EP0677477A1 - Greifer - Google Patents

Greifer Download PDF

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Publication number
EP0677477A1
EP0677477A1 EP95200709A EP95200709A EP0677477A1 EP 0677477 A1 EP0677477 A1 EP 0677477A1 EP 95200709 A EP95200709 A EP 95200709A EP 95200709 A EP95200709 A EP 95200709A EP 0677477 A1 EP0677477 A1 EP 0677477A1
Authority
EP
European Patent Office
Prior art keywords
grab
plane
yoke
hinge
symmetry
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.)
Granted
Application number
EP95200709A
Other languages
English (en)
French (fr)
Other versions
EP0677477B1 (de
Inventor
Dirk Korf
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.)
Baggermaatschappij Boskalis BV
Original Assignee
Baggermaatschappij Boskalis BV
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 Baggermaatschappij Boskalis BV filed Critical Baggermaatschappij Boskalis BV
Publication of EP0677477A1 publication Critical patent/EP0677477A1/de
Application granted granted Critical
Publication of EP0677477B1 publication Critical patent/EP0677477B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • B66C3/02—Bucket grabs
    • 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
    • B66C3/14—Grabs opened or closed by driving motors thereon
    • B66C3/16—Grabs opened or closed by driving motors thereon by fluid motors
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/40—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets
    • E02F3/413—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device
    • E02F3/4135—Dippers; Buckets ; Grab devices, e.g. manufacturing processes for buckets, form, geometry or material of buckets with grabbing device with grabs mounted directly on a boom

