EP1103511A2 - Méthode et dispositif pour contrôler l'entraínement d'un treuil d' un appareil de levage - Google Patents

Méthode et dispositif pour contrôler l'entraínement d'un treuil d' un appareil de levage Download PDF

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Publication number
EP1103511A2
EP1103511A2 EP00124423A EP00124423A EP1103511A2 EP 1103511 A2 EP1103511 A2 EP 1103511A2 EP 00124423 A EP00124423 A EP 00124423A EP 00124423 A EP00124423 A EP 00124423A EP 1103511 A2 EP1103511 A2 EP 1103511A2
Authority
EP
European Patent Office
Prior art keywords
monitoring
rope
hoist winch
winch
hoist
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
EP00124423A
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German (de)
English (en)
Other versions
EP1103511A3 (fr
EP1103511B1 (fr
Inventor
Erwin Morath
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.)
Liebherr Werk Ehingen GmbH
Original Assignee
Liebherr Werk Ehingen GmbH
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 Liebherr Werk Ehingen GmbH filed Critical Liebherr Werk Ehingen GmbH
Publication of EP1103511A2 publication Critical patent/EP1103511A2/fr
Publication of EP1103511A3 publication Critical patent/EP1103511A3/fr
Application granted granted Critical
Publication of EP1103511B1 publication Critical patent/EP1103511B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • B66D1/54—Safety gear

