EP0775080B1 - Systeme de levage de charges - Google Patents

Systeme de levage de charges Download PDF

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Publication number
EP0775080B1
EP0775080B1 EP96917428A EP96917428A EP0775080B1 EP 0775080 B1 EP0775080 B1 EP 0775080B1 EP 96917428 A EP96917428 A EP 96917428A EP 96917428 A EP96917428 A EP 96917428A EP 0775080 B1 EP0775080 B1 EP 0775080B1
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EP
European Patent Office
Prior art keywords
cable
load
lifting system
hoists
load lifting
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
EP96917428A
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German (de)
English (en)
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EP0775080A1 (fr
Inventor
Hans Tax
Dieter Bauer
Klaus HÖSLER
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TAX ImbH
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TAX ImbH
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Publication date
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Publication of EP0775080A1 publication Critical patent/EP0775080A1/fr
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Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D2700/00—Capstans, winches or hoists
    • B66D2700/02—Hoists or accessories for hoists
    • B66D2700/023—Hoists

Definitions

  • the present invention relates to a load lifting system mentioned in the preamble of claim 1.
  • the term “Prisms” include bodies of the same type as, for example Cuboids, cubes or truncated pyramids.
  • the term “cable pull” includes simple load ropes as well as pulley blocks with one lower, loose roller arrangement.
  • Load lifting systems of the generic type are particularly used for lifting and handling large containers.
  • the crane scaffold is generally a rail-bound one or free-moving container truck with one Trolley carrying the load lifting system.
  • the movement of the container pallet truck enables large-scale transport of the container between individual stacking places.
  • the Rough positioning of the container at the stacking place in the two horizontal axis directions in turn takes place through the Movement of the container truck and if necessary by the movement of a trolley; the general
  • the lifting and lowering movement is carried out by actuating the Rope drums; generally several or also all cables of a load lifting system on a common one Rope drum led.
  • the described possibilities of movement generally do not allow the burden of the modern Container handling operations require accuracy position and align.
  • the permissible position deviation for example, two large containers stacked on top of each other is at most 10 mm. Hence the need To create facilities to the lifting system in the horizontal plane to move and rotate small amounts.
  • FIG. 1 This shows schematically one approximately rectangular container C with a major transverse axis X, a main longitudinal axis Y and a vertical axis Z. displacements in the direction of the X or Y axis are called X or Y movements, Rotations around the X axis, the Y axis and the Z axis, respectively referred to as pitching movements, rolling movements or yawing movements. These terms are also used in the following.
  • a load lifting system to create the generic type, which with compared to the prior art simpler means at least the X and Y movements as well as the yaw movements allowed.
  • a load lifting system in the preamble of the claim 1 type is defined by each of two load levels Corner area of the fictitious prism each assigned a pair of cables, which each pull a cable from one of the two includes the load planes forming the corner.
  • the invention provides that additional adjusting means are provided to the cables at least individual pairs of cables to adjust in the same direction and in a coordinated manner. These additional Adjustment means allow individual corners or Raise or lower edges of the fictitious prism and up this way the load lifting system to one or both of the each other to tilt vertical horizontal axes.
  • At a particularly simple arrangement are at least two in the direction of a main longitudinal axis and / or two in the direction cable pairs adjacent to a main transverse axis of the prism equipped with the additional adjustment means.
  • the simultaneous and same-directional adjustment of two neighboring ones Cable pairs immediately result in a tilting movement around one of these two axes.
  • the term "coordinates to adjust" means that generally in the case of one Tilting involved possible differences must be taken into account for their distance from the tilt axis.
  • Rope force compensation devices are provided between at least individual cables of the load lifting system.
  • Rope force compensation devices can achieve that all cables connected to such a device bear the same loads. This allows, for example uneven changes in length of the ropes, uneven Compensate rope pulley diameter etc.
  • rope balancing devices are in particular between two Cables of a pair of cables provided.
  • the adjustment mechanisms can for an opposite adjustment of the cables a load level are released. This measure allows, for example, if as a result high driving accelerations external horizontal forces the load act and shift that from that shift adjustment mechanisms of the displacement movement concerned in each case can follow this way To prevent individual rope sections from becoming slack.
  • an adjustment drive adjustable in two directions attacks comes as the adjustment drive Actuating cylinder, an electric threaded spindle drive or the like. If that through Connect the two free ends of rope formed in one Is adjusted, a rope end in the sense of a Shortening the assigned cable pull, the other end of the cable adjusted in the sense of an extension of the assigned cable pull, so that the desired opposite adjustment of the two cables with a single actuator is effected.