Definitions

  • the invention relates to a grab comprising two grab buckets substantially corresponding with each other, which are located on both sides of a first plane of symmetry and are each provided with a cutting edge and a grab bucket arm, with which they are rotatably about a horizontal axis connected to each other by means of hinge means further comprising: a grab yoke which is provided with means for connection of the grab with one or more suspension cables of rods extending thereabove; closing means for bringing the grab buckets from at least one open excavating position to a closed position, whilst rotating the grab bucket arms about the hinge means.
  • Hydraulic grabs are also known, which function without wires but which are connected to a crane jib by means of a hinge coupling. When moving from the open, penetrating position to the closed position, both grab buckets hinge about an own, fixed hinge.
  • the closing motion of the cutting edges hereby has a relatively large vertical component: for a bucket with a volume of 2.5 m3 the vertical movement of the cutting edge can easily be about 85 cm.
  • the grab according to the invention comprises means for attaching to the grab yoke a suspension rod or "stick", such as of a hydraulic crane, which is provided at the upper end with means for coupling to a crane jib or the like and is suitable for transferring pressure or tensile forces, rigid connecting rods which extend between the grab yoke and each grab bucket and are hingedly attached thereto at their respective ends, wherein the cutting edges are located in such a way in relation to the hinge means and the ends of the connecting rods, that during their movement from the open to the closed position the cutting edges pass through a substantially horizontal path.
  • a suspension rod or "stick” such as of a hydraulic crane
  • the rigid connecting rods which are suitable for transferring pressure and tensile forces, and the connection to a rigid suspension rod ensure that the location of the cutting edges in relation to the grab yoke is now entirely controllable, the grab yoke itself also being accurately positionable. This is already of importance when inserting the grab into ground layer which has to be removed, in which case, when the situation of the ground surface is known, the cutting edges of the grab buckets can be brought to the desired required initial penetration depth, if necessary whilst exercising pressure on the grab and the cutting edges. After initial penetration the cutting edges will, when closing the grab buckets, pass through a substantially horizontal path, so that eventually a substantially horizontal layer of polluted material will be excavated, along the top of the unpolluted sediment.
  • the means for connection with the suspension rod preferably comprise a double cardan coupling, with horizontal hinge axes, and possibly a drivable hinge connection or rotor with a vertical axis of rotation.
  • the grab can constantly retain the same orientation in the horizontal plane in relation to the pivot of the crane jib, so that dredging can be always be done parallel to a certain working line.
  • the connecting rods as seen in projection perpendicular to the first plane of symmetry of the grab, ar substantially N-shaped or substantially reversed V-shaped, defined by two rods which each run from the central grab yoke to respective bucket sides.
  • the stiffness of the structure is enlarged and thus the relative stability of position of both bucket sides in relation to the grab yoke and thus the controllability of the grab orientation, in particular the cutting edges of the grab buckets, in planes parallel to the first plane of symmetry.
  • the closing means comprise at least one pair of cylinder-piston assemblies, which cross each other and are connectable to suitable control means on, for example, a crane by means of control lines and are hingeably connected to the grab yoke with their upper ends and are hingeable connected to the grab buckets with their lower ends.
  • the cylinder-piston assemblies make complicated and vulnerable provisions for closing ropes superfluous, whereby they contribute to the controllability and reliability of the excavating process.
  • pairs of cylinder-piston assemblies which cross each other are arranged on both outer sides of the grab, so that the cutting edges, as seen in a horizontal plane, will almost always be parallel to the first plane of symmetry during the beginning of the closing motion.
  • the hinge means In order to ensure that during the closing motion the hinge means follow a path which is located in the first plane of symmetry, it is provided for that the cylinderpiston assemblies from each pair are connected to each other by means of valves which open and close simultaneously.
