EP1328461A2 - Systeme et procede de commande d'un dispositif de levage - Google Patents

Systeme et procede de commande d'un dispositif de levage

Info

Publication number
EP1328461A2
EP1328461A2 EP00907537A EP00907537A EP1328461A2 EP 1328461 A2 EP1328461 A2 EP 1328461A2 EP 00907537 A EP00907537 A EP 00907537A EP 00907537 A EP00907537 A EP 00907537A EP 1328461 A2 EP1328461 A2 EP 1328461A2
Authority
EP
European Patent Office
Prior art keywords
drive
support element
load
control
signal
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
EP00907537A
Other languages
German (de)
English (en)
Other versions
EP1328461B1 (fr
Inventor
Gerd Münnekehoff
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.)
Individual
Original Assignee
Individual
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 Individual filed Critical Individual
Publication of EP1328461A2 publication Critical patent/EP1328461A2/fr
Application granted granted Critical
Publication of EP1328461B1 publication Critical patent/EP1328461B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D3/00—Portable or mobile lifting or hauling appliances
    • B66D3/18—Power-operated hoists
    • 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
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/005—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with balanced jib, e.g. pantograph arrangement, the jib being moved manually

Definitions

  • the present invention relates to a system for controlling a load lifting device, with a controllable drive, with a support element connected to the drive, which is oriented vertically, at least in a rest position due to gravity, with a load receiving device connected to the support element and with a control circuit for load balancing. Furthermore, the invention relates to a control method which can be carried out in particular by means of such a system.
  • a load lifting device with a rigid support element is known for example from DE 4342715 AI.
  • a hand-operated manipulator which has a vertical bearing journal about which a horizontally projecting support arm can be pivoted.
  • the support arm carries a lifting device which has a load suspension means at its lower end.
  • the support arm consists of two partial arms connected in series, which are connected to each other by a joint with a vertical swivel axis and thus form a so-called articulated arm.
  • the support arm has a further articulated arm formed from two partial arms, which complements the first to form a changeable parallelogram lying in a horizontal plane.
  • the size of the empty weight or the load to be absorbed must be preset on a controller.
  • means for weight determination can also be provided on the load lifting device.
  • the present invention has for its object to provide a control system of the type mentioned and a corresponding method with which the load balancing can be implemented in a simple manner from a control point of view without presetting the weight, and comfortable operation with a high level of security should also be ensured.
  • control circuit for load balancing comprises a device for generating a path-dependent signal which corresponds to a substantially vertical movement of the support element and serves as an input signal for the control of the drive.
  • a force applied by the drive or a corresponding moment can advantageously be automatically increased rapidly until it corresponds to the weight of the load.
  • the drive force can be increased by a motor current control or, in the case of a fluid drive, by a control of the fluid pressure, for example with the aid of a servo valve.
  • the point in time of the weight compensation achieved can be determined with the aid of the device for generating the path-dependent signal.
  • the state of balance has set in when the essentially vertical movement of the support element begins under the action of the drive.
  • the size of the path-dependent signal can advantageously be compared with a target value and, when this has been reached, the force applied by the drive or the torque can be kept constant at the value reached. Weight balancing is therefore completely automatic.
  • the detection of the setpoint takes place in the millisecond range and is therefore so fast that the vertical movement of the support element is not perceived by the operator and therefore cannot be disruptive during operation.
  • the drive can primarily be an electric motor which has the device for generating the path-dependent signal, as is the case in particular with an electric servomotor in which the path-dependent signal is a Angle of rotation corresponds and can be tapped directly from the motor.
  • the device for generating the path-dependent signal is an incremental angle of rotation measuring disk arranged coaxially to the drive shaft of the motor.
  • the invention can advantageously also be used in load lifting devices in which the drive is a fluidically acting drive device, such as a pneumatic piston-cylinder arrangement or a pneumatically actuated ball roller spindle.
  • a fluidically acting drive device such as a pneumatic piston-cylinder arrangement or a pneumatically actuated ball roller spindle.
