EP0677477B1 - Greifer - Google Patents

Greifer Download PDF

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Publication number
EP0677477B1
EP0677477B1 EP95200709A EP95200709A EP0677477B1 EP 0677477 B1 EP0677477 B1 EP 0677477B1 EP 95200709 A EP95200709 A EP 95200709A EP 95200709 A EP95200709 A EP 95200709A EP 0677477 B1 EP0677477 B1 EP 0677477B1
Authority
EP
European Patent Office
Prior art keywords
grab
plane
symmetry
yoke
hinge
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.)
Expired - Lifetime
Application number
EP95200709A
Other languages
English (en)
French (fr)
Other versions
EP0677477A1 (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 of the kind described in the preamble of claim 1.
  • the invention relates to a method of using such a grab.
  • 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 m 3 the vertical movement of the cutting edge can easily be about 85 cm.
  • the grab according to the invention has the characteristics described in claim 1.
  • 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, are 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 hingeably 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 bracket 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 S 1 and S 2 .
  • a plane is meant which is perpendicular to S 1 and S 2 .
  • 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 A 1 and A 2 , 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 S 1 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 S 1 .
  • the cutting edges 15 will follow a substantially horizontal path during the closing motion, as is schematically shown in figure 5.
  • 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.
  • Preferably 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 non-polluted earth as possible 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.

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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)
  • Load-Engaging Elements For Cranes (AREA)

Claims (14)