Definitions

  • the present invention relates to a method for monitoring the operation of Hoisting winches, especially for cranes in which a rope force acting on the hoisting winch, Load changes, a dynamic load and / or a remaining service life be determined.
  • the invention further relates to a monitoring device for monitoring the Operation of hoisting winches, in particular cranes, with rope force determination means for determining the rope forces acting on the hoist winch and an evaluation unit to determine the dynamic loading of the hoist winch the rope forces and / or the remaining service life.
  • a load collective counter is known from EP 07 49 934 A2, which determines the occurring load changes, for each load change the Determines the hoisting load on the hoisting winch, from which the load spectrum is calculated and calculating the remaining service life using the so-called Wöhler lines and displays.
  • this load spectrum counter is in terms of detection of the stresses that actually occur can hardly be implemented in practice and in need of improvement. There is also an even more extensive monitoring of operations the hoist is desirable.
  • the present invention is therefore based on the object of an improved To provide methods and an improved device of the type mentioned in the introduction, which avoid the disadvantages known from the prior art.
  • In particular should be a simple, precise and reliable detection of the occurring loads achieved and preferably comprehensive monitoring of the hoist winch operation be effected.
  • this task is carried out in a process of the type mentioned according to the invention solved in that a Torque of a hoist winch drive is determined with respect to a lever arm of the rope the hoist winch determines and time the particular torque is assigned, and from the respective torque and the assigned Lever arm the rope force is determined.
  • the load quantities are determined dynamically, at intervals of e.g. one Seconds, the relevant quantities are recorded or determined so that their History over time can be determined. So the rope force is determined indirectly, by other quantities, namely the torque of the hoist winch drive and the lever arm of the hoisting rope running around the hoist winch are determined to whom the rope force has a fixed relationship.
  • the method according to the invention dispenses with a direct determination of the lifting load or the rope force. In contrast to the method known from the prior art is not a difficult one and complicated immediate detection of the rope force necessary, the determination the torque of the linear actuator and the associated lever arm of the hoist rope with respect to the hoist winch is much easier to accomplish.
  • a particularly simple determination of the lifting drive torque is possible thereby achieved that a hydraulic motor as a hoist drive is used, the pressure difference across the hydraulic motor is measured Swallowing volume is recorded and the torque of the linear actuator is determined becomes. If necessary, the moment of one between the linear actuator and the hoist-switched brake is applied to the hoist, too detected or determined and in the determination of the acting on the hoist winch Moments are taken into account. From the pressure difference across the hydraulic motor and its respective absorption volume can be that provided by the hydraulic motor Torque can be easily calculated.
  • the swallowing volume is preferred determined by the fact that the angular position of the actuating lever of the hydraulic motor is detected or determined.
  • the lever arm of the rope running around the hoist winch can in principle be on different Because of being determined. For example, it would be possible an immediate position or position detection of the piece of rope running off the winch by means of a suitable sensor.
  • the lever arm of the rope is preferably relative to the hoist winch is determined from the rotational position of the hoist winch. This is an absolute Detected the rotary position of the hoist winch, from which the respective lever arm results, depending on the turn position of the rope.
  • An execution consists in a corresponding lever arm for each absolute rotational position stored, the rotational position of the hoist winch absolutely measured and he associated Lever arm is read out.
  • geometric hoist winch parameters especially the winch diameter, the number of turns per layer, which depends on the width of the hoist winch and the rope diameter, stored in a memory, a rotational position the hoist winch is recorded absolutely and the respective rotary position is off the hoist parameters determine the lever arm of the rope with respect to the hoist winch.
  • the lever arm of the rope determined with regard to the hoist winch taking into account the winding positions become.
  • the absolute uncoiled rope length can be determined in this way become. This can also be used for the further control of the crane.
  • the number of turns remaining on the hoist winch can advantageously be increased be monitored, in particular it can be ensured that always the necessary minimum number of turns, e.g. three turns, on the hoist winch remain so that the hoist rope cannot be pulled off the hoist winch becomes. Before the rope is unwound so far that less than e.g.
  • the hoist drive is switched off or the Hoist brake applied.
  • the rope speed when unwinding and / or the rope acceleration determines.
  • the derivatives of the unwound Rope length can be determined over time.
  • the speed of the hoist winch is determined and monitored becomes. This can be used to control and monitor the hoist winch drive become. A maximum speed of the hoist winch motor that is not exceeded can be monitored accordingly.
  • the monitoring has dynamic stress or the remaining lifespan or determination of the absolute unwinding length, the unwinding speed and the - acceleration special advantages, especially these sizes can also be used for the control of the crane can be used and for other evaluations of the Operation of the crane can be used.
  • the time course of the rope force determined and saved from the maximum and minimum rope force values and / or the occurring load changes are determined, one of several stored load spectra assigned and to determine the remaining life be used.
  • the loads on the hoist winch can several, preferably ten categories can be classified.