  • a control for the vertical movement of the support element which comprises a control element, a handling device for the load-bearing device and a device for generating a force-dependent signal, the force-dependent signal corresponding to a manipulation force acting vertically on the handling device and the control element is designed in such a way that, depending on the deviation of the force-dependent signal from a desired value, it outputs a control signal for the drive for triggering a movement of the support element which corresponds to the direction and preferably also the magnitude of the manipulation force.
  • both the setpoint specification and the transmission behavior of the control element can be changed by an adjusting element as a function of a signal corresponding to the load.
  • Another advantage of the invention is that all elements of the system according to the invention that have a control or regulating function, such as the control element of the control for the vertical movement of the support element, the setting element for the setpoint of this control, etc., are components of a single programmable logic controller can.
  • FIG. 1 is a schematic representation of the application of a system for controlling a load lifting device
  • FIG. 2 shows a section through a lifting unit of a system according to the invention with an electric motor drive
  • FIG. 3 shows a schematic representation of the control of a system according to the invention
  • FIG. 4 shows a front view of a handling device of a system according to the invention in a first embodiment
  • FIG. 5 is a partially sectioned side view of a handle exercise device of a system according to the invention in a second embodiment
  • Fig. 6 shows a section through a lifting unit of a system according to the invention with a fluidically acting drive, in a simplified representation
  • FIG. 7 shows a longitudinal section through a safety device for a system according to the invention, in particular with a fluidically acting drive
  • Fig. 8 shows a further embodiment of a system according to the invention, with a rigid support element.
  • a system for controlling a load lifting device 1 has a controllable drive 2, which is arranged in a lifting unit 3.
  • the lifting unit 3 is designed as a crane trolley guided on a running rail construction 4 in at least one horizontal direction X-X.
  • Connected to the drive 2 is a vertically Z-Z oriented support element 5, at least in a rest position due to gravity.
  • the support element 5 is a rope that is flexible (pliable) and can be wound onto a drum 6 located in the interior of the lifting unit 3.
  • the lifting unit 3 has a housing 3a in which a servo motor and the drum 6 for winding the rope are located as the drive 2 acting as an electric motor.
  • a load suspension device 7 is connected to the support element 5.
  • this is a device with a load suspension mechanism that can be operated manually by an operator 8, in particular with a collet for receiving a load 9 with a cylindrical receiving opening, such as e.g. a coil.
  • a handling device 10 for the load-bearing device 7 is fastened, which also serves to guide the movement.
  • this comprises a control circuit for load balancing.
  • a device 11 is provided for generating a path-dependent signal S, which corresponds to an essentially vertical movement of the support element 5 and serves as an input signal for controlling the drive 2.
  • the control circuit further includes a control element 12, which is designed such that it can emit a control signal R for the movement of the support element 5 as a function of a deviation ⁇ S of the path-dependent signal S from a desired value W to an actuator 13 for the drive 2.
  • the actuator 13 can be, for example, a device for changing the motor torque (manipulated variable I) of an electric motor, such as the servo controller shown in FIG.
  • the path-dependent signal S is determined in order to determine the setting of an achieved balance state for the load 9. This signal S contains information about the beginning or the beginning of a load movement that begins after weight compensation.
  • the control signal R is used for constant switching.
  • the movement of the support element 5 or the load 9 comes to a standstill as a result.
  • the setpoint W can advantageously be set extremely small.
  • the constant engine torque or the pressure Q represents a measure of the weight of the load 9 located on the load suspension device 7 and can be processed as a corresponding signal.
  • a servo motor as drive 2 offers the advantage that it already has or forms the device 11 for generating the path-dependent signal itself, since it supplies a path-dependent signal S (for an angle of rotation ⁇ of the drive shaft).
  • the system according to the invention can, as can also be seen from FIG. 3, advantageously have a control for the vertical ZZ movement of the support element 5.
  • the control shown comprises a control member 14, the handling device 10 for the load-bearing device 7 and a device 15 for generating a force-dependent gene signal P, which corresponds to a manipulation force F which acts on the handling device 10 essentially vertically ZZ.
  • the control element 14 can be designed in such a way that it outputs a control signal T for the drive 2 for triggering a movement of the support element 5 as a function of a deviation ⁇ P of the force-dependent signal P from a desired value V. This movement can then preferably correspond to the direction and preferably also the size of the manipulation force F.
