EP1328461B1 - Systeme et procede de commande d'un dispositif de levage - Google Patents

Systeme et procede de commande d'un dispositif de levage Download PDF

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Publication number
EP1328461B1
EP1328461B1 EP00907537A EP00907537A EP1328461B1 EP 1328461 B1 EP1328461 B1 EP 1328461B1 EP 00907537 A EP00907537 A EP 00907537A EP 00907537 A EP00907537 A EP 00907537A EP 1328461 B1 EP1328461 B1 EP 1328461B1
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EP
European Patent Office
Prior art keywords
load
drive
signal
path
bearing element
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Expired - Lifetime
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EP00907537A
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German (de)
English (en)
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EP1328461A2 (fr
Inventor
Gerd Münnekehoff
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Individual
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    • 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 control system a load lifting device with a controllable drive, with one connected to the drive, - at least in one Rest position due to gravity - vertically aligned support element, with a load bearing device connected to the support element and with a control circuit for load balancing. Furthermore, the invention relates in particular control method which can be carried out by means of such a system.
  • Systems of the type mentioned are electric and known fluidically driven lifting devices. she serve to avoid a higher physical effort hand-held movements of the load suspension device held loads of all kinds. As a result of load balancing the load hovers at a selected height and can minimal effort into their intended position become.
  • Such a system one on a track construction in at least one horizontal direction includes guided crane trolley is, for example, from the German utility model DE 297 19 865 U1 known.
  • the Carrying element of the known load lifting devices can flexible and can be wound on a drum (rope, chain) or be rigid.
  • a load lifting device with a rigid support element is known for example from DE 4342715 A1.
  • a hand-held manipulator which has a vertical journal to which a horizontally projecting support arm is pivotable.
  • the support arm carries at its end facing away from the bearing journal a lifting device at its lower end Has load handler.
  • the support arm consists of two partial arms connected in series by a joint are connected to each other with a vertical swivel axis and to form a so-called articulated arm.
  • the support arm points another articulated arm formed from two partial arms, which converts with the first to one in a horizontal Level changeable parallelogram added.
  • the present invention is based on the object Control system of the type mentioned and a corresponding one To create procedures with no weight presetting load balancing in a tax-technically simple manner can be realized, with a comfortable operation with a high level of security should.
  • control loop for load balancing a device for generation of a path-dependent signal one essentially corresponds to vertical movement of the support element and serves as an input signal for the control of the drive.
  • the Increase in driving force can with electromotive Drive by a motor current control or with fluid Driven by fluid pressure control, for example with the help of a servo valve.
  • Point of time The achieved weight compensation can be done with the help the device for generating the path-dependent signal be determined.
  • the state of balance has then reached when under the action of the drive the essentially vertical movement of the support element begins.
  • the size of the path-dependent signal can advantageously with a Target value are compared and, if this is reached, can apply the force or the moment applied by the drive the value reached is kept constant.
  • the weight balance is therefore completely automatic.
  • the setpoint is recorded in the millisecond range and is so fast that the vertical No movement of the support element by the operator is perceived and therefore not during operation can be disruptive.
  • the drive can be primarily an electric motor that the Has means for generating the path-dependent signal, like this especially with an electric servo motor is the case in which the path-dependent signal Angle of rotation corresponds and tapped directly from the motor can be.
  • the device for generating the path-dependent signal is coaxial with the drive shaft of the motor arranged, incremental rotation angle measuring disc is.
  • the invention can advantageously also in the case of load lifting devices are used where the drive is a fluidic drive device, such as a pneumatic Piston-cylinder arrangement or a pneumatic one loaded ball screw, is.
  • a fluidic drive device such as a pneumatic Piston-cylinder arrangement or a pneumatic one loaded ball screw
  • the system can be a control for vertical movement of the support element can be provided, which is a control element, a handling device for the load handling device and a device for generating a force-dependent Signal include, the force-dependent signal one of the Handling device vertically acting manipulation force corresponds and designed the control element in this way is that depending on the deviation of the force-dependent signal from a setpoint a control signal for the drive to trigger a movement of the support element emits which of the direction and preferably also corresponds to the size of the manipulation force.
  • both the setpoint specification and the transmission behavior of the control element as a function of an adjusting element changed by a signal corresponding to the load become.
  • Such a management regulation advantageously allows compensation of those occurring in the system according to the invention load-related frictional forces.
  • Another advantage of the invention is that all elements of the system according to the invention, one Have control or regulating function, like the control element the control for the vertical movement of the support element, the setting element for the setpoint of this control, etc. Components of a single programmable logic controller could be.