  • the free ends of the two cables on each load level are articulated on a connecting link arrangement, and that on the link assembly in one direction adjustable actuator attacks.
  • a connecting link arrangement with the associated adjustment drive and, if necessary, further, described below Components can be pre-assembled as a unit, so that when installing the lifting system only the free rope ends can be connected to this arrangement have to.
  • Such a link arrangement is based on of an embodiment explained in more detail.
  • the adjustment drive of the cable arrangement be solvable.
  • the adjustment drive is firmly connected to the cable arrangement remains and can be switched even without power.
  • Hydraulic actuators are used for this purpose, for example the two cylinder chambers on both sides of the actuating piston short-circuited.
  • the means for adjusting individual wire rope pairs in the same direction can always be at the free ends or attack the drum ends of the cables. In a preferred embodiment of the invention, they attack the Reel ends and are thanks to adjustable length compensation rollers formed over which the assigned rope ends are. By moving or swiveling the length compensation rollers becomes the rope route in a manner known per se shortened or lengthened and thus the associated cable pull lengthened or shortened.
  • the cable balancing devices comprise according to one preferred embodiment of the invention in each case Rope course or in line with a rope of the assigned Cable pulls arranged, single-acting hydraulic cylinders, the cylinder chambers under load the Hydraulic cylinder of a cable force compensation device in each case connected to each other via a compensating line are.
  • the pressures in the hydraulic cylinders of a cable balancing device equalize over the equalization lines off until the same in all hydraulic cylinders Pressure and therefore the same traction in all ropes prevails.
  • the adjustment mechanisms for the opposite adjustment the cable pulls are assigned shock absorber means to a load level which are especially when the adjustment drive is released which, for example, induced by accelerations Movement of the adjustment mechanism dampens.
  • the cables are preferably simple pulley blocks with a loose pulley, the end of the drum in essentially vertical and the free end in a pointed Angle to the vertical runs upwards.
  • Fig. 1 shows schematically the example of a container C the possible micro-movements necessary for precise positioning and positional alignment of a load are required. These movements include shifts in the X direction and Y direction as well as rotations around the X-axis, the Y-axis and the Z-axis.
  • 3 and 4 in particular, includes a load lifting system of the generic type with four load levels generally one on one (not shown) Crane frame suspended pulley arrangement 2, one on this Pulley arrangement hanging holding frame 4 (spreader), which can be adapted to different dimensions of the container C. and with coupling means 6 for coupling with the container C. is provided.
  • 3 and 4 show the pulley arrangement 2 each in a lower and an upper position.
  • Fig. 2 shows schematically and generally a typical rope guide for a load lifting system of the generic type.
  • the pulley blocks are as simple pulley blocks, each with a lower one loose roll R formed from the end of the drum T of a pull rope S vertically upwards and if necessary after deflections on a rope drum, not shown is guided, while the other, free end E obliquely above to an attachment point P of the not shown Crane structure is guided.
  • the angles ⁇ between the end of the drum and the free end are preferred for all Pulleys the same.
  • Such a pendulum-free lifting system is basically known and is also called Inscribed "rope tower".
  • FIG. 3 to 5 show schematically in three different Views of a load lifting system with essentially one Fig. 2 corresponding rope guide. It will therefore be here the same designations as used in Fig. 2.
  • the Elements of the eight pulleys are each identified by a reference number and denotes an index number from 1 to 8.
  • the rope guide is shown using individual examples Pulley blocks described in more detail.
  • the free ends E1 or E2 of the pulleys F1 and F2 visible in FIG Load level 1 become the assigned attachment points P1 or P2 led.
  • These attachment points are as in the assigned load level pivotable segment levers H1 or H2 formed, which are coupled together via a coupling rod K1.2 are, as shown in Figs. 6 and 7 in more detail.
  • By moving the coupling rod K1.2 using an adjustment drive are the pulleys F1 and F2 respectively adjusted in opposite directions.
  • a similar adjustment mechanism H3, H4, K3,4 is the pulley blocks assigned to the load level L2 shown in FIG. 4.
  • the drum ends are T4 or T5 (the latter is hidden in Fig. 4) in the by Load levels L2 / L3 defined corner via upper pulleys O4 or O5 and further pulleys Q4 or Q5 onto the cable drum 8 led.
  • the additional deflection rollers Q4 and Q5 are corresponding the arrow 10 adjustable so that the associated Pulleys F4 and F5 either shortened or lengthened can be.
  • the drum ends T6 and T7 of the block and tackle F6 and F7 in the corner defined by the load planes L3 / L4 are also via upper deflection rollers 06 or 07 and additional deflection rollers Q6 or Q7 led to the cable drum 8 (see Fig. 5).
  • the upper pulleys O4 and O5 or O6 and O7 can each be designed as coaxial double rollers, as Fig. 5 shows.
  • the additional pulleys Q6 and Q7 are also adjustable in the direction of arrow 10.
  • the drum ends T8 and T1 to T3 in the through the load levels L4 / L1 or L1 / L2 defined corners are also over upper pulleys O8 and O1 to O3 and from there directly to Rope drum 8 out (see also Fig. 5).
  • To the container C could also tilt around the Y axis, for example the drum ends T2 and T3 of the block and tackle pair F2, F3 also be guided over additional, adjustable pulleys, around this pulley pair together with the pulley pair F4, F5 can be adjusted in the same direction. In the illustrated embodiment however, a different one is used for tilting about the Y axis, followed the path described below.
