ensure that the wire rope can still be neatly arranged under complex stress, effectively preventing problems such as wear and derailment caused by excessive exit angle or tangled rope, extending the service life of the wire rope, and improving the stability of the entire hoisting system.

[0046] According to an embodiment of the present invention, another aspect provides a crane, including a boom head structure, a main lifting winch, a secondary lifting winch, and an auxiliary winch. The boom head structure is located at the top of the crane's truss boom. The main lifting wire rope of the main lifting winch passes through the first pulley 2 of the boom head structure, the secondary lifting wire rope of the secondary lifting winch passes through the second pulley 3 of the boom head structure, and the dragline working wire rope of the auxiliary winch passes through the third pulley 4.

[0047] In this embodiment, by integrating the boom head structure, the crane is able to independently and accurately monitor the force on multiple wire ropes, thus solving the spatial interference problem of sensor layout.

[0048] In one embodiment, the system further includes a controller and a display. The controller is electrically connected to each of the pin sensors 5 and is adapted to acquire force information of each pulley. The display is electrically connected to the controller and is adapted to generate data based on the force information acquired by the controller.

[0049] The controller (such as a PLC or dedicated industrial control module) is electrically connected to three pin-shaft sensors 5 via signal cables (such as a CAN bus) to collect and process their electrical signals in real time, calculating the real-time force value of each wire rope. A display (such as an LCD screen in the cab) is connected to the controller, receives the processed data, and displays it intuitively to the operator in the form of numbers, bar charts, or curves, enabling centralized monitoring of the force on multiple ropes and overload warnings.

[0050] In this embodiment, a complete data acquisition and display system is constructed by setting up controllers and displays that are electrically connected to each pin sensor 5. This system can collect and process the force information of each pulley in real time and present it to the operator in an intuitive form, realizing centralized monitoring and visualization of the force status of multiple wire ropes. This provides a direct basis for operators to judge the working conditions and prevent overload, improving the intelligence level and safety of equipment operation.

[0051] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A head arm structure, characterized in that, include: Framework structure (1); The first pulley (2) and the second pulley (3) are spaced apart along the first direction (X); The third pulley (4) is disposed on one side of the first pulley (2) and the second pulley (3) along the second direction (Y) intersecting the first direction (X). The first pulley (2), the second pulley (3) and the third pulley (4) are respectively mounted on the frame structure (1) by a pin sensor (5). The first pulley (2), the second pulley (3) and the third pulley (4) are all parallel to the first direction (X) in terms of their axial direction, and the first pulley (2), the second pulley (3) and the third pulley (4) are staggered in the first direction (X).

2. The arm head structure according to claim 1, characterized in that, The framework structure (1) includes: Framework body (101); The mounting base (102) includes a pair of side plates (1021), both of which are connected to the frame structure (1). The pair of side plates (1021) are distributed sequentially along the first direction (X), and an installation space is formed between the pair of side plates (1021). The side plates (1021) are provided with pin holes. The two ends of the pin shaft sensor (5) are respectively located in the pin holes of the pair of side plates (1021), and the two ends of the pin shaft sensor (5) are respectively connected to the pair of side plates (1021).

3. The arm head structure according to claim 2, characterized in that, There are three mounting seats (102), and the three mounting seats (102) are respectively corresponding to the first pulley (2), the second pulley (3) and the third pulley (4). The three mounting seats (102) are the first mounting seat (102), the second mounting seat (102) and the third mounting seat (102). The first pulley (2) is rotatably mounted in the mounting space of the first mounting seat (102) through the pin sensor (5). The second pulley (3) is rotatably mounted in the mounting space of the second mounting seat (102) through the pin sensor (5). The third pulley (4) is rotatably mounted in the mounting space of the third mounting seat (102) through the pin sensor (5).

4. The arm head structure according to claim 3, characterized in that, First limiting plates (6) are provided on the side plate (1021) of the first mounting base (102) away from the second mounting base (102) along the first direction (X), and on the side plate (1021) of the second mounting base (102) away from the first mounting base (102) along the first direction (X). A first limiting rod (7) is provided between the two first limiting plates (6). The first limiting rod (7) is spaced apart from the circumferential surfaces of the first pulley (2) and the second pulley (3).

5. The arm head structure according to claim 3, characterized in that, The second limiting plate (8) is provided on the two side plates (1021) of the third mounting base (102), and a second limiting rod (9) is provided between the two second limiting plates (8). The second limiting rod (9) is spaced apart from the circumferential surface of the third pulley (4).

6. The arm head structure according to claim 4, characterized in that, The first pulley (2) is adapted to be wound with a main lifting wire rope, which is located between the circumference of the first pulley (2) and the first limiting rod (7). The second pulley (3) is adapted to be wound with a secondary lifting wire rope, which is located between the circumference of the second pulley (3) and the first limiting rod (7).

7. The arm head structure according to claim 5, characterized in that, The third pulley (4) is adapted to be wound with a dragline working wire rope, which is located between the circumference of the third pulley (4) and the second limiting rod (9).

8. The arm head structure according to any one of claims 1 to 7, characterized in that, Also includes: The arm head pulley assembly (10) is located on the side of the third pulley (4) away from the first pulley (2) and the second pulley (3). The arm head pulley assembly (10) includes three fourth pulleys (1001). The three fourth pulleys (1001) are respectively arranged in a one-to-one correspondence with the first pulley (2), the second pulley (3) and the third pulley (4). The fourth pulleys (1001) are rotatably connected to the frame structure (1) by a pin. The third limiting plate (11) is provided in a pair. The pair of third limiting plates (11) are respectively provided on two opposite sides of the frame structure (1). A third limiting rod (12) is provided between the pair of third limiting plates (11). The third limiting rod (12) is spaced apart from the circumferential surface of the fourth pulley (1001).

9. A crane, characterized in that, include: The boom head structure according to any one of claims 1 to 8, wherein the boom head structure is located at the top of the crane truss boom; The main lifting winch, the secondary lifting winch, and the auxiliary winch are provided. The main lifting wire rope of the main lifting winch passes through the first pulley (2) of the boom head structure, the secondary lifting wire rope of the secondary lifting winch passes through the second pulley (3) of the boom head structure, and the dragline working wire rope of the auxiliary winch passes through the third pulley (4).

10. The crane according to claim 9, characterized in that, Also includes: The controller is electrically connected to the pin-shaft sensors (5) of each of the arm head structures; The display is electrically connected to the controller.

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