EP0779239B2 - Crane hoist control - Google Patents
Crane hoist control Download PDFInfo
- Publication number
- EP0779239B2 EP0779239B2 EP96118129A EP96118129A EP0779239B2 EP 0779239 B2 EP0779239 B2 EP 0779239B2 EP 96118129 A EP96118129 A EP 96118129A EP 96118129 A EP96118129 A EP 96118129A EP 0779239 B2 EP0779239 B2 EP 0779239B2
- Authority
- EP
- European Patent Office
- Prior art keywords
- lifting
- jib
- pressure
- hydraulic
- control device
- 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
Links
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 230000002706 hydrostatic effect Effects 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 2
- 238000000205 computational method Methods 0.000 description 1
- 230000036461 convulsion Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000005339 levitation Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
Images
Classifications
-
- 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
- B66D1/42—Control devices non-automatic
- B66D1/44—Control devices non-automatic pneumatic of hydraulic
Definitions
- the invention relates to a control device for a hoist of a crane according to the preamble of claim 1.
- DE-A-3 441 185 shows such a control device for a hoist of a crane.
- the hydraulic pump and the hydraulic motor which are in a closed hydraulic circuit, have a leakage, which may be, for example, two to twenty l / min.
- a leakage which may be, for example, two to twenty l / min.
- this leakage is not particularly noticeable, because the crane operator will always move the control lever so that the load is held or lifted or lowered at the desired speed, the crane operator does not notice that in the corresponding control always the inevitable Leakage is taken into account.
- the jerk-free recording of holding, lifting or lowering the load after releasing the parking brake would only be possible if the applied by the hydraulic motor holding torque after release of the parking brake exactly corresponds to the moment of the hoist drum.
- the pressure in the high-pressure line of the hydraulic circuit no longer corresponds exactly to the pressure at which the hydraulic motor releases the suspended load before the parking brake is applied because of the inevitable leakage after releasing the parking brake has held, so that the opening of the parking brake due to the current pressure in the high pressure line of the hydraulic circuit, which differs from the pressure required by the hydraulic motor, a jerk is inevitable.
- the object of the invention is to provide a control device of the type described, which allows a jerk-free holding, lifting or lowering a floating load after releasing the parking brake.
- this object is achieved by a control device according to claim 1,
- the pressure in the high-pressure line of the hydraulic circuit is constantly monitored and the signals of the arranged in the high-pressure line pressure gauge are compared with the moment of Hubtechnikstrommel, with an example consisting of a computer processing unit is provided before the release of the parking brake, the pressure in the high pressure line, which is proportional to the engine torque, the moment of Hubtechnikwinde adapts, so that the jerk-free recording of the lifting operation is possible after releasing the parking brake.
- the requirement to resume operation with the suspended load after a release of the parking brake not only arises when the parking brake incident with suspended load, but also, for example, when the parking brake engaged the resting on the ground load only by rocking the boom recorded and then the brake is released.
- the pressure of the hydraulic oil in the luffing cylinder, the luffing angle and the length of the jib are measured to determine the moment of the hoist drum.
- the corresponding measured values are usually available in the central unit of the crane, since they must be processed for overload protection. From these values can then be determined with sufficient accuracy, the pressure that must be set in the high-pressure line of the hydraulic circuit to resume a jerk-free holding, lifting or lowering operation of the load after releasing the parking brake can.
- the deflection of the cantilever is taken into account in order to determine the effective length of the cantilever.
- To measure the deflection of the boom can be arranged in the lower and outer region vertical angle. From the measured canting angle of the cantilever and the values of the vertical angle gauges, which indicate the angles of the corresponding sections of the cantilever to the vertical, the deflection of the cantilever can be determined very accurately.
- the deflection of the boom can be determined according to a further embodiment of the invention also from the measured pressure of the hydraulic fluid in the luffing cylinder, the measured rocking angle and the line load of the boom. This may require iterative computational methods, which, however, can easily be handled with conventional computers to let.
- the hoist drum is provided with a counter, or an incremental encoder, for determining the current winding position of the hoisting rope.
- the values of the incremental encoder are also constantly entered into the processing unit for determining the current winch torque.