  • the one for each Time components of the load that are not part of the category are added up and combined in one Storage filed.
  • This memory is non-volatile and for a large number of Suitable write cycles.
  • the determination of the remaining life itself is based on a of the methods known per se for determining the lifetime.
  • the remaining life of the hoist winch can be determined. Possibly can also derive a remaining lifetime calculation for other crane components the dynamic load of which is directly related to that of the hoist winch related.
  • a torque determining device for determining the torque a winch drive a device for determining the lever arm of the rope with respect to the hoist winch and a device for determining the rope force provided from the respective torque and the associated lever arm are.
  • the torque determination device preferably comprises a pressure detection device for recording the pressure difference via the hydraulic motor of the hoist winch drive, a swallowing volume detection device and a device for determining the torque of the hydraulic motor from the detected pressure difference and the swallowing volume.
  • the pressure detection device can in particular have two pressure sensors on the inflow and outflow side of the Hydromotor are connected in the corresponding fluid circuit.
  • the fluid cycle can be both closed and open.
  • the swallowing volume detection device can consist of one component, which is assigned to the control lever of the hydraulic motor and detects its angular position.
  • the angular position of the control lever is a measure of the swallowing volume of the Hydromotor, which together with the pressure drop at the hydromotor Torque determined.
  • the swallowing volume detection device from a module that measures the actuating current of a solenoid, with the the control lever is actuated.
  • the actuating current is proportional to the angular position of the Adjusting lever so that the angular position of the adjusting lever can be derived from this can.
  • the swivel angle is thus determined indirectly, namely from the proportional Control current for the control lever, which comes from the superordinate crane control comes and is proportional to the swivel angle. Indirect determination of Pivot angle in the manner described is much cheaper to do.
  • the rotational position detection device for the Hoist winch provided.
  • the rotational position detection device trained absolutely working, i.e. it also detects any rotational positions via absolutely 360 °, when the winch is turned backwards, the rotary position detection device also runs backward.
  • the rotational position detection device is preferably digitally trained, it digitizes the respective rotary position the hoist winch.
  • the monitoring device expediently comprises a memory for Storage of hoist winch parameters, in particular, are in the memory of the Winch diameter, the number of turns per layer and the rope diameter can be saved.
  • a device for determining the lever arm of the rope is related the hoist winch provided. This can basically be a sensor that the Position of the rope piece running from the hoist winch is directly detected. Preferably however, the device calculates the lever arm from the respective rotational position the hoist winch and the stored hoist winch parameters.
  • the monitoring device is characterized in a further development of the invention that a real time clock is provided.
  • the real time clock is with the evaluation unit connected to them for data processing with the real-time values Food.
  • the evaluation unit is designed such that that the time course of the rope force is determined and stored and from this maximum and minimum rope force values and / or load changes are determined, assigned to one of several stored load spectra and for Determination of the remaining lifespan can be used.
  • the monitoring device is according to a further aspect of the invention provided with a device for monitoring the uncoiled rope length, which blocks the hoist drive and / or actuates a hoist brake as soon as there are only a predetermined number of turns on the hoist winch.
  • the monitoring device is distinguished according to a further aspect the invention characterized in that means for determining the unwinding or winding speed of the hoisting rope and for determining the rope acceleration are. These variables are preferably derived from the detected rotational movement the hoist winch taking into account their geometric parameters, in particular of the winch diameter and the turn positions determined. Furthermore, according to a further aspect of the invention means are provided, the speed of the hoist winch determine and monitor this and / or the speed of the hoist winch drive.
  • the evaluation unit is the Torque determination device, the device for determining the lever arm, the device for determining the absolute coiled rope length, the device for determining the unwinding speed, the device for determining the unwinding acceleration and / or the device for monitoring the Winch speed as a microcomputer with stored and running Software trained.
  • the microcomputer preferably has interfaces to Data transfer to and from a higher-level crane control system, from which the determined data including the calculated load spectrum and the remaining service life are available. The transfer of data or control commands is a matter of course also provided in the opposite direction.
  • the monitoring device is characterized by making the remaining service life safer and more reliable according to a further aspect of the present invention that the evaluation unit including an associated data memory are integrated in the hoist winch. So they form an inseparable unit the hoist winch. If the hoist winch is exchanged for maintenance work or for replacement, so it is together with the evaluation unit and the associated one Data memory replaced, the stored stress values and / or contains the remaining life. This ensures that the remaining Remaining service life is not lost or incorrect calculation data of the Remaining life will be taken as a basis.
  • the only drawing shows a schematic representation of an inventive Monitoring device for monitoring a hydraulically driven Hoist winch.
  • the hoist winch 1 is driven by a hydraulic motor 2, which by means of a corresponding Fluid circuit 3, which can be open or closed, with the necessary fluid pressure.