  • guide means for guiding the hinge means in planes parallel to the first plane of symmetry can be provided, preferably depending and fixedly connected to the grab yoke.
  • the grab comprises angle gauges for defining the angle between the first and the second plane of symmetry of the grab, respectively, after being placed on the ground to be dredged, and a reference plane or line such as the vertical.
  • angle gauges for defining the angle between the first and the second plane of symmetry of the grab, respectively, after being placed on the ground to be dredged, and a reference plane or line such as the vertical.
  • the grab buckets have a closing off plate on their upper side which is provided with an air and/or water vent, and wherein closing means are attached on the connecting rods, which in the closed position lock the opening and release it in the open position.
  • Grab 1 is shown in figure 1, and comprises two substantially identical grab bucket members 2 and 3.
  • the grab bucket members 2 and 3 are formed by grab buckets 5 and 6 and grab bucket arms 7 and 8.
  • the grab buckets 5 and 6 have a closed bottom 16 and a closed upper side 17. It is noted that the upper side 17 can be provided with openings, which possibly can be closable for upward escape of air and/or water whilst the grab is being lowered in the position shown in figure 1.
  • the bottom 16 of the grab buckets 5 and 6 is provided with a cutting edge 15 which extends perpendicular to the plane of the drawing.
  • the grab arms 7 and 8 are hingeably connected to each other, the hinge axis extending perpendicular to the plane of the drawing.
  • brackets 20 are arranged where the rigid connecting "rod" 9, 10 respectively is hingedly attached, the hinge axis extending perpendicular to the plane of the drawing.
  • the connecting rod 9, 10 is hingedly attached at the location of 22 to suspension or grab yoke 4.
  • the hinge axis is perpendicular to the plane of the drawing.
  • the grab yoke 4 At its upper end the grab yoke 4 is provided with a bracket 14 with a fork 31 on which the fork 28 of the suspension rod or stick 29 is attached in double cardan way. Both the hinge axes extend perpendicular to one another, one of which in the plane of the drawing. Between the console 14 and the portion of the grab yoke 4 located below that a rotatable connection or rotor 32 is arranged, the axis of rotation of which runs vertically. The rotation of this connection is preferably remotely controlled.
  • the upper end of the stick 29 is attached to the jib (not shown) of a hydraulic crane placed on a pontoon or an embankment, for example.
  • the lower portion of the grab yoke 4 is formed by a number of fixedly attached vertical plates 23 extending downwards, on which at the location of hingeable connection 24 the upper ends of piston-cylinder assemblies 11, 12 are attached.
  • the hinge axis of these also extends perpendicular to the plane of the drawing.
  • the piston-cylinder assemblies 11, 12 each comprise a cylinder 25 and a cylinder rod 26, the lower end of which is attached at the location of the hinge connection 27 to bracket 19 which is attached in a rotationally fixed way to the transverse strengthening tube 18 of the grab buckets 5, 6.
  • the hinge axis of hinge connection 27 extends perpendicular to the plane of the drawing.
  • the grab according to the invention has two perpendicular planes of symmetry, these being S1 and S2.
  • a plane is meant which is perpendicular to S1 and S2.
  • a pair of piston-cylinder assemblies 11a, 12a and 11b, 12b is arranged which cross each other almost perpendicularly.
  • connecting rods 9 (and also 10), in which connecting rods 9a and 9b are in a "vertical" plane and connect the grab yoke and the grab bucket to each other at the front and back, respectively, and a third rod 9c extends diagonally from the connection grab yoke - rod 9b to the connection rod 9a - grab bucket.
  • the connecting rod 9 splits into two connecting rods, which are connected at the location of the brackets 20a and 20 b, respectively, to the front and back side, respectively of the grab bucket 5.
  • the imaginary line sections P3, P4 and P3, P6 are preferably perpendicular to each other, and they are preferably, with the imaginary line section P4 P6, in a ratio of 3:4:5 respectively to each other.
  • the length of the imaginary line section P4 P6 is larger than the length of the imaginary line section P1 P3 . It is furthermore advantageous that, as can be seen in figure 1, in the opened position the imaginary line sections P4 P3 and P3 P1 together include an obtuse angle ⁇ , so that in a closing motion the hinge connection 21 does not have to be moved through a dead centre.