- the hydraulic pump and the hydraulic motor can form a closed hydrostatic drive system.
- the pump and the motor expediently consist of an axial piston pump and of an axial piston motor in oblique-axis or swash plate construction.
- the mounted for example on the superstructure of a vehicle crane with telescopic boom Hubtechnikstrommel 1 is driven by a controllable hydraulic motor 2, for example, an axial piston in Schrägachsen- or swash plate design.
- the output shaft 3 of the hydraulic motor is coupled to the shaft of the hoist drum and carries a brake disk 4, via which the hoist drum 1 can be fixed.
- the hydraulic motor 2 is connected to the hydraulic pump 5, which may also consist of an axial piston pump in oblique-axis or swash plate construction, by hydraulic lines 6, 7, so that the hydraulic motor 2 and the hydraulic pump 5 is a closed hydraulic Circle form.
- a pressure gauge 8 is arranged, the signals of which are constantly supplied via the signal line 9 to the electronic control unit 10 and monitored therein.
- the hydro-pump is driven by a diesel engine 11.
- the shaft of the hoist drum 1 is provided with an incremental encoder 12, the signals of which are constantly supplied to the central control unit 10 via a signal line 13, so that signals are output via a corresponding counter which signal the respective hoisting position of the hoist drum from which the hoist rope 14 is just expires, or runs on this.
- the hydro-pump 5 and the hydro-motor 2 are provided with Mengsnstellhebeln, with which they are controllable between the highest intake and zero. The control of the amount setting lever via control devices 15, 16 by the central control unit 10th
- the overload protection is connected, which consists of a unit 20 which receives signals from the load condition detecting sensors via signal lines 21.
- These are, for example, sensors that detect the pressure of the hydraulic oil in the luffing cylinder, the rocking angle and the length of the boom and its deflection. From the signals generated by the sensors not only the load condition is calculated, from these also the moment of the hoist drum can be determined.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Description
Die Erfindung betrifft eine Steuervorrichtung für ein Hubwerk eines Krans gemäß dem Oberbegriff des Anspruchs 1.The invention relates to a control device for a hoist of a crane according to the preamble of claim 1.
DE-A-3 441 185 zeigt eine derartige Steuervorrichtung für ein Hubwerk eines Krans.DE-A-3 441 185 shows such a control device for a hoist of a crane.
Die Hydraulik-Pumpe und der Hydraulik-Motor, die sich in einem geschlossenen Hydraulik-Kreis befinden, weisen eine Leckage auf, die beispielsweise zwei bis zwanzig l/min betragen kann. Während des Hubbetriebes macht sich diese Leckage nicht besonders bemerkbar, weil der Kranführer den Steuerhebel immer so bewegen wird, daß die Last gehalten oder mit der gewünschten Geschwindigkeit gehoben oder gesenkt wird, wobei der Kranführer nicht bemerkt, daß bei der entsprechenden Steuerung stets auch die unvermeidbare Leckage mitberücksichtigt wird. Im Kranbetrieb ist es jedoch auch erforderlich, ein Heben oder Absenken der Last nach dem Lösen der Feststellbremse neu aufzunehmen. Die ruckfreie Aufnahme des Haltens, Hebens oder Absenkens der Last nach dem Lösen der Feststellbremse wäre aber nur möglich, wenn das von dem Hydraulik-Motor aufgebrachte Haltemoment nach dem Lösen der Feststellbremse genau dem Moment der Hubwerkstrommel entspricht. Wird vorübergehend während des Schwebens der Last die Feststellbremse betätigt, entspricht wegen der unvermeidbaren Leckage nach einem Lösen der Feststellbremse der Druck in der Hochdruckleitung des Hydraulik-Kreislaufs nicht mehr genau dem Druck, mit dem der Hydraulik-Motor vor dem Einfallen der Feststellbremse die schwebende Last gehalten hat, so daß das Öffnen der Feststellbremse wegen des aktuellen Drucks in der Hochdruckleitung des Hydraulik-Kreislaufs, der von dem von dem Hydro-Motor benötigten Druck abweicht, ein Ruck unvermeidbar ist.The hydraulic pump and the hydraulic motor, which are in a closed hydraulic circuit, have a leakage, which may be, for example, two to twenty l / min. During the lifting operation, this leakage is not particularly noticeable, because the crane operator will always move the control lever so that the load is held or lifted or lowered at the desired speed, the crane operator does not notice that in the corresponding control always the inevitable Leakage is taken into account. In crane operation, however, it is also necessary to resume a lifting or lowering of the load after releasing the parking brake. The jerk-free recording of holding, lifting or lowering the load after releasing the parking brake would only be possible if the applied by the hydraulic motor holding torque after release of the parking brake exactly corresponds to the moment of the hoist drum. If the parking brake is temporarily applied during the levitation of the load, the pressure in the high-pressure line of the hydraulic circuit no longer corresponds exactly to the pressure at which the hydraulic motor releases the suspended load before the parking brake is applied because of the inevitable leakage after releasing the parking brake has held, so that the opening of the parking brake due to the current pressure in the high pressure line of the hydraulic circuit, which differs from the pressure required by the hydraulic motor, a jerk is inevitable.