  • a system for controlling one has Load lifting device 1 on a controllable drive 2, the is arranged in a lifting unit 3.
  • the lifting unit 3 is as at least on a running track construction 4 a horizontal direction X-X guided crane sound trolley educated.
  • Connected to drive 2 is a - at least in a rest position due to gravity - vertical Z-Z aligned support element 5.
  • With the support element 5 is a rope that is flexible (slack) and on a drum located inside the lifting unit 3 6 can be wound up.
  • the lifting unit 3 shows in a first variant that shown in Fig. 2 Sectional view.
  • the lifting unit 3 has a housing 3a, in which the drive 2 a servo motor and the drum 6 for winding the rope are located.
  • a load suspension device is connected to the support element 5 7. This is shown in the Case of a device with an operator 8 manually operated load suspension mechanism, in particular with a collet to hold a load 9 with a cylindrical receiving opening, e.g. a coil.
  • a handling device 10 fixed for the load suspension device 7, which also serves to guide movement.
  • Control of a system includes this one control loop for load balancing.
  • this Control loop is a device 11 for generating a provided path-dependent signal S, which is essentially one vertical movement of the support element 5 corresponds and serves as an input signal for controlling the drive 2.
  • the Control loop further includes a control element 12, the is designed so that it is dependent on one Deviation ⁇ S of the path-dependent signal S from a target value W to an actuator 13 for the drive 2, a control signal R can deliver for the movement of the support element 5.
  • the actuator 13 can, for example, be a device for Change in the motor torque (manipulated variable I) of a Electric motor, such as the servo controller shown in FIG. 2, or the pressure Q in a fluidic device, such as the servo valve shown in FIG. 4.
  • a torque applied by the drive 2 becomes automatic quickly increased until the weight of the ingested Load 9 corresponds.
  • This is used to determine the setting an achieved state of balance for the load 9 the path-dependent signal S is determined.
  • This signal S contains Information about the beginning or the initial course a load movement that begins after weight balancing.
  • the movement of the support element 5 or Load 9 comes to a standstill.
  • the setpoint W can can be given extremely small.
  • the constant engine torque or the pressure Q is a measure of the weight of those located on the load suspension device 7 Last 9 represents and can act as a corresponding signal are processed.
  • a servo motor as drive 2 offers the advantage that he the device 11 for generating the already has or forms path-dependent signal itself, since it has a path-dependent signal S (for an angle of rotation ⁇ the drive shaft).
  • the system according to the invention can advantageously, like this also emerges from Fig. 3, a controller for the have vertical Z-Z movement of the support element 5.
  • the Control shown includes a control member 14, the Handling device 10 for the load suspension device 7 and a device 15 for generating a force-dependent Signal P, which the handling device 10 in essentially vertical Z-Z manipulating force F corresponds.
  • the control member 14 can be such be designed as a function of a deviation ⁇ P of the force-dependent signal P from a setpoint V.
  • Control signal T for the drive 2 to trigger a movement of the support element 5 emits. This movement can then preferably the direction and preferably also the size correspond to the manipulation force F.
  • Fig. 3 further illustrates that the inventive System can have an adjusting member 16, which in Dependence on a signal corresponding to the load 9 (e.g. current I, pressure Q) the setpoint V for the force signal P changes that of the handling device vertically manipulating force F applied.
  • the setting member 16 can also be designed so that it the transmission behavior of the control element 14 changes, which depends on the deviation ⁇ P of the force signal P of the setpoint V, the control signal T for the Drives.
  • this is one Leadership regulation advantageously suitable in load-related friction forces occurring according to the system of the invention, for example on the drum 6 for the support element 5 or to compensate in a transmission.
  • the manipulation power F can be minimized in this way.
  • the control for the vertical Z-Z movement of the support element 5 - including the force to move the load - can (with and without management regulation) regardless of the existence or the type of regulation of load balancing be used.
  • the drive 2 of a system without a control loop for load balancing Speed-controlled via manipulation force F. become.
  • Such control is e.g. particularly suitable for palletizing loads 9, where a vertical Z-Z Movement of the support element 5 as the main feed movement of done top down.
  • the vertical Z-Z movement of the support element 5 (downward movement) depending on the size of the path-dependent signal S be braked.
  • a very “gentle” Settling the load 9 take place because on the last piece of the vertical Z-Z transport path the setpoint V or that Transmission behavior of the actuator 16 designed so can be that one - compared to the circumstances on the rest of the transport route - greater manipulation power F a smaller path of the support element 5 or that located load suspension device corresponds.