  • FIG. 9 shows an exemplary embodiment of an adjustment mechanism for adjusting two cables in opposite directions Load level, for example for the load level L1 Fig. 2.
  • the adjusting mechanism is also an actuator, a damping device and a cable force compensation device assigned as explained below becomes.
  • the free ends E1 and E2 are on the load level pivoted segment levers Hl or H2 guided and attached to it. Coaxial to the segment levers H1 or H2 are arranged angle levers W1 and W2, respectively Segment levers are pivotable.
  • the angle levers W1 and W2 are with the assigned segment levers H1 or H2 each via a cable balancing cylinder Z1 or Z2 connected.
  • the free ends of the angle lever W1 and W2 are connected to each other via a coupling rod K1.2. Since the free ends E1 and E2 are always under tension are the cable balancing cylinders Z1 and Z2 as well as the coupling rod K1.2 always under tension; the coupling rod could therefore be replaced by a rope.
  • each lower cylinder chamber U1 or U2 is pressurized.
  • Pressure equalization lines branch from the lower cylinder chambers U1 and U2 V1 or V2 from. For example, between the free ends E1 and E2 a rope force compensation to effect, the pressure equalization lines V1 and V2 connected to each other. For example, if the free End E1 absorbs more load than the free end E2 from the cylinder chamber U1 hydraulic fluid in the cylinder chamber U2 pressed until the pressure in both cylinder chambers and so the rope forces are the same.
  • actuable hydraulic actuator 12 is provided. This is via a tab 14 with the coupling rod K1.2 firmly connected.
  • the actuator 12 can Short-circuit line 16 short-circuited and therefore without power be switched.
  • the tab 14 also engages in both adjustment directions the coupling rod K1.2 effective damping cylinder 18 on.
  • the function of the load lifting system is as follows:
  • FIGS. 3 and 4 To explain the necessary for fine positioning Micro movements are referred to FIGS. 3 and 4, at which the end walls of the container C essentially to the Load levels L1 and L3, the side walls essentially to the Load levels L2 and L4 are parallel.
  • a shift in The adjustment mechanisms of the Load levels L1 and L3 adjusted in the same direction. In doing so, a Tipping of container C due to the unchanged load harnesses of the load levels L2 and L4 prevented.
  • a shift in the Y direction is made in the same direction Actuation of the adjustment mechanisms of the load levels L2 and L4 performed, tilting the container around the X axis due to the unchanged load harnesses on the load levels L1 and L3 is prevented.
  • the adjustment mechanisms of the Load levels L1 and L3 on the one hand and the load levels L2 and L4 on the other hand each adjusted in opposite directions. It can only the adjustment mechanisms of the load levels are sufficient L1 and L3 to adjust in opposite directions and the adjustment mechanisms of the load levels L2 and L4.
  • a tilting movement of the container C around the X axis by adjusting cables F4, F5 and F6, F7 performed by the associated additional Deflection pulleys Q4, Q5 and Q6, Q7 adjusted in the same direction become.
  • the cable force compensation devices are optional to be able to switch effective or ineffective.
  • this connecting cable balancing device combine into one field; this forms with the formed by the other two pairs of ropes a 3-point suspension.
  • Fig. 10 shows a load lifting system in which the cable pulls are designed as simple ropes in the four load levels.
  • the load levels are with L1 to L4 and the ropes labeled S11 to S18.
  • a drum end each of the ropes S11 to S18 is optionally over pulleys to an associated cable drum 20 or 22.
  • the other free ends of the ropes S11 and S18 are respectively led to a mounting point on the holding frame 24, the be coupled with the load, for example a container can.
  • the two ropes of a load level form a load harness.
  • Two in the upper part of the rope tower Cable runs converging at the corner form a pair of cables, i.e. in other words, the drum ends of the wire rope hoists S17 / S12, S11 / S14, S13 / S16 and S15 / S18.
  • the free ends of the ropes S11 and S12 are similar to the adjustment mechanisms described above to one Segment lever H11 or H12 guided and attached to this.
  • the segment levers H11 and H12 are interconnected by a Coupling rod K11,12 connected to each other.
  • On the segment lever H12 attacks an adjustment drive 26.
  • the adjustment drive 26 By pressing of the adjustment drive 26 are the segment levers H11 and H12 swung together, the ropes S11 and S12 in opposite directions be adjusted.
  • the same adjustment mechanism is the load level L3 or assigned to the ropes S15 and S16.
  • the free ends of the ropes S17 and S18 of the load level L4 are connected to each other and placed around a cable drum 28.
  • the cable drum 28 can be adjusted by means of an adjustment drive 30 are rotated, the ropes S17 and S18 each can be adjusted in opposite directions.
  • the same adjustment arrangement is the load level L2 or the ropes S13 and S14 assigned.
  • This arrangement enables the same as that described above first embodiment movements in the X direction actuation of the adjustment mechanisms in the same direction Load planes L1 and L3, a movement in the Y direction actuation of the adjustment mechanisms in the same direction Load levels L2 and L4 as well as a rotation around the vertical axis by actuating at least two in opposite directions parallel load levels of adjustment mechanisms.
  • Additional adjustment means for the execution of a Rolling or pitching movements are not shown but similar to the first embodiment by adjustable Length compensation rollers over which the drum ends the cables are guided, be formed.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Types And Forms Of Lifts (AREA)