Aufgabe der Erfindung ist es, eine Steuervorrichtung der eingangs angegeben Art zu schaffen, die nach einem Lösen der Feststellbremse ein ruckfreies Halten, Heben oder Absenken eine schwebenden Last ermöglicht.The object of the invention is to provide a control device of the type described, which allows a jerk-free holding, lifting or lowering a floating load after releasing the parking brake.
Erfindungsgemäß wird diese Aufgabe durch eine Steuervorrichtung gemäß Anspruch 1, gelöst, Bei der erfindungsgemäßen Steuervorrichtung wird also der Druck in der Hochdruckleitung des Hydraulik-Kreislaufs ständig überwacht und die Signale des in der Hochdruckleitung angeordneten Druckmessers werden mit dem Moment der Hubwerkstrommel verglichen, wobei eine beispielsweise aus einem Rechner bestehende Verarbeitungseinheit vorgesehen ist, die vor dem Lösen der Feststellbremse den Druck in der Hochdruckleitung, der proportional zu dem Motormoment ist, dem Moment der Hubwerkswinde anpaßt, so daß nach dem Lösen der Feststellbremse die ruckfreie Aufnahme des Hubbetriebes möglich ist.According to the invention, this object is achieved by a control device according to claim 1, In the control device according to the invention, therefore, the pressure in the high-pressure line of the hydraulic circuit is constantly monitored and the signals of the arranged in the high-pressure line pressure gauge are compared with the moment of Hubwerkstrommel, with an example consisting of a computer processing unit is provided before the release of the parking brake, the pressure in the high pressure line, which is proportional to the engine torque, the moment of Hubwerkwinde adapts, so that the jerk-free recording of the lifting operation is possible after releasing the parking brake.
Das Erfordernis, den Betrieb mit der schwebenden Last nach einem Lösen der Feststellbremse wieder aufzunehmen, ergibt sich nicht nur, wenn die Feststellbremse bei schwebender Last einfällt, sondern beispielsweise auch dann, wenn bei eingerückter Feststellbremse die auf dem Boden ruhende Last nur durch Wippen des Auslegers aufgenommen und anschlie-ßend die Bremse gelöst wird.The requirement to resume operation with the suspended load after a release of the parking brake, not only arises when the parking brake incident with suspended load, but also, for example, when the parking brake engaged the resting on the ground load only by rocking the boom recorded and then the brake is released.
Nach der Erfindung ist vorgesehen, daß zur Bestimmung des Moments der Hubwerkstrommel der Druck des HydraulikÖls in dem Wippzylinder, der Wippwinkel und die Länge des Auslegers gemessen werden. Die entsprechenden Meßwerte stehen üblicherweise in der Zentraleinheit des Krans zur Verfügung, da sie zur Überlastsicherung verarbeitet werden müssen. Aus diesen Werten läßt sich sodann auch mit genügender Genauigkeit der Druck bestimmen, der in der Hochdruckleitung des Hydraulik-Kreislaufs eingestellt werden muß, um nach dem Lösen der Feststellbremse einen ruckfreien Halte-, Hub- oder Absenkbetrieb der Last wieder aufnehmen zu können.According to the invention it is provided that the pressure of the hydraulic oil in the luffing cylinder, the luffing angle and the length of the jib are measured to determine the moment of the hoist drum. The corresponding measured values are usually available in the central unit of the crane, since they must be processed for overload protection. From these values can then be determined with sufficient accuracy, the pressure that must be set in the high-pressure line of the hydraulic circuit to resume a jerk-free holding, lifting or lowering operation of the load after releasing the parking brake can.