  • the cutting edges 15 will move in a substantially horizontal direction C when retracting the piston rods 26 in the direction A1 and A2, respectively, whilst holding the grab yoke 4 at substantially the same vertical height by means of the crane arm and fork of stick 29. Then the hinge 13 will move in the plane of symmetry S1 upwards in the direction B until the situation shown in figure 2 has been reached. The piston rods 26 are then almost entirely retracted in the cylinders 25.
  • the hinge 13 is hereby situated somewhat above the upper ends of the piston-cylinder assemblies 11, 12, and, in actual fact, within the yoke portion, as a result of which, when opening completely, a large span is obtained, which is much larger than with existing buckets, and consequently the penetration depth for a certain volume of earth to be excavated can be limited and the structure height of the grab is also kept limited despite the large span, .
  • the crossed arrangement of the piston-cylinder assemblies 11, 12 is advantageous compared to, for example, a horizontal arrangement, because it would soon be necessary that, during the opening motion of the grab buckets the piston rod thereof would again have to be retracted somewhat when the hinge moves in a downward direction through the dead centre between both lower ends of the connecting rods.
  • a vertical arrangement of the piston-cylinder assemblies would cause difficulties as far as the size of the attainable stroke is concerned.
  • With the crossed arrangement in the opening and closing motion respectively the movement of the piston rod can remain single while, in the mutually perpendicular position as shown of the piston-cylinder assemblies 11 and 12, a maximum stroke length is attained with a minimal occupation of space.
  • suitable control means for the piston-cylinder assemblies 11, 12 will be available, but for the sake of the clarity of the drawinge these have not been shown. For an expert it will be clear which means can be used for that purpose.
  • vertical guide beams 33, 34 are attached to the yoke 4, which extend downward from the yoke 4 and define between them a vertical passage 35, in which the hinge 13, which is externally roller-shaped, is fittingly guided so as to move according to a line which coincides with the first plane of symmetry S1.
  • the vertical drift will be only approximately 6 cm, i.e. ⁇ 3 cm compared to the average horizontal line of movement, thus amounting to a deviation of only 2.8% of the digging opening, so that a horizontal "slice" of earth is excavated, of which the volume will correspond substantially to the volume that was intended to be excavated within one movement of the grab.
  • penetration depth measurements will have been carried out, with the help of usual means for that purpose. Dredging can thus be done very effectively, with the grab buckets being filled to an optimum, whilst as little possible non-polluted earth is removed.
  • the deviance from a true horizontal digging line will be very small, even less than 3.5%, with regard to the digging opening.
  • box beams 130 are attached between the connecting rods 9, 10 in a direction perpendicular to the plane of the drawing, to which brackets 131 are fixedly attached.
  • brackets 131 are, in turn, attached to valve plates 132 extending perpendicularly to the plane of the drawing, which are provided on the lower side with elongated rubber closing coverings 133.
  • These rubber coverings 133 fit precisely in a sealing manner onto openings 134, which openings are elongated and extend perpendicular to the plane of the drawing and are arranged in the upper side 17 of the grab buckets 5 and 6.
  • the rubber covering 133 will be relatively swivelled away from the opening 134, and water and/or air will be able to escape upwards from the inner space of the bucket 5. If the grab 1 is closed, however, and is moving to the state shown in figure 5, relative rotation in the direction T will have taken place at the location of the hinge connection 21 between the connecting rod 9 and the upper side 17 of the bucket 5. In the closed end position shown in figure 5 the rubber covering 133 will connect to the opening 134 and seal the latter, so that the earth material present in the grab buckets 5 and 6 cannot escape.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
EP95200709A 1994-03-22 1995-03-22 Greifer Expired - Lifetime EP0677477B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL9400450A NL193828C (nl) 1994-03-22 1994-03-22 Grijper met horizontale baan van snijranden.
NL9400450 1994-03-22