Claims (19)

  1. Système de levage de charge comprenant plusieurs câbles (S) coopérant ensemble et suspendus à une charpente de grue, au moins trois, de préférence quatre, plans de charge (L) formant environ les parois latérales d'un prisme fictif de préférence d'un parallèlépipède ou d'un tronc de pyramide auxquels sont respectivement associés au moins deux câbles (S), dont les résultantes de force de câble sont situées dans le plan de charge associé (L) et sont inclinées symétriquement les unes par rapport aux autres par rapport à la verticale et où une première extrémité de câble, l'extrémité de tambour, de chaque câble (S) s'enroule sur un tambour de câble (8) et l'autre extrémité de câble, l'extrémité libre (E), conduit à un point de fixation (P), caractérisé en ce que les extrémités libres (E) des câbles (S) de chaque plan de charge (L) sont fixés respectivement avec un des premiers mécanismes de réglage commun (H, K), qui produit un déplacement identique en sens opposé de cette extrémité libre (E) et ainsi une modification de la longueur en sens opposé des câbles (S) d'une valeur de longueur identique.
  2. Système de levage de charge selon la revendication 1, dans lequel une paire de câbles est associée à chaque zone de coin du prisme fictif définie par deux plans de charge (L), ladite paire de câbles comprenant respectivement un câble (S) d'un des deux plans de charge formant le coin, caractérisé en ce que des moyens de déplacement additionnels (Q) sont prévus afin de déplacer dans le même sens les câbles (S) d'au moins une paire de câbles individuels (S/S).
  3. Système de levage de charge selon la revendication 2, caractérisé en ce que respectivement au moins deux paires de câbles voisins en direction d'un axe longitudinal principal (Y) du prisme fictif et/ou en direction d'un axe transversal principal (X) du prisme sont pourvus des moyens de déplacement additionnels (Q).
  4. Système de levage de charge selon l'une des revendications 1 à 3, caractérisé en ce qu'entre au moins des câbles individuels (S) du système de levage de charge sont prévus des dispositifs d'équilibrage de force de câbles (Z, V).
  5. Système de levage de charge selon l'une des revendications 1 à 4, caractérisé en ce que les premiers mécanismes de déplacement (H, K) pour un déplacement en sens opposé du câble (S) d'un plan de charge (L) sont libérables.
  6. Système de levage de charge selon l'une des revendications 1 à 5, caractérisé en ce que les extrémités libres (E) des deux câbles (S) d'un plan de charge (L) sont couplées ensemble et en ce qu'une commande de déplacement (12) réglable dans deux directions est en prise avec le câble couplé.
  7. Système de levage de charge selon l'une des revendications 1 à 5, caractérisé en ce que les extrémités libres (E) des deux câbles (S) d'un plan de charge (L) sont articulés respectivement à un arrangement d'articulation de liaisons (H, W, K) et en ce qu'une commande de déplacement (12) règlable dans deux directions est en prise avec l'arrangement d'articulation de liaison.
  8. Système de levage de charge selon la revendication 7, caractérisé en ce que l'arrangement d'articulation de liaison (H, K) comprend deux leviers angulaires (W) ou segments angulaires (H) pivotant dans un plan commun, auxquels d'un côté respectivement une extrémité libre (E) d'un câble (S) est fixée et qui d'autre part sont reliés ensemble par l'intermédiaire d'un élément de traction ou d'un élément de traction/poussée (K).
  9. Système de levage de charge selon l'une des revendications 6 à 8, caractérisé en ce que la commande de déplacement (12) est fixement reliée avec la pièce (K) respectivement à déplacer et est elle-même commutable dans un état non-moteur.