Nach einer bevorzugten Ausführungsform der Erfindung ist vorgesehen, daß zur Bestimmung der wirksamen Länge des Auslegers auch dessen Durchbiegung berücksichtigtwird. Zur Messung der Durchbiegung des Auslegers können in dessen unteren und äußeren Bereich Vertikalwinkelmesser angeordnet sein. Aus dem gemessenen Wippwinkel des Auslegers und den Werten der Vertikalwinkelmesser, die die Winkel der entsprechenden Abschnitte des Auslegers zur Vertikalen angeben, läßt sich die Durchbiegung des Auslegers sehr genau bestimmen.According to a preferred embodiment of the invention, it is provided that the deflection of the cantilever is taken into account in order to determine the effective length of the cantilever. To measure the deflection of the boom can be arranged in the lower and outer region vertical angle. From the measured canting angle of the cantilever and the values of the vertical angle gauges, which indicate the angles of the corresponding sections of the cantilever to the vertical, the deflection of the cantilever can be determined very accurately.
Die Durchbiegung des Auslegers läßt sich nach einer weiteren Ausgestaltung der Erfindung auch aus dem gemessenen Druck der Hydraulikflüssigkeit in dem Wippzylinder, dem gemessenen Wippwinkel und der Streckenlast des Auslegers ermitteln. Hierzu können iterative Rechenmethoden erforderlich sein, die sich jedoch mit üblichen Rechnern einfach bewältigen lassen.The deflection of the boom can be determined according to a further embodiment of the invention also from the measured pressure of the hydraulic fluid in the luffing cylinder, the measured rocking angle and the line load of the boom. This may require iterative computational methods, which, however, can easily be handled with conventional computers to let.
Um das Moment der Hubwerkstrommel möglichst genau zu bestimmen, ist es erforderlich, den wirksamen Trommelradius zu kennen, der von der jeweiligen Wickellage abhängig ist, von der das Hubseil gerade abläuft. Nach einer weiteren Ausgestaltung der Erfindung ist daher vorgesehen, daß die Hubwerkstrommel mit einem Zähler, bzw. einem Inkrementalgeber, zur Bestimmung der aktuellen Wickellage des Hubseils versehen ist. Die Werte des Inkrementalgebers werden ständig ebenfalls in die Verarbeitungseinheit zur Ermittlung des aktuellen Windenmoments eingegeben.In order to determine the moment of the hoist drum as accurately as possible, it is necessary to know the effective drum radius, which depends on the respective winding position from which the hoist rope is currently running. According to a further embodiment of the invention it is therefore provided that the hoist drum is provided with a counter, or an incremental encoder, for determining the current winding position of the hoisting rope. The values of the incremental encoder are also constantly entered into the processing unit for determining the current winch torque.
Die Hydraulik-Pumpe und der Hydraulik-Motor können ein geschlossenes hydrostatisches Antriebssystem bilden. In diesem hydrostatischen Antriebssystem bestehen die Pumpe und der Motor zweckmäßigerweise aus einer Axialkolbenpumpe und aus einem Axialkolbenmotor in Schrägachsen- oder Schrägscheibenbauweise.The hydraulic pump and the hydraulic motor can form a closed hydrostatic drive system. In this hydrostatic drive system, the pump and the motor expediently consist of an axial piston pump and of an axial piston motor in oblique-axis or swash plate construction.
Ein Ausführungsbeispiel der Erfindung wird nachstehend anhand der Zeichnung, in deren einziger Figur ein Antrieb der Hubwerkstrommel schematisch dargestellt ist, näher erläutert.An embodiment of the invention will be explained below with reference to the drawing, in the single figure, a drive of the hoist drum is shown schematically.