Publications (2)

Publication Number Publication Date
EP0677477A1 true EP0677477A1 (de) 1995-10-18
EP0677477B1 EP0677477B1 (de) 2000-11-08

Family

ID=19863974

Family Applications (1)

Application Number Title Priority Date Filing Date
EP95200709A Expired - Lifetime EP0677477B1 (de) 1994-03-22 1995-03-22 Greifer

Country Status (3)

Country Link
EP (1) EP0677477B1 (de)
DE (1) DE69519322T2 (de)
NL (1) NL193828C (de)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1178004A1 (de) * 2000-08-04 2002-02-06 Reel S.A. Entnahme-, Reinigung-, Kalibrierungseinrichtung für in der Aluminiumherstellung angewandte Elektrolysezellen
FR2940796A1 (fr) * 2009-01-08 2010-07-09 Ecl Dispositif d'attache de recipient pour collecter des debris solides et pivotant a l'extremite d'un bras mobile, en particulier dispositif d'attache des godets articules d'une pelle a croute
ITMO20090108A1 (it) * 2009-04-30 2010-11-01 Negrini Srl Benna mordente a taglio lineare per il recupero in acqua di materiale inquinante o simile
EP2484837A1 (de) * 2011-02-07 2012-08-08 Soletanche Freyssinet Greifer, der mit einem Ladekübel mit Verschluss ausgestattet ist
FR2988409A1 (fr) * 2012-03-22 2013-09-27 Soletanche Freyssinet Benne d'excavation a bras croises en " x "
CN104891331A (zh) * 2015-06-11 2015-09-09 安庆市华鑫重工股份有限公司 一种可旋转变向式箱体抓斗
CN104988962A (zh) * 2015-07-27 2015-10-21 安庆市港机制造有限责任公司 一种可压缩式抓斗
EP3056077A1 (de) * 2015-02-13 2016-08-17 Cornelis Hendricus Liet Gerät zum abtrennen von viehfutter
CN104925659B (zh) * 2015-06-16 2016-12-07 温州润物电子商务有限公司 一种旋切压紧式抓斗装置
EP2820942B1 (de) 2013-03-28 2017-02-15 Cornelis Hendricus Liet Greifhaken zur trennung von viehfutter
CN108247025A (zh) * 2018-03-22 2018-07-06 泉州市微柏工业机器人研究院有限公司 铸造用氧化层刮除机构
IT201700053568A1 (it) * 2017-05-17 2018-11-17 Negrini Srl Benna mordente a taglio lineare per il recupero in acqua di materiale inquinante o simile
CN109208676A (zh) * 2018-09-13 2019-01-15 中交广州航道局有限公司 挖泥控制方法和系统、计算机设备、计算机存储介质
CN112978350A (zh) * 2021-02-01 2021-06-18 天昌国际烟草有限公司 一种烟叶抓取装置及抓取方法
CN114380195A (zh) * 2022-03-26 2022-04-22 河南卫华重型机械股份有限公司 一种用于酒糟转运清理的机械防摇摆桥式起重机
CN115385231A (zh) * 2022-08-24 2022-11-25 无锡市港口机械有限责任公司 一种港口物料搬运起重装置及智能控制系统
CN117342428A (zh) * 2023-12-06 2024-01-05 河南卫华重型机械股份有限公司 一种酿酒用平层取糟抓斗起重机控制方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR760335A (fr) * 1932-07-05 1934-02-20 Perfectionnements aux grappins ou bennes preneuses
US2188672A (en) * 1938-06-06 1940-01-30 Hayward Co Grab bucket
US2605563A (en) * 1945-08-27 1952-08-05 Victor R Browning & Company In Self-contained grab bucket unit for hoist lines
DE909676C (de) * 1952-01-05 1954-04-22 Hans Still Ag Maulgreifer fuer stapelnde Flurfoerdergeraete
US3421791A (en) * 1966-12-20 1969-01-14 Hiab Foco Ab Catching tool for a loading crane
DE3131624A1 (de) * 1980-09-02 1982-06-16 VEB Schwermaschinenbaukombinat TAKRAF-Stammbetrieb-Betrieb für Anlagenbau und Rationalisierung, DDR 7010 Leipzig Greifer mit beeinflussbarem bewegungsverlauf der schneiden von greiferschalen