  • Fig. 3 further illustrates that the system according to the invention can have an adjusting element 16 which, depending on a signal corresponding to the load 9 (eg current I, pressure Q), changes the setpoint value V for the force signal P which is applied vertically to the handling device Manipulation force F corresponds.
  • the setting element 16 can also be designed such that it changes the transmission behavior of the control element 14, which emits the control signal T for the drive as a function of the deviation ⁇ P of the force signal P from the desired value V.
  • a guide control is advantageously suitable for compensating for load-related frictional forces occurring in the system according to the invention, for example on the drum 6 for the support element 5 or in a gearbox.
  • the manipulation force F can be minimized in this way.
  • the control for the vertical ZZ movement of the support element 5 - including the force for the load movement - can be used (with and without guide control) regardless of the presence or the type of control of the load balancing.
  • the drive 2 of a system without a level circuit for load balancing can be controlled indirectly via the manipulation force F.
  • Such a control is particularly suitable, for example, for the palletizing of loads 9, in which a vertical Z-Z movement of the support element 5 takes place as the main infeed movement from top to bottom.
  • the vertical ZZ movement of the support element 5 (downward movement) can advantageously be braked depending on the size of the path-dependent signal S.
  • the load 9 can be set down very "gently" because the setpoint V or the transmission behavior of the actuator 16 can be designed on the last piece of the vertical ZZ transport path in such a way that one - compared to the conditions on the rest of the transport path - Greater manipulation force F corresponds to a smaller path of the support element 5 or the load-bearing device located thereon.
  • the signal flow path for the path-dependent signal S shown as a dashed line in FIG. 3.
  • a safety controller for a manually operable load-carrying mechanism of the load-carrying device 7, in particular for a clamping or gripping mechanism, such as the collet shown in FIG. 1, can be provided.
  • Such a safety controller can have a safety control element 17 which is connected to the device 11 for generating the path-dependent signal S and to the device 15 for generating the path-dependent signal P, which blocks the manual operation of the load suspension mechanism and only then releases it (signal B) , if there is no path-dependent signal P with a force-dependent signal Signal S is present.
  • the latter is the case when the load 9 is placed on a support.
  • a manipulation force F in particular vertically ZZ directed downwards, the load 9 then no longer moves and consequently no path-dependent signal S is also detected.
  • the path-dependent signal S can also be used to bring about braking when the maximum travel speed of the support element 5 is exceeded.
  • a further safety controller can be integrated in the system according to the invention for the drive 2 and / or for blocking the movement of the support element 5.
  • This safety controller can also have a sensor 18, in particular a light barrier, for registering the use of the handling device 10 and a switching element 19 which switches off the drive 2 or blocks the movement of the support element 5 and only then switches on or releases (signal U) when the sensor 18 signals the use of the handling device 10 (signal A).
  • the control element 12 of the control circuit for load balancing and / or the control element 14 of the control for the vertical movement of the support element 5 and / or the setting element 16 for the setpoint V of this control and / or the switching element 19 of the safety control for the drive 2 or to block the support element 5 and / or the safety control element 17 of the safety control for the load-carrying device 10 can advantageously be components of a programmable logic controller PLC, individually or jointly. This is indicated in FIG. 3 by the line train comprising the components mentioned. tet.
  • digital signal processing means that the dynamic behavior of the control system can be influenced very cheaply and flexibly.
  • the programmable logic controller PLC can advantageously be arranged in the vicinity of the drive 2, in particular in the lifting unit 3 receiving the drive 2, as is already shown in FIG. 2.
  • FIG. 4 shows by way of example how a handling device of a system according to the invention, designated by reference number 10 in FIG. 1, can be designed.
  • the handling device 10 is designed for two-handed operation by the operator 9 and has a frame-like shape. It is essential for the illustrated embodiment that the handling device 10 consists of at least two main parts 101, 102, of which the first part 101 on the one hand fixed to an upper cross strut 103 with the support element 5 (fastening point 5a) and on the other hand fixed to a lower cross strut 104 the load-carrying device 7 (collet) is connected.
  • the two cross struts 103, 104 of the first part 101 are fastened to one another via laterally arranged tubular connectors 105, so that the aforementioned frame-like basic shape is produced.