  1. Greifer (1), umfassend zwei hauptsächlich mit einander übereinstimmende Greiferteile (2, 3), die an beiden Seiten einer ersten Symmetriefläche (S1) gelegen sind und die jedes mit einem Greiferkorb (5, 6) mit einer Schnittkante (15) und mit einem Greiferkorbarm (7, 8) versehen sind, womit sie mittels Scharniermittel (13) um eine Horizontalachse drehbar mit einander verbunden sind, welcher Greifer eine senkrecht auf der ersten Symmetriefläche (S1) gelegene zweite Symmetriefläche (S2) hat, welcher Greifer weiter umfaßt:
    ein Greiferjoch (4);
    Verschlußmittel (11, 12) um die Greiferkörbe von zumindest einem offenen Ausschachtungsstand in einen geschlossenen Stand zu bringen, worin die Schnittkanten einander anstoßen, während dem Verdrehen der Greiferkorbärme um die Scharniermittel;
    Mittel (31) um das Greiferjoch (4) an einen Kranausleger oder dergleichen zu befestigen;
    und steibe Verbindungsstangen (9, 10) die sich zwischen dem Greiferjoch (4) und jedem Greiferkorb (5, 6) erstrecken und die jede an ihren jeweiligen Enden damit auf scharnierbare Weise verbunden sind, dadurch gekennzeichnet, daß die Schnittkanten (15) hinsichtlich der Scharniermittel (13) und der Enden der Verbindungsstangen (9, 10) derartig gelegen sind, daß die Schnittkanten (15) während ihrer Bewegung von dem offenen zu dem geschlossenen Stand eine hauptsächlich horizontale Bahn durchlaufen, das heißt eine Bahn in einer Fläche senkrecht auf sowohl der ersten Symmetriefläche wie auch auf der zweiten Symmetriefläche,
    der Greifer umfaßt weiter eine Hängestange oder einen Stab (29), die/der durch die Verbindungsmittel mit dem Greiferjoch verbunden ist und an der Oberseite mit Mitteln versehen ist um an einen Kranausleger oder dergleichen zu kuppeln und die/der geeignet ist um Druck oder Zugkräfte zu übertragen.
  2. Greifer (1) gemäß Anspruch 1, wobei während der Schließbewegung die auf den imaginären Linienabschnitten gelegenen Punkte zwischen den Scharniermitteln (13) und den Schnittkanten (15) einer hauptsächlich kreisförmigen Bahn folgen.
  3. Greifer gemäß Anspruch 1 oder 2, wobei in dem offenen Stand, worin der gegenseitige Abstand der Schnittkanten (15) der Greiferkörbe (5, 6) maximal ist, die Linie zwischen der Unterseite der Verbindungsstange (9, 10) und der Schnittkante einen inneren stumpfen Winkel mit der Verbindungsstange macht, in Projektion in einer Vertikalebene senkrecht auf der ersten Symmetriefläche (S1) betrachtet.
  4. Greifer gemäß Anspruch 1, 2 oder 3, wobei die Verbindungsstangen (9, 10), in Projektion senkrecht auf der ersten Symmetriefläche (S1) des Greifers betrachtet, eine hauptsächlich umgekehrte V-Form haben, durch zwei Stangen die jede ab dem zentralen Greiferjoch (4) zu jeweiligen Körbeseiten laufen bestimmt, oder wobei die Verbindungsstangen in Projektion senkrecht auf der ersten Symmetriefläche des Greifers betrachtet, eine hauptsächlich N-Form haben, durch drei Stangen (9a, 9b, 9c) die mit dem Greiferjoch (4) und dem Greiferkorb (5) ein Fachwerk bilden, bestimmt.
  5. Greifer gemäß einem der vorhergehenden Ansprüche, wobei die Mittel für Verbindung des Greiferjochs (4) und der Hängestange eine doppelte Kardanverbindung mit den gegenseitig senkrecht auf einander stehenden horizontalen Drehachsen bilden und wobei vorzugsweise eine bedienbare Scharnierverbindung, wie ein Rotor (32), mit einer vertikalen Drehachse in diesen Verbindungsmitteln oder in dem Greiferjoch vorhanden ist.
  6. Greifer gemäß einem der vorhergehenden Ansprüche, wobei die Scharniermittel (13) eine gemeinsame Schwenkachse haben, die in der ersten Symmetriefläche (S1) des Greifers gelegen ist.
  7. Greifer gemäß einem der vorabgehenden Ansprüche , wobei der Abstand zwischen der Schnittkante (15) und der Schwenkachse (13), in Projektion in einer Vertikalebene senkrecht auf der ersten Symmetriefläche (S1) betrachtet, größer ist als die Länge der Verbindungsstange (9, 10).
  8. Greifer gemäß einem der vorabgehenden Ansprüche, wobei das Unterende jeder Verbindungsstange (9, 10) nahe dem Boden (16) des betreffenden Greiferkorbes gelegen ist an seinem von der Schnittkante (15) abgelegenen Ende, wobei vorzugsweise, in Projektion in einer Vertikalebene senkrecht auf der ersten Symmetriefläche (S1) betrachtet, die imaginäre vertikale Verbindungslinie zwischen der Schnittkante und dem Unterende der Verbindungsstange hauptsächlich senkrecht auf der imaginären Verbindungslinie zwischen diesem Unterende und den Scharniermitteln (13) steht.
  9. Greifer (1) gemäß einem der vorhergehenden Ansprüche, wobei die Schlußmittel zumindest ein Paar einander kreuzende Zylinder-Kolbengefüge (11, 12) umfaßt, die mittels Bedienungsleitungen mit geeigneten Bedienungsmitteln auf zum Beispiel einen Kran zu verbinden sind, und mit ihren Oberenden scharnierbar mit dem Greiferjoch (4) und mit ihren Unterenden scharnierbar mit den Greiferkörben (5, 6) verbunden sind, wobei vorzugsweise in dem geschlossenen Stand des Greifers die Oberenden der Zylinder-Kolbengefüge an beiden Seiten der Scharniermittel (13) gelegen sind, in Projektion in einer Vertikalebene senkrecht auf der ersten Symmetriefläche (S1) betrachtet, wobei vorzugsweise an beiden Greiferseiten ein Paar einander kreuzende Zylinder-Kolbengefüge (11, 12) angeordnet sind, welche Zylinder-Kolbengefüge vorzugsweise mit Gleichlaufventilen versehen sind.
  10. Greifer gemäß einem der vorhergehenden Ansprüche, umfassend Führungsmittel (33, 34), wie vom Greiferjoch (4) herunterhängende Leitbalken, um die Scharniermittel (13) in eine seitwärts einschließende Richtung entlang einer Fläche parallel zu der ersten Symmetriefläche (S1) zu führen während seiner Bewegung von dem offenen zu dem geschlossenen Stand und umgekehrt.
  11. Greifer gemäß einem der vorhergehenden Ansprüche, umfassend Winkelmesser um den Winkel zwischen der ersten (S1) beziehungsweise zweiten (S2) Symmetriefläche des Greifers (1), nach Aufstellung auf den auszubaggernden Boden, und eine Bezugsebene oder -Linie wie die Senkrechte, zu bestimmen.
  12. Greifer gemäß einem der vorhergehenden Ansprüche, wobei die Greiferkörbe (5, 6) an ihrer Oberseite eine Dichtungsplatte (17) haben, die mit einer Luft- und/oder Wasserentlüftungsöffnung versehen ist, und wobei auf den Verbindungsstangen (9, 10) Verschlußmittel (132) angeordnet sind, die in dem geschlossenen Stand die Öffnung blockieren und diese im offenen Stand freigeben.
  13. System von einem Kran und einem Greifer (1) gemäß einem der vorhergehenden Ansprüche mit dem Kran verbunden.
  14. Methode für das selektiv Entfernen einer Schicht verunreinigtes Sediment unter Wasser, wobei einen Greifer gemäß einem der vorhergehenden Ansprüche benutzt wird, wobei der Greifer in geöffnetem Stand auf aktive Weise mit den Schnittkanten in die Sedimentschicht bis ein vorabbestimmte Tiefe gezwungen wird, und wobei während dem Schließen der Greiferkölbe das Greifjoch auf demselben Niveau gehalten wird.
EP95200709A 1994-03-22 1995-03-22 Greifer Expired - Lifetime EP0677477B1 (de)

