EP2457866A1 - Procédé de commande d'un dispositif de déplacement de charge et de commande d'une installation de déplacement de charge - Google Patents

Procédé de commande d'un dispositif de déplacement de charge et de commande d'une installation de déplacement de charge Download PDF

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Publication number
EP2457866A1
EP2457866A1 EP12000727A EP12000727A EP2457866A1 EP 2457866 A1 EP2457866 A1 EP 2457866A1 EP 12000727 A EP12000727 A EP 12000727A EP 12000727 A EP12000727 A EP 12000727A EP 2457866 A1 EP2457866 A1 EP 2457866A1
Authority
EP
European Patent Office
Prior art keywords
control
moving device
load
movement
load moving
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
EP12000727A
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German (de)
English (en)
Other versions
EP2457866B2 (fr
EP2457866B1 (fr
Inventor
Josef Kaspar Schmid
Manfred Schapler
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 Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing 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
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Application filed by Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Publication of EP2457866A1 publication Critical patent/EP2457866A1/fr
Application granted granted Critical
Publication of EP2457866B1 publication Critical patent/EP2457866B1/fr
Publication of EP2457866B2 publication Critical patent/EP2457866B2/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices

Definitions

  • the present invention relates to a method of controlling a load moving device and a control of a load moving device.
  • a load moving device in the sense of the present invention is any type of handling or conveying device, in particular cranes and excavators.
  • the control according to the invention is particularly advantageously used for crawler cranes, mobile cranes, rope-operated excavators, harbor and ship cranes.
  • the object of the present invention is therefore to provide a method for controlling a load moving device and a corresponding control of a load moving device, which enable a safer and more effective movement and positioning of the load.
  • a method for controlling a load moving device by at least two persons comprising the steps of: controlling the movement of the load moving device by a first person; Transferring control of movement of the load moving device to a second person; Controlling the load moving device by the second person.
  • the control and control of the load moving device can always be performed by the person who has a better view of the load or the part of the load, which is crucial for the positioning. In particular, this can also be dispensed with referrals and misunderstandings between the two machine operators are prevented.
  • the method according to the invention comprises the step of retransmitting the control over the movement of the load moving device to the first person.
  • a typical operation consist in that the load is applied by the first person, who usually operates a fixed operating unit, until the second person has a better view of the load.
  • the second person who usually operates a mobile operating unit, takes over the control of the load moving device and positions the load, possibly also outside the field of vision of the first person.
  • the load moving device can be repositioned by the second person so that the first person has a good view, whereupon the first person regains control of the load moving device.
  • the control of the load moving device is carried out by the first and second person via a first, advantageously permanently installed, and a second, advantageously mobile control unit.
  • the first operating unit can thus represent the usual control station of the load moving device, which is operated by the machine operator, while the second person, which z. B. closer to the area in which the load is to be positioned, the load moving device can control via the mobile control unit.
  • the inventive transfer of control over the movement of the load moving device thus allows an equally effective and precise work, in which misunderstandings, eg. B. are excluded between a referrer and a machine operator.
  • the transmission of the control takes place via control commands of the first and / or second person, by which the control over the movement of the load moving device is transmitted from the first to the second or from the second to the first operating unit.
  • the controls on the control units which serve to control the machine movement, disabled at one operating unit and activated on the other control unit.
  • a control command of the person is required to transmit the control over the movement of the load moving device, which operated the mobile control unit. Since the person with the mobile control unit is usually positioned close to the load and thus particularly vulnerable, this ensures that this person can not lose control of the load moving device without their own intervention.
  • a control command of a person is also required to take over the control of the movement of the load moving device, which is to take control of the movement of the load moving device. This ensures that the control is not assigned to a control unit without the person who operates this control unit being prepared for takeover.
  • a transfer of control over the movement of the load moving device thus takes place in that the control is issued in each case via a control command from the active control unit and then taken over by another control command from an inactive control unit.
  • misunderstandings are excluded, since to transfer the control of the load moving device control commands from both persons between which the control is transmitted, are required.
  • the transfer of control over the movement of the load moving device can also be carried out in each case by a control command of the person who operates the mobile operating unit.
  • This has thus a master function, over which the transfer of control on the individual control units are controlled. Since this person is usually positioned in the work area of the load moving device, she may also have the power of decision over the allocation of control to the operating units, since she can best decide when a safe transfer of control is possible.
  • the control is transmitted from one operating unit to the other operating unit by the control command.
  • an emergency stop of the load moving device can be triggered at any time by the first and / or the second person. This ensures that the emergency stop regardless of the person in control of the load moving device, can be triggered at any time, which z. B. prevents the operator operating the mobile unit is injured by operator error of the first operating unit operator.
  • information about the load moving device is advantageously also transmitted to the mobile operating unit and displayed thereon.
  • the person operating the mobile operating unit also has all important data available for the load moving device at any time.
  • this information is transmitted to the load moving device and then displayed to the mobile control unit, when the control of the load moving device is located in the first, advantageously permanently installed control unit.