  • the rope is on the hoist winch 1 4 wound up, with which the crane raises or lowers the corresponding lifting loads.
  • the hoist also includes a hoist brake 5, which is between the hydraulic motor 2 and the hoist winch 1 is connected to the drive train.
  • a multifunctional acquisition, calculation and Evaluation unit 6 Connected to the hoist winch 1 is a multifunctional acquisition, calculation and Evaluation unit 6, which forms a load spectrum counter and implements other functions.
  • the multifunctional data processing, computing and Evaluation unit 6 the dynamic loading of the hoist winch 1 and their Remaining service life determined.
  • the unwinding length of the rope 4, the Speed and acceleration of the rope 4 and the rope force taking into account of the winding layers on the hoist winch 1 and the speed of the hoist winch determined and monitored.
  • the unit 6 is advantageously integrated in the hoist winch 1 and forms with it one unity. It can be flanged on or in some other suitable way Winch 1 can be attached.
  • An angle detection unit 7 is assigned to the lifting winch shaft and digitized the angular position of the hoist winch 1.
  • the angle detection unit 7 is absolutely working trained, i.e. it detects the angular position of the hoist winch 1 absolutely, even beyond the range of a full rotation.
  • the rotation angle values are transferred from the converter 7 to the central processing unit 8, which the further Processing of the values causes.
  • a real-time clock 9 is also connected to the central processing unit 8 connected, so that all the data supplied to it with the Link real-time values and process them further. So the central determines Arithmetic unit 8 the respective rotational position from the angle of rotation values of converter 7, the speed and acceleration of the hoist winch 1.
  • the geometric parameters of the hoist winch 1 are stored in the data memory 10, in particular there are hoist winch diameters, rope diameters and number of turns stored per position on the hoist winch 1, so that the central processing unit 8 from this in connection with the respective rotation angle values of the hoist winch 1 the absolute unwinding length of the rope 4, the speed and acceleration of the rope 4 when unwinding or winding and the lever arm of the rope 4, which this with respect to the hoist winch 1.
  • These sizes are with the real time values linked and stored in the data memory 10 so that the operation of the crane e.g. can be queried retrospectively for accident reconstruction.
  • the respective Torque of the hydraulic motor 2 with which the hoist winch 1 is driven is determined.
  • the respective Pressure values measured by the pressure sensors 11 and 12 are of these also fed to the central processing unit 8.
  • the central one Computing unit 8 In order to be able to determine the torque of the hydraulic motor 2, the central one Computing unit 8 also fed a signal that the angular position of the control lever 14 of the hydraulic motor 2, which determines the amount of swallowing of the hydraulic motor 2.
  • the swallowed quantity of the hydraulic motor 2 determines together with the pressure difference the torque of the hydraulic motor.
  • the angular position of the control lever 14 can be measured directly by means of an appropriate angle sensor. It can also be determined indirectly.
  • the central processing unit 8 calculates from the angular position of the actuating lever 14 and the pressure difference across the hydraulic motor 2 whose torque. This can be stored in memory 10 together with the associated real-time values. In particular, the central processing unit 8 calculates from the respective Torque of the hydraulic motor 2 and that given at the respective moment Lever arm of the rope 4 with respect to the hoist winch 1 the rope force in the rope 4.
  • the central processing unit 8 calculates the dynamic load on the hoist winch 1. For this purpose the minimum and maximum extreme values are determined from the course of the rope force over time, from this, load cycles or load changes are determined, from which the central processing unit 8 constantly calculates the load spectrum for the hoist winch 1. Basically the load cycles and loads actually occurring in this process the winch is divided into n categories and those for each category Time components of the load are added up and stored in the memory 10. The central processing unit determines on the basis of the determined dynamic loads 8 the remaining life according to a method known per se the hoist 1.
  • the multi-function unit 6 has a superordinate crane control 15 connected.
  • the higher-level control system can be operated via a bus interface 16 15 access the central processing unit 8 and exchange data. In particular the remaining life can be read out and in one corresponding display 17 are shown.
  • a safety circuit 18 is provided in the multifunction unit 6, with which it is prevented that the rope 4 is completely unwound from the hoist winch 1.
  • the central processing unit can perform the rotational position signal of the angle detection unit 7 8 determine the remaining number of turns on the hoist winch 1.
  • the central processing unit controls 8 the safety circuit 17.
  • the corresponding switch closes itself, so that a signal for brake control from the higher-level crane control 15 is switched through so that the brake 5 is activated and the hoist winch rotation stops. This ensures that the prescribed minimum number of windings on the hoist winch 1 is not undershot.
  • determining the absolute uncoiled rope length from the Central processing unit 8 can be determined when the hoist winch 1 is wound up and is unwound.
  • All data that are recorded and / or determined in the multifunction unit 6 and are stored in the data memory 10 are from the superimposed crane control 15 available.
  • the parameterization of the hoist winch geometry can also be done via the serial Bus.
  • wind data such as Manufacturing data, identification number, Serial number etc. can be called up via the serial bus.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
EP00124423A 1999-11-23 2000-11-08 Méthode et dispositif pour contrôler l'entraínement d'un treuil d' un appareil de levage Expired - Lifetime EP1103511B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19956265 1999-11-23
DE19956265A DE19956265B4 (de) 1999-11-23 1999-11-23 Vorrichtung zur Überwachung des Betriebs von Hubwinden