  • a such a possibility illustrates the one entered in FIG. 3 signal flow path drawn as a dashed line for the path-dependent signal S.
  • Fig. 3 shows - a safety controller for a manual operable load suspension mechanism of the load suspension device 7, in particular for a tensioning or gripping mechanism, like the collet shown in Fig. 1, provided his.
  • a safety controller can be used with the device 11 for generating the path-dependent signal S and with the device 15 for generating the path-dependent Signal P connected safety control member 17, the manual operation of the load suspension mechanism blocks and only releases (signal B) if at existing force-dependent signal P no path-dependent Signal S is present.
  • the latter is the case if the Load 9 on a support.
  • the load 9 stops moving and consequently no more path-dependent signal S is also detected.
  • the path-dependent signal S can also do this used to exceed a maximum Travel speed of the support member 5 braking bring about.
  • This safety controller can be 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 the movement of the support element 5 blocked and only then turns on or releases (signal U) when the sensor 18 is in use the handling device 10 signals (signal A).
  • the safety controller for the Load suspension device 10 can advantageously individually or collectively components of a programmable logic controller PLC control. This is shown in Fig. 3 indicated the line comprising the components mentioned.
  • a programmable logic controller PLC control This is shown in Fig. 3 indicated the line comprising the components mentioned.
  • the programmable logic controller PLC can be an advantage near the drive 2, especially in the drive 2 receiving lifting unit 3, may be arranged, as already Fig. 2 shows.
  • a system according to the invention with one already mentioned second drive variant - a fluid one Drive 2 - is shown in analogy to FIG. 2 in FIG. 4.
  • the lifting unit 3 in turn has a housing 3a, in which the drum 6 for winding the rope (support element 5) and as the fluidically acting drive 2 in the simplest
  • a pneumatic cylinder can be located.
  • drawing is another, more well known pneumatic drive 2 indicated.
  • Such a drive 2 can, for example, from a laterally closed Cylinder jacket and ball screw permanently installed in between consist. Through the ball screw one can - when loaded one inside the cylinder jacket Piston generated with compressed air - translatory movement in a rotary motion to drive the drum 6 can be implemented.
  • the device 11 for generating the path-dependent signal S is a in this embodiment incremental angle encoder (encoder), which is preferred coaxial to the drum 6 or - as shown - on a deflecting roller 6a for the supporting element 5 can.
  • the path-dependent signal S thus corresponds to one Angle of rotation ⁇ of the drum 6.
  • a fluidically acting drive 2 can - how the drawing shows - another safety device be provided. These are around a fluidically, in particular pneumatically, acting Brake 20 for the flexible support element 5, in particular for a rope.
  • a fluid Drive device for can advantageously be used for power supply the control circuit for load balancing, the control for the vertical Z-Z movement of the support element 5, the safety controller (s) and / or the programmable logic controller PLC control a particularly interchangeable Accumulator can be provided. A mains power supply is then not necessary.
  • Such an accumulator can e.g. on or be arranged in the handling device 10, so that he simply removed from the system and after a Charging can be reconnected
  • the support element 5 can - in contrast to the described Versions - also rigid, for example as a rack or the like. If such a rack should be used, can be on the drive 2 for the Triggering the movement of a corresponding pinion for meshing teeth be provided in the rod.
  • the facility 11 to generate the path-dependent signal S can also be so be designed, which is a substantially vertical Z-Z Movement of such a rod can be detected. To can also provide the path-dependent signal S. Sensors are used through which a linear path of the Support element 5 is detected directly.
  • the manipulator known from DE 4342715 A1 Similar arrangement can - see FIG. 5 - also in this way be designed so that the support element 5 is a support parallelogram comprises, in the partial arms 30 in joints 31 with a horizontal pivot axis are interconnected, wherein the angular position and the lengths of the partial arms 30 of the Carrying parallelogram within a vertical plane can be changed horizontally (shown in dashed lines).
  • the path-dependent signal S also correspond to an angle of rotation ⁇ , namely one Angle through which two each other via a joint 31 connected partial arms 30 of the parallel parallelogram move against each other.
  • the device 11 for generating the path-dependent signal S can then in turn advantageously incremental angle of rotation measuring disc, which are coaxial to Pivot axis of the joints is arranged.
  • system is in turn a system with fluidic drive 2 (pneumatic or hydraulic cylinder).
  • the device 11 for generating of the path-dependent signal S also on the piston rod arranged transducer for linear position detection his.