  • the present invention further comprises a method for controlling a load moving device by at least two persons, comprising the steps of: controlling the movement of a load moving device via a fixed operating unit by a first person as long as it has a sufficient view of the load receiving means and / or the load; Transferring control of the movement of the load moving device to a second operator operating a mobile operating unit, when the latter has a better view of the load moving element and / or the load; Controlling the load moving device via the mobile control unit by the second person.
  • the load-receiving means is a device via which the load can be picked up and moved by the load-moving device, for. As a crane hook, a crossbar, a gripper or the like.
  • This method advantageously further comprises the steps of returning the load handler by the second person to a position where the first person has sufficient view of the load handler and / or the load and transmitting control of the movement of the load handler to the first person.
  • the second person z. B. position the load in an area that can not be viewed by the first person.
  • the second person who operates the mobile control unit then z. B. the crane hook back to a position in which the first control unit again has a good view of this. Then the control of the load moving device can again be transferred to the first person or operating unit for receiving a further load.
  • the present invention further comprises corresponding controls of a load moving device with a first, in particular permanently installed operating unit and a mobile operating unit for controlling the movement of the load moving device for the safe and effective implementation of the method.
  • the mobile operating unit advantageously has a transfer function for transferring control over the movement of the load moving device from the mobile operating unit to the first operating unit.
  • a transfer function for transferring control over the movement of the load moving device from the mobile operating unit to the first operating unit.
  • a control command is advantageously required, which is generated by actuating the transfer function of the mobile operating unit.
  • the transmission is possible only by the cooperation of the mobile control unit, as only so it is ensured that poses no danger to the person positioned in the vicinity of the load with the mobile control unit of the load moving device, which is not visible from the machine operator's cab.
  • the transfer function of the mobile operating unit also serves to transmit control over the movement of the load moving device from the first operating unit to the mobile operating unit.
  • the person operating the mobile control unit can decide for himself whether to use the Take control of the load moving device and returns.
  • a safe and effective division of labor between the two machine operators is possible, wherein the mobile operating unit operating machine operator, which is positioned in the working area of the load moving device is secured by the inventive transfer function against incorrect operation of the first operating unit operating machine operator.
  • further mobile operating units can be used in the present invention, so that in the case of particularly complicated load movements, three or more machine operators move the load in succession.
  • either one or all mobile control units have a transfer function for transmitting control over the movement of the load moving device.
  • control over the movement of the load moving device is always assigned to only one operating unit.
  • the machine operators control the movement of the load moving device in their work area alone, so that here an effective work is possible in which the machine operators do not interfere with or hinder each other.
  • the first operating unit also has a transfer function. This also makes it possible for the first operator to transfer control, e.g. by handing over the control or, if the second operator has handed over the control, taking control.
  • the control units can interact with one another in the transmission of the control on an equal basis.
  • the transfer function has a dispensing function and / or a transfer function for dispensing and / or for assuming control over the movement of the load moving device.
  • the operator performing the control can deliver them by actuating the dispensing function, or the machine operator, who is to take control, by pressing take control of the acceptance function.
  • the control is each withdrawn from one operating unit or assigned to the other operating unit, for example by the control units being deactivated or activated to initiate machine movements on the operating units.
  • several mobile operating units can be used next to each other as easily, with one of the inactive operating units being able to take control of each case if it has been dispensed by the active operating unit.
  • the transfer function can also represent a master function, via which the control can be transferred to other operators and withdrawn again.
  • the master function of the mobile control unit is constantly in contact with the control of the load moving device and is active, even if the control over the movement of the load moving device is in the first control unit.
  • the operator operating the mobile operating unit can thus always decide who gets control over the movement of the load moving device. If several mobile operating units are used, advantageously only one handset takes over the master function, via which the control over the movement of the load moving device can be transmitted to all other operating units.
  • the present invention further comprises a control of a load moving device having a first, in particular permanently installed operating unit and a mobile operating unit for controlling the movement of the load moving device.
  • the mobile control unit according to the invention an emergency stop function, which is also activated when the control of the movement of the load moving device is located in the first control unit.
  • the operator operating the mobile operating unit thus always has the option of triggering an emergency stop of the load moving device. As a result, he has the opportunity to prevent damage and injury by incorrect operation of the load moving device by the other operator, even if the control over the movement of the load moving device in the first control unit and not in the mobile control unit.
  • Control over the movement of Load moving device which is advantageously assigned in each case only one operating unit or can be transferred from one operating unit to another, thus includes only the normal operation of the load moving device, while the emergency stop function is advantageously carried out separately and is not handed over together with the rest of the control.
  • the mobile control unit is thus in contact with the control during the entire operation, so that it is also possible to intervene at any time from the mobile control unit.
  • the mobile operating unit has a transfer function in addition to the emergency stop function.
  • the emergency stop function of the mobile operating unit can not be switched off via the first operating unit. This ensures that the possibility of triggering an emergency stop of the load moving device is not accidentally switched off by the operator operating the first operating unit.