  • the second part 102 which serves to attack the manipulation force F, is arranged to be movable relative to the first part 101 and has a shorter overall length than the first part 101. It also has a cross strut 106, which is located in particular between the two cross struts 103, 104 is located near the upper cross strut 103, the first part 101. Laterally arranged tubular connectors 107 are also fastened to the cross strut 106 of the second part 102, each of which form handles for manual operation, concentrically enclose the tubular connectors 105 of the first part 101 and are resiliently mounted on the underside of the first part 101. Around half the manipulation force F / 2 is effective on each handle.
  • At least one, in particular inductive, displacement transducer for detecting the relative change in position of the two parts 101 occurring under the effect of the manipulation force F is provided on the handling device 10, 102 arranged.
  • the displacement sensor signals in particular a change ⁇ H (cf. also FIG. 4) of a distance H between the upper cross strut 103 of the first part 101 and the cross strut 106 of the second part 102 of the handling device 10.
  • FIG. 4 also shows connections 108, 109 for the compressed air supply to the load suspension device 7 and for the voltage supply, which are located on the upper cross strut 103 of the first part 101.
  • a switch 110 and a switch 111 for controlling the vertical ZZ movement of the support element 5 are arranged on the cross strut 106 of the second part.
  • Further switches 112, 113 for manual operation are located on the two tubular connectors 107 of the second part 102 designed as handles. These serve to activate the pivoting or releasing function of the Collet.
  • the manual control, in particular the release function, of the load suspension mechanism can be blocked by the safety control by means of a safety control element 17 and can only be released if there is no path-dependent signal S when the force-dependent signal P is present.
  • FIG. 5 shows a further embodiment of a handling device 10 of a system according to the invention.
  • This handling device 10 is designed for one-handed operation by the operator 8 and has an elongated shape. It is also important for this embodiment that the handling device 10 consists of at least two main parts 101, 102, of which the first part 101 is on the one hand firmly connected to the support element 5 and on the other hand firmly connected to the load-carrying device 7 on the underside.
  • the second part 102 is designed as a hand lever, which is connected to the device 15 for providing the force-dependent signal P - likewise an, in particular inductive, displacement transducer.
  • the displacement transducer is located in the interior of the first part 101 and supplies a signal P for a distance between the two main parts 101, 102, which is variable due to the manipulation force F applied to the hand lever, not shown in FIG. 5.
  • a handle 114 fixedly mounted on the first part 101 is provided for guiding the movement of the handling device 10 .
  • both embodiments FIGS. 4, 5
  • a highly precise detection of the manipulation force F is possible.
  • Both versions of the handling device 10 can be combined with an electromotive as well can be used with a fluidic drive 2.
  • a system according to the invention with an already mentioned second drive variant - a fluidically acting drive 2 - is shown in analogy to FIG. 2 in FIG. 6.
  • the lifting unit 3 in turn has a housing 3a in which the drum 6 for winding the rope (supporting element 5) and as a fluidically acting drive 2 can be a pneumatic cylinder in the simplest case.
  • a pneumatic drive 2 known per se is indicated.
  • Such a drive 2 can consist, for example, of a laterally closed cylinder jacket and a ball screw permanently installed in between. By means of the ball screw, a translatory movement, which occurs when compressed air is applied to a piston located within the cylinder jacket, can be converted into a rotary movement for driving the drum 6.
  • the device 11 for generating the path-dependent signal S is an incremental angle-of-rotation measuring disk (encoder), which can preferably be arranged coaxially to the drum 6 or - as shown - on a deflection roller 6a for the support element 5.
  • the path-dependent signal S thus corresponds to an angle of rotation ⁇ of the drum 6.
  • a further safety device can be provided for a system according to the invention with a fluidically acting drive 2, as the drawing shows. It is a fluidic, in particular pneumatic, brake 20 for the flexible support element 5, in particular for a rope.
  • the brake 20 is shown in FIG. 9 as an individual part. It has a cylindrical housing 21 with a housing 21 on the top closing lid 22 and a bottom plate 23 closing the housing 21 on the underside.
  • a piston 24 is guided in a longitudinally movable manner and divides the housing 21 into a sealed pressure chamber 25 for a pressure-generating fluid and into a spring chamber 26.
  • Cover 22, base plate 23 and piston 24 each have a passage opening for the support element 5, which is not shown in detail.
  • At least two locking elements 27, in particular balls in the embodiment shown, are arranged in the spring chamber 26 around the supporting element 5. The locking elements 27 are acted upon on the one hand by springs 28 and on the other hand by the piston 24 under the pressure effect of the fluid.
  • the spring chamber 26 has a region 29 which tapers in the direction of the piston 24 in such a way that the blocking elements 27, when they are in a spring-side part of this region 29 when the fluid is under pressure, release the support element 5 and when they are in the absence of pressure of the fluid under the action of the springs 28 are moved into a piston-side part of the area 29, clamp the support element 5 in the housing 21.