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR760335A (fr) * 1932-07-05 1934-02-20 Perfectionnements aux grappins ou bennes preneuses
US2188672A (en) * 1938-06-06 1940-01-30 Hayward Co Grab bucket
US2605563A (en) * 1945-08-27 1952-08-05 Victor R Browning & Company In Self-contained grab bucket unit for hoist lines
DE909676C (de) * 1952-01-05 1954-04-22 Hans Still Ag Maulgreifer fuer stapelnde Flurfoerdergeraete
US3421791A (en) * 1966-12-20 1969-01-14 Hiab Foco Ab Catching tool for a loading crane
DE3131624A1 (de) * 1980-09-02 1982-06-16 VEB Schwermaschinenbaukombinat TAKRAF-Stammbetrieb-Betrieb für Anlagenbau und Rationalisierung, DDR 7010 Leipzig Greifer mit beeinflussbarem bewegungsverlauf der schneiden von greiferschalen

Cited By (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1178004A1 (de) * 2000-08-04 2002-02-06 Reel S.A. Entnahme-, Reinigung-, Kalibrierungseinrichtung für in der Aluminiumherstellung angewandte Elektrolysezellen
US6643957B2 (en) 2000-08-04 2003-11-11 Reel Sa Unit for the collection, cleaning and calibration of electrolysis pots used for aluminium production
FR2940796A1 (fr) * 2009-01-08 2010-07-09 Ecl Dispositif d'attache de recipient pour collecter des debris solides et pivotant a l'extremite d'un bras mobile, en particulier dispositif d'attache des godets articules d'une pelle a croute
WO2010079266A1 (fr) * 2009-01-08 2010-07-15 E.C.L. Dispositif d'attache de recipients pour collecter des debris solides et pivotant a l'extremite d'un bras mobile, en particulier dispositif d'attache des godets articules d'une pelle a croute
CN102272034A (zh) * 2009-01-08 2011-12-07 E.C.L.公司 用于在可移动臂端部旋转的固体残留物收集器的紧固设备尤其是用于壳铲的铰接斗的紧固设备
US8756837B2 (en) 2009-01-08 2014-06-24 E.C.L. Fastening device for a collector of solid remains swiveling at the end of a mobile arm in particular fastening device for articulated buckets of a crust shovel
CN102272034B (zh) * 2009-01-08 2014-09-03 E.C.L.公司 用于在可移动臂端部旋转的固体残留物收集器的紧固设备尤其是用于壳铲的铰接斗的紧固设备
ITMO20090108A1 (it) * 2009-04-30 2010-11-01 Negrini Srl Benna mordente a taglio lineare per il recupero in acqua di materiale inquinante o simile
EP2484837A1 (de) * 2011-02-07 2012-08-08 Soletanche Freyssinet Greifer, der mit einem Ladekübel mit Verschluss ausgestattet ist
FR2971274A1 (fr) * 2011-02-07 2012-08-10 Soletanche Freyssinet Godet de benne preneuse comportant un obturateur
FR2988409A1 (fr) * 2012-03-22 2013-09-27 Soletanche Freyssinet Benne d'excavation a bras croises en " x "
EP2820942B1 (de) 2013-03-28 2017-02-15 Cornelis Hendricus Liet Greifhaken zur trennung von viehfutter
NL2014296B1 (nl) * 2015-02-13 2016-10-13 Hendricus Liet Cornelis Inrichting voor het losmaken van veevoer.
EP3056077A1 (de) * 2015-02-13 2016-08-17 Cornelis Hendricus Liet Gerät zum abtrennen von viehfutter
US10609870B2 (en) 2015-02-13 2020-04-07 Cornelis Hendricus Liet Material handling device for separating feed for livestock
CN104891331A (zh) * 2015-06-11 2015-09-09 安庆市华鑫重工股份有限公司 一种可旋转变向式箱体抓斗
CN104925659B (zh) * 2015-06-16 2016-12-07 温州润物电子商务有限公司 一种旋切压紧式抓斗装置
CN104988962A (zh) * 2015-07-27 2015-10-21 安庆市港机制造有限责任公司 一种可压缩式抓斗
IT201700053568A1 (it) * 2017-05-17 2018-11-17 Negrini Srl Benna mordente a taglio lineare per il recupero in acqua di materiale inquinante o simile
CN108247025B (zh) * 2018-03-22 2023-10-27 福建省微柏工业机器人有限公司 铸造用氧化层刮除机构
CN108247025A (zh) * 2018-03-22 2018-07-06 泉州市微柏工业机器人研究院有限公司 铸造用氧化层刮除机构
CN109208676A (zh) * 2018-09-13 2019-01-15 中交广州航道局有限公司 挖泥控制方法和系统、计算机设备、计算机存储介质
CN109208676B (zh) * 2018-09-13 2021-04-20 中交广州航道局有限公司 挖泥控制方法和系统、计算机设备、计算机存储介质
CN112978350A (zh) * 2021-02-01 2021-06-18 天昌国际烟草有限公司 一种烟叶抓取装置及抓取方法
CN114380195A (zh) * 2022-03-26 2022-04-22 河南卫华重型机械股份有限公司 一种用于酒糟转运清理的机械防摇摆桥式起重机
CN115385231A (zh) * 2022-08-24 2022-11-25 无锡市港口机械有限责任公司 一种港口物料搬运起重装置及智能控制系统
CN115385231B (zh) * 2022-08-24 2024-01-05 无锡市港口机械有限责任公司 一种港口物料搬运起重装置及智能控制系统
CN117342428A (zh) * 2023-12-06 2024-01-05 河南卫华重型机械股份有限公司 一种酿酒用平层取糟抓斗起重机控制方法

Also Published As

Publication number Publication date
DE69519322D1 (de) 2000-12-14
EP0677477B1 (de) 2000-11-08
DE69519322T2 (de) 2001-06-07
NL193828B (nl) 2000-08-01
NL193828C (nl) 2000-12-04
NL9400450A (nl) 1995-11-01

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