Publications (3)

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EP1103511A2 true EP1103511A2 (fr) 2001-05-30
EP1103511A3 EP1103511A3 (fr) 2001-07-18
EP1103511B1 EP1103511B1 (fr) 2005-04-06

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008045897A1 (fr) * 2006-10-11 2008-04-17 Oshkosh Truck Corporation Système et procédé pour mesurer la traction d'une ligne de treuil
CN102020201A (zh) * 2009-09-16 2011-04-20 利勃海尔南兴有限公司 用于自动检测用于搬运负载的机器的负载循环的系统
CN102381655A (zh) * 2010-08-25 2012-03-21 淮南矿业(集团)有限责任公司 绞车深度指示器失效保护装置
WO2012146380A3 (fr) * 2011-04-26 2013-04-25 Liebherr-Components Biberach Gmbh Banc d'essai de câbles
NL2009783C2 (nl) * 2012-11-09 2014-05-12 Pjotter B V Werkwijze, gebruik en inrichting voor het bepalen van een veiligheidsstatus van een lier.
EP2554750A3 (fr) * 2011-08-04 2014-12-17 Kässbohrer Geländefahrzeug AG Dameur de piste avec treuil, procédé d'analyse d'un état d'usure du câble du treuil et dispositif de réalisation du procédé
WO2021083542A1 (fr) * 2019-10-30 2021-05-06 Sew-Eurodrive Gmbh & Co. Kg Procédé pour calculer un facteur de fiabilité opérationnelle d'un moteur à engrenages d'un système de levage, et procédé pour faire fonctionner un système de levage
IT202100032639A1 (it) * 2021-12-24 2023-06-24 Prinoth Spa Gruppo verricello di ausilio alla movimentazione di un veicolo cingolato e relativo metodo di controllo

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DE102004007504B4 (de) * 2004-02-13 2009-11-05 Demag Cranes & Components Gmbh Hebezeug, insbesondere Kettenzug oder Seilzug
US7489098B2 (en) 2005-10-05 2009-02-10 Oshkosh Corporation System for monitoring load and angle for mobile lift device
DE102008024215B4 (de) 2008-05-19 2015-08-20 Manitowoc Crane Group France Sas Bestimmung und Rekonstruktion von Laständerungen an Hebezeugen
DE202008011359U1 (de) 2008-07-30 2009-12-03 Liebherr-Werk Ehingen Gmbh Winde, insbesondere Hubwinde
DE202011001846U1 (de) * 2011-01-24 2012-04-30 Liebherr-Components Biberach Gmbh Vorrichtung zur Erkennung der Ablegereife eines hochfesten Faserseils beim Einsatz an Hebezeugen
DE102012010266B4 (de) * 2012-05-25 2015-02-12 Wessel-Hydraulik Gmbh Hydraulische Schaltungsanordnung
DE102013017110A1 (de) * 2013-08-28 2015-03-05 Liebherr-Components Biberach Gmbh Vorrichtung zur Erkennung der Ablegereife eines hochfesten Faserseils beim Einsatz an Hebezeugen
DE202016002171U1 (de) 2016-04-05 2017-07-07 Liebherr-Werk Biberach Gmbh Vorrichtung zur Überwachung von Betriebsdaten und/oder Bestimmung der Ablegereife eines Seils beim Einsatz an Hebezeugen
DE102017001238A1 (de) 2017-02-09 2018-08-09 Liebherr-Components Biberach Gmbh Hebezeug und Verfahren zum Anfahren des Hubwerks eines solchen Hebezeugs
DE102018123150B4 (de) * 2018-09-20 2021-04-15 Johannes Hübner Fabrik elektrischer Maschinen GmbH Drehgeber und Verfahren zum Betrieb eines Hebezeugs
DE102022105430A1 (de) 2022-03-08 2023-09-14 J.D. Neuhaus Holding Gmbh & Co. Kg Fluidbetriebenes Hebezeug sowie Verfahren zum Erfassen und Speichern von Betriebszuständen und -parametern eines fluidbetriebenen Hebezeugs
DE102022122034A1 (de) 2022-08-31 2024-02-29 Konecranes Global Corporation Verfahren zur Überwachung eines Kettenzugs