  • the load suspension device 10 is simple here formed by a load hook.
  • drive 2 is also a combination a linearly acting fluidic piston-cylinder arrangement with one like a pulley built-up roller arrangement for deflection of movement possible, with an incremental angle of rotation measuring disk as a device 11 for generating the path-dependent signal S coaxially can be arranged to the roles.
  • a sensor for detecting the manipulation force F or to provide the path-dependent signal S can also sensors other than those described here are used.

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

Claims (17)

  1. Système de commande d'un dispositif de levage de charges (1), avec un entraínement réglable (2), avec un élément porteur (5) relié à l'entraínement (2) qui est -au moins en position de repos dû à l'influence de la gravité-aligné à la verticale (Z-Z), avec un dispositif de support de charge (7) relié à l'élément porteur (5) et avec un circuit de réglage pour l'équilibrage de la charge,
    caractérisé en ce que le circuit de réglage pour l'équilibrage de la charge comporte un dispositif (11) pour la production d'un signal dépendant du chemin parcouru (S), qui correspond à un mouvement essentiellement vertical (Z-Z) de l'élément porteur (5) et qui sert de signal d'entrée pour la commande de l'entraínement (2).
  2. Système selon la revendication 1
    caractérisé en ce que l'entraínement (2) est un moteur électrique et comporte le dispositif (11) pour la production d'un signal dépendant du chemin parcouru (S), et prend en particulier la forme d'un servomoteur électrique.
  3. Système selon la revendication 1,
    caractérisé en ce que l'entraínement (2) est un dispositif d'entraínement par fluide, tel qu'un dispositif pneumatique piston-cylindre ou bien une broche filetée à billes entraínée pneumatiquement.
  4. Système selon l'une des revendications 1 à 3,
    caractérisé en ce que l'élément porteur (5) est constitué au moins partiellement d'un élément rigide, par exemple une crémaillère.
  5. Système selon l'une des revendications 1 à 4,
    caractérisé en ce que l'élément porteur (5) comporte un parallélogramme porteur, dans lequel quatre bras partiels sont reliés entre eux par des articulations avec un axe pivotant horizontal, où préférentiellement la position angulaire et les longueurs des bras partiels du parallélogramme porteur sont ajustables dans un plan horizontal.
  6. Système selon l'une des revendications 1 à 3,
    caractérisé en ce que l'élément porteur (5) est flexible et peut être enroulé sur un tambour (6).
  7. Système selon l'une des revendications 1 à 6,
    caractérisé en ce que le signal en fonction du chemin parcouru (S) correspond à un angle de rotation (α), en particulier à un angle de rotation du tambour (6) ou à un angle, autour duquel respectivement deux des bras partiels du parallélogramme porteur, reliés par une articulation, se déplacent réciproquement l'un de l'autre.
  8. Système selon l'une des revendications 1 à 7,
    caractérisé en ce que le dispositif (11) pour la production d'un signal en fonction du chemin parcouru (S) est un disque de mesure incrémentale de l'angle de rotation qui est disposé de manière coaxiale par rapport au tambour (6), à l'axe d'entraínement d'un moteur (2) comme l'axe d'entraínement d'un moteur électrique, ou bien à une poulie de renvoi ou à l'axe pivotant d'articulations d'un parallélogramme porteur.
  9. Système selon l'une des revendications 1 à 8,
    caractérisé en ce que le circuit de réglage comporte un élément de contrôle (12) qui est construit pour produire un signal de réglage (R) pour le mouvement vertical (Z-Z) de l'élément porteur (5) qui est destiné à un élément de réglage final (13) pour l'entraínement (2) en fonction d'une déviation (ΔS) par rapport à une valeur de consigne (W) du signal en fonction du chemin parcouru (S).
  10. Système selon l'une des revendications 1 à 9,
    caractérisé par une commande du mouvement vertical (Z-Z) de l'élément porteur (5), comportant un dispositif de commande (14), un dispositif de manutention (10) pour le/un dispositif de support de charge (7) et un dispositif (15) pour la production d'un signal en fonction de la force (P), qui correspond à une force de manipulation (F) dirigée principalement en direction verticale (Z-Z) et agissante sur le dispositif de manutention (10), tandis que le dispositif de commande (14) est construit de manière à produire un signal de commande (T) pour le/un entraínement (2) déclenchant un mouvement vertical (Z-Z) de l'élément porteur (5) en fonction d'une déviation (ΔP) du signal en fonction de la force (P) d'une valeur de consigne (V), qui correspond à la direction et de manière encore préférée à l'intensité de la force de manipulation (F).