Die beispielsweise auf dem Oberwagen eines Fahrzeugskran mit Teleskopausleger gelagerte Hubwerkstrommel 1 wird von einem steuerbaren Hydraulik-Motor 2, beispielsweise einem Axialkolbenmotor in Schrägachsen- oder Schrägscheibenbauweise angetrieben. Die Abtriebswelle 3 des Hydraulik-Motors ist mit der Welle der Hubwerkstrommel gekuppelt und trägt eine Bremsscheibe 4, über die die Hubwerkstrommel 1 festsetzbar ist. Der Hydraulik-Motor2 ist mit der Hydraulik-Pumpe 5, die ebenfalls aus einer Axialkolbenpumpe in Schrägachsen- oder Schrägscheibenbauweise bestehen kann, durch Hydraulik-Leitungen 6, 7 verbunden, so daß der Hydraulik-Motor 2 und die Hydraulik-Pumpe 5 einen geschlossenen Hydraulik-Kreis bilden. In der Hochdruckleitung 6 des HydraulikKreises ist ein Druckmesser 8 angeordnet, dessen Signale über die Signalleitung 9 ständig der elektronischen Steuereinheit 10 zugeführt und in dieser überwacht werden.The mounted for example on the superstructure of a vehicle crane with telescopic boom Hubwerkstrommel 1 is driven by a controllable
Die Hydro-Pumpe wird von einem Dieselmotor 11 angetrieben.The hydro-pump is driven by a
Die Welle der Hubwerkstrommel 1 ist mit einem Inkrementalgeber 12 versehen, dessen Signale über eine Signalleitung 13 ständig der zentralen Steuereinheit 10 zugeführt werden, so daß über einen entsprechenden Zähler Signale abgegeben werden, die die jeweilige Hubseillage der Hubwerkstrommel melden, von der gerade das Hubwerksseil 14 abläuft, bzw. auf welche dieses aufläuft. Die Hydro-Pumpe 5 und der Hydro-Motor 2 sind mit Mengsnstellhebeln versehen, mit denen diese zwischen der höchsten Schluckmenge und gegen Null steuerbar sind. Die Ansteuerung der Mengenstellhebel erfolgt über Ansteuereinrichtungen 15, 16 durch die zentrale Steuereinheit 10.The shaft of the hoist drum 1 is provided with an
Mit der zentralen Steuereinheit 10 ist die Überlastsicherung verbunden, die aus einer Einheit 20 besteht, die über Signalleitungen 21 Signale von den Lastzustand erfassenden Sensoren erhält. Dies sind beispielsweise Meßfühler, die den Druck des Hydrauliköls in dem Wippzylinder, den Wippwinkel und die Länge des Auslegers sowie dessen Durchbiegung erfassen. Aus den von den Meßfühlern erzeugten Signalen wird nicht nur der Lastzustand errechnet, aus diesen kann auch das Moment der Hubwerkstrommel ermittelt werden.With the
Während des Kranbetriebes wird nach einem Einfallen der Feststellbremse 4 diese erst wieder gelöst, wenn über die zentrale Steuereinheit 10 der Druck in der Hochdruckleitung 6 auf einen Druck eingestellt worden ist, bei dem der Hydraulik-Motor 2 ein Moment erzeugt, das dem Haltemoment der Hubwerkstrommel entspricht, das sich aus dem aktuellen Lastzustand ergibt. Dieser aktuelle Lastzustand wird in der beschriebenen Weise ermittelt und der ermittelte Wert wird in der zentralen Steuereinheit 10 mit dem Druck in der Hochdruckleitung 6 verglichen, der vor dem Lösen der Feststellbremse dem Motormoment angeglichen wird, das zur ruckfreien Aufnahme des Lastbetriebes erforderlich ist.During crane operation, after a collapse of the parking brake 4, it is only released again when the pressure in the high-pressure line 6 has been adjusted to a pressure via the
Claims (6)
- Control device for a lifting mechanism of a crane with a derrickable jib of variable length,
with a hydraulic motor (2) which drives the lifting-mechanism drum (1) and which, with a hydraulic pump (5) driven by a motor (11), preferably a diesel motor, forms a closed hydraulic circuit, and
with a locking brake (4) for the lifting-mechanism drum (1),
with a pressure gauge (8) arranged in the high-pressure line (6) of the hydraulic circuit, the signals of which are fed to a comparator unit (10),
with an overload protection (20),
characterized
in that the overload protection (20) receives via signal lines (21) signals from measuring sensors which detect the pressure of the hydraulic oil in the derricking cylinder of the jib, the derricking angle and the length of the jib,
in that a means for determining the holding moment, resulting from the current load state, of the lifting-mechanism drum is provided, which determines the moment of the lifting-mechanism drum from the signals from the measuring sensors, which are connected to the overload protection (20) and detect the pressure of the hydraulic oil in the derricking cylinder of the jib, the derricking angle and the length of the jib, and of which the signals (21) indicating the moment of the lifting-mechanism drum are fed to the comparator unit (10), and
in that the comparator unit (10), together with a processing unit of the control unit, adapts the pressure in the high-pressure line to the moment to be applied by the hydraulic motor (2) and corresponding to the holding moment, resulting from the current load state, of the lifting-mechanism drum (1), by corresponding increase or reduction in the pump output before the locking brake is released, in such a way that, after the opening of the locking brake (4), a jolt-free holding, raising or lowering of the load is possible. - Control device according to Claim 1, characterized in that, to determine the effective length of the jib, the flexion of the latter is measured.