  10. Système de levage de charge selon l'une des revendications 2 à 9, caractérisé en ce que les moyens de déplacement additionnels (Q) pour un déplacement dans le même sens de paires de câbles individuels (S/S) sont respectivement en prise avec les extrémités de tambour (T) des câbles.
  11. Système de levage de charge selon l'une des revendications 2 à 10, caractérisé en ce que les moyens de déplacement additionnels (Q) pour un déplacement dans le même sens de paires de câbles individuels (S/S) sont formés par des rouleaux d'équilibrage en longueur réglables à l'aide desquels les câbles respectivement associés sont guidés.
  12. Système de levage de charge selon l'une des revendications 3 à 11, caractérisé en ce que respectivement une (S4/S5) des deux paires de câbles disposées sur un côté de l'axe longitudinal principal horizontal (Y) et/ou de l'axe transversal principal horizontal est déplaçable dans le même sens sur des rouleaux d'équilibrage en longueur (Q4/Q5) et en ce que la deuxième paire respective (S2/S3) est entraínée par des dispositifs d'équilibrage de forces de câble (Z, V) prévus entre les câbles de la première et de la seconde paires de câbles.
  13. Système de levage de charge selon l'une des revendications 3 à 12, caractérisé en ce qu'il est prévu entre les câbles (S) de la paire de câbles respectivement un dispositf d'équilibrage de force de câbles (Z, V).
  14. Système de levage de charge selon l'une des revendications 3 à 13, caractérisé en ce que le dispositif d'équilibrage de force de câbles (Z, V) comprend respectivement un cylindre hydraulique (Z) disposé en parallèle ou en série avec un des câbles associés, les chambres de cylindre en charge (U) d'un dispositif d'équilibrage de force de câbles étant reliées ensemble par un conduit d'équilibrage (V).
  15. Système de levage de charge selon l'une des revendications 3 à 14, caractérisé en ce que des moyens amortisseurs (18) sont associés aux mécanismes de déplacement (H, K) pour le déplacement en sens inverse des câbles (S) d'un plan de charge (L).
  16. Système de levage de charge selon la revendication 15, caractérisé en ce que les moyens amortisseurs (18) sont des amortisseurs hydrauliques agissant respectivement sur les deux côtés.
  17. Système de levage de charge selon la revendication 16, caractérisé en ce que les rouleaux libres (R) des câbles (S) d'une paire de câbles (S/S) sont en prise essentiellement sur le même point de charge et en ce que tous les câbles sont sensiblement construits avec la même géométrie.
  18. Système de levage de charge selon l'une des revendications 1 à 17, caractérisé en ce que les câbles (S) sont respectivement de simples poulies avec un rouleau de câble libre (R), l'extrémité de tambour (T) s'étendant sensiblement verticalement et l'extrémité libre (E) s'étendant avec un angle aigu par rapport à la verticale vers le haut vers un point de fixation (P) sur la charpente de grue.
  19. Système de levage de charge selon l'une des revendications 1 à 17, caractérisé en ce que les câbles (S11 à S18) sont respectivement de simples câbles, dont les extrémités de tambour sont éventuellement guidées sur des rouleaux de déviation vers le tambour de câble (20, 22) et dont les extrémités libres sont reliées en des points de fixation d'un cadre de maintien (24) supportant la charge.
EP96917428A 1995-06-09 1996-05-24 Systeme de levage de charges Expired - Lifetime EP0775080B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE19521066A DE19521066A1 (de) 1995-06-09 1995-06-09 Lasthebesystem
DE19521066 1995-06-09
PCT/EP1996/002252 WO1996041763A1 (fr) 1995-06-09 1996-05-24 Systeme de levage de charges