  • This safety device can prevent the load 9 from falling if the working pressure of the fluid fails.
  • a serious disadvantage of fluidic drives 2 is the dangers that arise when a load 9 suddenly unintentionally detaches itself from the load suspension device 7. As a result of the sudden absence of the load 9, there is an explosive reaction in the drive 2, the support element 5 being torn upwards.
  • the brake 20 described can also advantageously be used to prevent such situations from a safety perspective.
  • the brake 20 can be installed in the lifting unit 3 are mounted, which is rotated by 180 ° with respect to the installation position shown in FIGS. 6 and 7.
  • the path-dependent signal S which corresponds to an essentially vertical ZZ movement - in this case upward movement - of the support element 5 can then also be used as an input signal for controlling the brake 20, specifically for opening a pressure relief valve for the pressure chamber 25.
  • a sudden upward movement of the support element 5 can thus be prevented, a counterforce to the force of the fluidic drive 2 being generated in the brake 20, which prevents destruction of the drive 2 and the occurrence of dangerous situations.
  • a brake 20 in the installation position shown in FIGS. 6 and 7 can advantageously be combined with a brake 20 in the position rotated by 180 °.
  • a particularly interchangeable accumulator can advantageously be provided for supplying power to the control circuit for load balancing, the control for the vertical Z-Z movement of the support element 5, the safety control (s) and / or the programmable logic controller PLC. A mains power supply is then not necessary.
  • Such an accumulator can e.g. be arranged on or in the handling device 10 so that it can simply be removed from the system and reconnected after charging.
  • the support element 5 can also be rigid, for example as a rack or the like. If such a toothed rack is to be used, a corresponding pinion can be attached to the drive 2 to trigger the movement. intervention in the rod may be provided.
  • the device 11 for generating the path-dependent signal S can then also be designed so that an essentially vertical ZZ movement of such a rod can be detected.
  • sensors can also be used to provide the path-dependent signal S, through which a linear path of the support element 5 is directly detected.
  • the manipulator known from DE 4342715 AI similar arrangement - see Fig. 8 - can also be designed such that the support element 5 comprises a support parallelogram in which the partial arms 30 are connected in joints 31 with a horizontal pivot axis, the Angular position and the lengths of the partial arms 30 of the parallel parallelogram lying within a vertical plane can be changed (representation in dashed lines).
  • the path-dependent signal S can also correspond to an angle of rotation, specifically an angle by which two partial arms 30 of the supporting parallelogram, which are connected to one another via a joint 31, move relative to one another.
  • the device 11 for generating the path-dependent signal S can then again advantageously be an incremental angle of rotation measuring disc which is arranged coaxially to the pivot axis of the joints.
  • the system shown in FIG. 8 is in turn a system with a fluidic drive 2 (pneumatic or hydraulic cylinder).
  • the device 11 for generating the path-dependent signal S can also be a sensor arranged on the piston rod for linear path detection.
  • the load suspension device 10 is here simply formed by a load hook.
  • drive 2 is also a combination a linearly acting fluidic piston-cylinder arrangement with a roller arrangement constructed in the manner of a pulley block for deflection of motion is possible, an incremental angle of rotation measuring disc being able to be arranged as a device 11 for generating the path-dependent signal S coaxially to the rollers.
  • Sensors other than those described here can also be used as sensors for detecting the manipulation force F or for providing the path-dependent signal S.
  • the load lifting device 1 can also be assigned at least one drive device for its movements in the horizontal direction XX and / or YY, which can be controlled as a function of a deflection of the support element 5, which is forced on the basis of the vertical orientation ZZ which is automatically set in the rest position due to gravity, and has a special control system.
  • the German utility model DE 297 19 865 Ul mentioned at the beginning.
  • the invention is not limited to the combination of features defined in claim 1, but can also by any other combination of certain Characteristics of all of the individual characteristics disclosed can be defined. This means that in principle practically every single feature of claim 1 can be omitted or replaced by at least one single feature disclosed elsewhere in the application. In this respect, claim 1 is only to be understood as a first attempt at formulation for an invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control And Safety Of Cranes (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Control Of Multiple Motors (AREA)
  • Magnetic Bearings And Hydrostatic Bearings (AREA)
  • Load-Engaging Elements For Cranes (AREA)