- Control device according to Claim 2, characterized in that, to measure the flexion of the jib, vertical goniometers are arranged in the lower and the outer region of the latter.
- Control device according to one of Claims 1 to 3, characterized in that the flexion of the jib is determined from the measured pressure of the hydraulic fluid in the derricking cylinder, from the measured derricking angle and from the line load of the jib.
- Control device according to one of Claims 1 to 4, characterized in that the lifting-mechanism winch is provided with a counter or incremental transmitter (12) for determining the current winding position of the lifting rope (14).
- Control device according to one of Claims 1 to 5, characterized in that the hydraulic pump (5) and the hydraulic motor (2) form a closed hydrostatic drive system.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19546579 | 1995-12-13 | ||
| DE19546579 | 1995-12-13 | ||
| DE19604428A DE19604428C2 (en) | 1995-12-13 | 1996-02-07 | Control device for a hoist of a crane |
| DE19604428 | 1996-02-07 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0779239A1 EP0779239A1 (en) | 1997-06-18 |
| EP0779239B1 EP0779239B1 (en) | 2002-05-02 |
| EP0779239B2 true EP0779239B2 (en) | 2006-09-13 |
Family
ID=26021222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP96118129A Expired - Lifetime EP0779239B2 (en) | 1995-12-13 | 1996-11-12 | Crane hoist control |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US6079576A (en) |
| EP (1) | EP0779239B2 (en) |
| JP (1) | JPH09175778A (en) |
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| DE102017001238A1 (en) | 2017-02-09 | 2018-08-09 | Liebherr-Components Biberach Gmbh | Hoist and method for starting the hoist of such a hoist |
| CN106927369B (en) * | 2017-03-30 | 2018-10-09 | 徐工集团工程机械有限公司 | Lorry-mounted crane and its job safety guard method, device and system |
| CN106829744B (en) * | 2017-04-06 | 2018-10-09 | 徐工集团工程机械有限公司 | Crane control method, device and system |
| CN107902574A (en) * | 2017-12-04 | 2018-04-13 | 苏州海霸设备制造有限公司 | Grab bucket jib lubbing mechanism fluid power system for grab bucket dredger |
| RU195329U1 (en) * | 2019-06-17 | 2020-01-23 | Сергей Александрович Базанов | HYDRAULIC TRANSMISSION |
| RU195330U1 (en) * | 2019-11-18 | 2020-01-23 | Сергей Александрович Базанов | HYDRAULIC TRANSMISSION |
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-
1996
- 1996-11-12 EP EP96118129A patent/EP0779239B2/en not_active Expired - Lifetime
- 1996-12-09 JP JP8328500A patent/JPH09175778A/en active Pending
- 1996-12-12 US US08/766,407 patent/US6079576A/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| US6079576A (en) | 2000-06-27 |
| EP0779239B1 (en) | 2002-05-02 |
| JPH09175778A (en) | 1997-07-08 |
| EP0779239A1 (en) | 1997-06-18 |
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