Publications (2)

Publication Number Publication Date
EP0775080A1 EP0775080A1 (fr) 1997-05-28
EP0775080B1 true EP0775080B1 (fr) 2000-03-08

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EP (1) EP0775080B1 (fr)
JP (1) JPH10507435A (fr)
KR (1) KR970704623A (fr)
DE (2) DE19521066A1 (fr)
WO (1) WO1996041763A1 (fr)

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JPS5882986A (ja) * 1981-11-11 1983-05-18 株式会社日立製作所 つり具の制御装置
JPS5982290A (ja) * 1982-11-01 1984-05-12 株式会社日立製作所 クレ−ンの吊具傾転装置
DD221444A1 (de) * 1984-02-21 1985-04-24 Kranbau Wittenberg Takraf Veb Vorrichtung zum schraegstellen von lastaufnahmemitteln
FR2643353B1 (fr) * 1989-02-17 1991-06-14 Caillard Dispositif pour eviter le balancement d'une charge sous un bati de support, notamment un portique
DD291064A5 (de) * 1989-12-28 1991-06-20 Veb Schachtbau Nordhausen,De Einrichtung fuer den ausgleich von seilablaufdifferenzen bei mehrwindenhubwerken
DE4142778C2 (de) * 1991-12-23 1997-11-20 Man Takraf Foerdertechnik Gmbh Vorrichtung zur Spreaderpositionierung bei Containerkranen

Also Published As

Publication number Publication date
EP0775080A1 (fr) 1997-05-28
WO1996041763A1 (fr) 1996-12-27
JPH10507435A (ja) 1998-07-21
DE19521066A1 (de) 1996-12-12
DE59604595D1 (de) 2000-04-13
KR970704623A (ko) 1997-09-06

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