Abstract

Cette invention concerne un système de commande d'un dispositif de levage (1) comprenant un organe d'entraînement (2) qui peut être commandé, un élément de support (5) relié à l'organe d'entraînement (2), orienté verticalement (Z-Z) et restant sous l'effet de la force de gravité au moins dans une position de repos, un dispositif de suspension de charge (7) relié à l'élément de support (5) ainsi qu'un circuit de régulation servant à l'équilibrage de la charge. Ce circuit de régulation comprend un dispositif servant à la production d'un signal qui est fonction de la course. Ce signal correspond à un déplacement pratiquement vertical (Z-Z) de l'élément support (5) et tient lieu de signal d'entrée pour la commande de l'organe d'entraînement (2).
EP00907537A 1999-02-11 2000-02-10 Systeme et procede de commande d'un dispositif de levage Expired - Lifetime EP1328461B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE29902364U DE29902364U1 (de) 1999-02-11 1999-02-11 System zum Steuern einer Lasthebevorrichtung
DE29902364U 1999-02-11
PCT/EP2000/001067 WO2000047512A2 (fr) 1999-02-11 2000-02-10 Systeme et procede de commande d'un dispositif de levage

Publications (2)

Publication Number Publication Date
EP1328461A2 true EP1328461A2 (fr) 2003-07-23
EP1328461B1 EP1328461B1 (fr) 2004-11-03

Family

ID=8069205

Family Applications (1)

Application Number Title Priority Date Filing Date
EP00907537A Expired - Lifetime EP1328461B1 (fr) 1999-02-11 2000-02-10 Systeme et procede de commande d'un dispositif de levage

Country Status (8)

Country Link
US (1) US6974044B1 (fr)
EP (1) EP1328461B1 (fr)
JP (1) JP2002536274A (fr)
KR (1) KR100630351B1 (fr)
AT (1) ATE281398T1 (fr)
AU (1) AU2909300A (fr)
DE (2) DE29902364U1 (fr)
WO (1) WO2000047512A2 (fr)

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Also Published As

Publication number Publication date
EP1328461B1 (fr) 2004-11-03
DE29902364U1 (de) 2000-07-20
KR100630351B1 (ko) 2006-10-02
WO2000047512A2 (fr) 2000-08-17
AU2909300A (en) 2000-08-29
DE50008553D1 (de) 2004-12-09
ATE281398T1 (de) 2004-11-15
JP2002536274A (ja) 2002-10-29
WO2000047512A3 (fr) 2003-05-15
US6974044B1 (en) 2005-12-13
KR20010105348A (ko) 2001-11-28

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