Applications Claiming Priority (2)

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

Publications (2)

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

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Family Applications (1)

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

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

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ES2255963T3 (es) * 2000-08-04 2006-07-16 Reel Unidad de recogida, de limpieza y de calibrado de cubas de electrolisis utilizada para la produccion de aluminio.
FR2940796B1 (fr) * 2009-01-08 2010-12-17 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
IT1393845B1 (it) * 2009-04-30 2012-05-11 Negrini Srl Benna mordente a taglio lineare per il recupero in acqua di materiale inquinante o simile
FR2971274B1 (fr) * 2011-02-07 2014-05-16 Soletanche Freyssinet Godet de benne preneuse comportant un obturateur
FR2988409B1 (fr) * 2012-03-22 2015-02-06 Soletanche Freyssinet Benne d'excavation a bras croises en " x "
NL2011357C2 (nl) 2013-03-28 2014-09-30 Cornelis Hendricus Liet Inrichting voor het verwerken van veevoer.
NL2014296B1 (nl) 2015-02-13 2016-10-13 Hendricus Liet Cornelis Inrichting voor het losmaken van veevoer.
CN104891331B (zh) * 2015-06-11 2016-12-07 陈玉金 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
CN104988962B (zh) * 2015-07-27 2017-03-15 江苏金泽重型机械有限公司 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
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
CN112978350B (zh) * 2021-02-01 2022-10-25 天昌国际烟草有限公司 一种烟叶抓取装置及抓取方法
CN114380195B (zh) * 2022-03-26 2022-08-23 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
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

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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
SE300288B (de) * 1966-12-20 1968-04-22 Hydrauliska Ind Ab
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

Also Published As

Publication number Publication date
EP0677477A1 (de) 1995-10-18
NL193828B (nl) 2000-08-01
DE69519322T2 (de) 2001-06-07
NL193828C (nl) 2000-12-04
DE69519322D1 (de) 2000-12-14
NL9400450A (nl) 1995-11-01

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