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EP0737851A2 (fr) * 1995-04-13 1996-10-16 Bruger + Fischer Krananlagen und Hebezeuge GmbH Méthode et dispositif pour déterminer des charges des équipements d'élévation et de tension
EP0749934A2 (fr) * 1995-03-02 1996-12-27 Brandmaier Messen, Steuern, Software Procédé et appareil pour la détermination des contraintes dynamiques dans les pièces, équipements et machines
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EP0749934A2 (fr) * 1995-03-02 1996-12-27 Brandmaier Messen, Steuern, Software Procédé et appareil pour la détermination des contraintes dynamiques dans les pièces, équipements et machines
EP0737851A2 (fr) * 1995-04-13 1996-10-16 Bruger + Fischer Krananlagen und Hebezeuge GmbH Méthode et dispositif pour déterminer des charges des équipements d'élévation et de tension
EP0779239A1 (fr) * 1995-12-13 1997-06-18 Liebherr-Werk Ehingen GmbH Commande du système de levage d'une grue
EP0803465A2 (fr) * 1996-04-19 1997-10-29 MANNESMANN Aktiengesellschaft Installation pour détecter la charge momentanée et/ou la sollicitation de longue durée de moyens de manipulation, en particulier de dispositifs de levage

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008045897A1 (fr) * 2006-10-11 2008-04-17 Oshkosh Truck Corporation Système et procédé pour mesurer la traction d'une ligne de treuil
CN102020201A (zh) * 2009-09-16 2011-04-20 利勃海尔南兴有限公司 用于自动检测用于搬运负载的机器的负载循环的系统
CN102020201B (zh) * 2009-09-16 2015-11-25 利勃海尔南兴有限公司 用于自动检测用于搬运负载的机器的负载循环的系统
EP2298688A3 (fr) * 2009-09-16 2013-08-21 Liebherr-Werk Nenzing GmbH Système de détection automatique de cycles de charges d'une machine destinée à envelopper des charges
RU2544074C2 (ru) * 2009-09-16 2015-03-10 Либхерр-Верк Ненцинг Гмбх Система для автоматического распознавания циклов загрузки машины для перемещения грузов
US8793011B2 (en) 2009-09-16 2014-07-29 Liebherr-Werk Nenzing Gmbh System for the automatic detection of load cycles of a machine for the transferring of loads
CN102381655A (zh) * 2010-08-25 2012-03-21 淮南矿业(集团)有限责任公司 绞车深度指示器失效保护装置
CN102381655B (zh) * 2010-08-25 2014-04-09 淮南矿业(集团)有限责任公司 绞车深度指示器失效保护装置
US8931350B2 (en) 2011-04-26 2015-01-13 Liebherr-Components Biberach Gmbh Rope test stand
WO2012146380A3 (fr) * 2011-04-26 2013-04-25 Liebherr-Components Biberach Gmbh Banc d'essai de câbles
EP2554750A3 (fr) * 2011-08-04 2014-12-17 Kässbohrer Geländefahrzeug AG Dameur de piste avec treuil, procédé d'analyse d'un état d'usure du câble du treuil et dispositif de réalisation du procédé
NL2009783C2 (nl) * 2012-11-09 2014-05-12 Pjotter B V Werkwijze, gebruik en inrichting voor het bepalen van een veiligheidsstatus van een lier.
WO2021083542A1 (fr) * 2019-10-30 2021-05-06 Sew-Eurodrive Gmbh & Co. Kg Procédé pour calculer un facteur de fiabilité opérationnelle d'un moteur à engrenages d'un système de levage, et procédé pour faire fonctionner un système de levage
IT202100032639A1 (it) * 2021-12-24 2023-06-24 Prinoth Spa Gruppo verricello di ausilio alla movimentazione di un veicolo cingolato e relativo metodo di controllo
EP4201867A1 (fr) * 2021-12-24 2023-06-28 PRINOTH S.p.A. Ensemble treuil pour aider le mouvement d'un véhicule à chenilles et procédé de commande associé

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Publication number Publication date
DE19956265B4 (de) 2005-06-30
DE50009977D1 (de) 2005-05-12
DE19956265A1 (de) 2001-06-07
EP1103511A3 (fr) 2001-07-18
EP1103511B1 (fr) 2005-04-06

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