  11. Système selon la revendication 10,
    caractérisé par un dispositif de réglage (16) relié en particulier à l'entraínement (2) ou à son élément de réglage final (13), qui, en fonction d'un signal (I, Q) correspondant à une charge (9) et/ou au signal en fonction du chemin parcouru (S) qui, lui, correspond essentiellement à un mouvement vertical (Z-Z) de l'élément porteur (5), modifie la valeur de consigne (V) pour le/un signal de force (P) qui correspond à une force de manipulation (F) dirigée essentiellement en direction verticale (Z-Z) du dispositif de manutention (10), et/ou modifie le rapport de transmission du dispositif de commande (14), qui produit un signal de commande (T) pour le/un entraínement (2) résultant en un déclenchement d'un mouvement vertical (Z-Z) de l'élément porteur (5) en fonction d'une déviation (ΔP) d'une valeur de consigne (V) du signal en fonction de la force (P).
  12. Système selon l'une des revendications 9 à 11,
    caractérisé en ce que l'élément de contrôle (12) du circuit de réglage pour l'équilibrage des charges et/ou l'élément de commande (14) du contrôle pour le mouvement vertical (Z-Z) de l'élément porteur (5) et/ou le dispositif de réglage (16) pour la valeur de consigne (V) de cette commande est/sont un/des composant(s) d'une commande par programme enregistré (CPE).
  13. Système selon la revendication 12,
    caractérisé en ce que la commande par programme enregistré (CPE) est située à proximité de l'entraínement (2), en particulier dans un module de levage (3) abritant l'entraínement (2).
  14. Système selon l'une ou plusieurs des revendications 1 à 13,
    caractérisé par un chariot roulant de grue dirigée le long d'une construction comportant un rail à coulissement (4) dans au moins une direction horizontale (X-X).
  15. Système selon l'une ou plusieurs des revendications 1 à 14,
    caractérisé en ce que le dispositif de levage de charges (1) est associé avec au moins un dispositif d'entraínement pour ses mouvements en direction horizontale (X-X et/ou Y-Y), qui peut être commandé, en fonction d'une déviation forcée de l'élément porteur (5) -ayant comme origine l'orientation verticale (Z-Z) qui s'établit automatiquement en position de repos comme résultat de la force de gravité.
  16. Procédé pour la commande d'un dispositif de levage de charges (1) en particulier à l'aide d'un système selon l'une ou plusieurs des revendications 1 à 15,
    caractérisé en ce que après la réception d'une charge (9) une force fournie par un/l'entraínement (2) ou un moment correspondant est augmentée automatiquement et rapidement, jusqu'à ce que celui/celle-ci corresponde au poids de la charge (9), en déterminant un signal en fonction du chemin parcouru (S) pour un mouvement essentiellement vertical (Z-Z) du/d'un des éléments porteur (5) pour parvenir à un ajustement d'un état d'équilibre de la charge (9) obtenu.
  17. Procédé selon la revendication 16,
    caractérisé en ce que le signal en fonction du chemin parcouru (S) est comparé à une valeur de consigne (W), et en cas de concordance entre le signal (S) et la valeur de consigne (W) (ΔS=0), la force fournie par l'entraínement (2) ou bien le moment est maintenu(e) constant(e) au niveau d'une valeur atteinte.
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 EP1328461A2 (fr) 2003-07-23
EP1328461B1 true EP1328461B1 (fr) 2004-11-03

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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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EP3862144B1 (fr) 2020-02-05 2023-11-08 BARRUS GmbH Manipulateur destiné à l'agencement sur un véhicule et procédé pour déplacer et/ou sécuriser un manipulateur

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US7559533B2 (en) * 2006-01-17 2009-07-14 Gorbel, Inc. Lift actuator
US8811352B2 (en) * 2007-06-04 2014-08-19 Telefonaktiebolaget Lm Ericsson (Publ) Method and apparatus for channel estimation in a transmit diversity environment
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KR20010105348A (ko) 2001-11-28
EP1328461A2 (fr) 2003-07-23
JP2002536274A (ja) 2002-10-29
DE50008553D1 (de) 2004-12-09
AU2909300A (en) 2000-08-29
US6974044B1 (en) 2005-12-13
KR100630351B1 (ko) 2006-10-02
ATE281398T1 (de) 2004-11-15
WO2000047512A2 (fr) 2000-08-17
DE29902364U1 (de) 2000-07-20
WO2000047512A3 (fr) 2003-05-15

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