  • the emergency stop function is advantageously carried out separately from the rest of the control.
  • the first operating unit also has an emergency stop function, which can also be activated if the control over the movement of the load moving device lies with the mobile operating unit and which advantageously can not be switched off via the mobile operating unit.
  • an emergency stop function which can also be activated if the control over the movement of the load moving device lies with the mobile operating unit and which advantageously can not be switched off via the mobile operating unit.
  • the emergency stop can also be triggered at any time by the person operating the first operating unit.
  • both operating units have a corresponding emergency stop function. This ensures that an emergency stop of the load moving device can be triggered by both machine operators at any time.
  • the emergency stop functions are advantageously arranged in a separate emergency stop circuit and thus executed separately from the rest of the control.
  • the control according to the invention advantageously further comprises a safety function which allows transmission of control over the movement of the load moving device only when the moving state of the load moving device is within a predetermined range.
  • a safety function ensures that the control is not transferred at a time in which the movement state of the load moving device makes a secure transmission impossible. For example, transmission of the control during a fast movement of the load moving device would be extremely dangerous, so this should be prevented by the safety function.
  • the controller has a safety function which stops the movement of the load moving device to transfer control over the movement of the load moving device.
  • the safety function is advantageously activated by the fact that the control is issued by the active control unit. The safety function then stops all machine movements controlled, after which the control can be taken over by an inactive control unit.
  • the mobile control unit of the controller according to the invention has a display unit, wherein a return channel is provided, via which information is transmitted to the load moving device to the mobile control unit, which are then displayed on the display unit.
  • a return channel is provided, via which information is transmitted to the load moving device to the mobile control unit, which are then displayed on the display unit.
  • all safety-related information about the load moving device is displayed on the display unit.
  • the machine operator who operates the mobile operating unit also has all the necessary (and prescribed) information of the load moving device available.
  • the return channel and the display unit are also active when the control over the movement of the load moving device is in the first operating unit.
  • the operator operating the mobile operating unit thus always has all the important information about the load moving device available and can intervene, even if the control is actually located in the first operating unit. So the security can be increased again.
  • the first operating unit also has a display unit which displays information, in particular all safety-relevant information, about the load moving device.
  • the display unit of the first and / or the second operating unit indicates whether the control over the movement of the load moving device in the first and / or the second operating unit is, and advantageously, whether the control can be taken. So the machine operators always know who owns the control, or whether the control can be taken over by them.
  • all safety-relevant information is displayed on both operating units, so that a control of the load moving device is also possible in each case alone via one of the two operating units.
  • the load moving device can also be operated alone via the first operating unit or the mobile operating unit.
  • the mobile control unit in the control according to the invention is a radio remote control. This results in a maximum mobility for the mobile operating unit operating machine operator, which can move freely.
  • the controller comprises a central control unit, which receives data from the operating units and from sensors and actuates the actuators of the load moving device.
  • the control unit continues to transmit data via a return channel to the mobile operating unit.
  • the control of the load moving device thereby takes place centrally via the control unit, while the operating units only deliver control pulses to the central control unit and display the information about the load moving device.
  • the mobile control unit comprises only controls, transmitter and advantageously receiver and display elements, while the other control electronics is located in the central control unit.
  • only control pulses are transmitted from the mobile operating unit to the central control unit, so that the data streams between the mobile operating unit and the central control unit can be relatively small. Also, so the mobile control unit can be constructed relatively compact.
  • the mobile operating unit is first activated during startup of the load moving device before the load moving device is started up. It must therefore already be decided upon commissioning of the load moving device, whether a check on the mobile control unit (possibly in alternation with the first operating unit) should take place, or whether the control is carried out only on the first operating unit.
  • the first operating unit in this case has a preselector switch, by means of which, when the load-moving device is put into operation, it can be selected between operation only via the first operating unit and operation via the first and the second operating unit.
  • the emergency stop function of the mobile operating unit is first activated, so that it is available at all times.
  • it is impossible to connect the mobile operating unit during ongoing operation of the load moving device which in turn increases safety.
  • the control over the movement of the load moving device is initially at the mobile operating unit.
  • control of the present invention in a crawler crane is used, in which the arranged in the crane cab control station, which is the first operating unit is very far away from the load to be positioned, so that for certain tasks the control of the second, mobile Operating unit can be cheaper.
  • FIG. 1 shows only one embodiment of the controller according to the invention with a first, permanently installed control unit 10 and a second mobile control unit 20.
  • Both control units have controls 11 and 21 for controlling the movement of the load moving device, which as appropriate Controllers are designed to initiate machine movements.
  • both control units have a display 14 or 24, on which all necessary and prescribed for operating the load moving device and prescribed information is displayed.
  • both operating units have an emergency stop switch 13 or 23, via which an emergency stop of the load moving device can be initiated. The emergency stop circuit is executed separately from the rest of the control of the load moving device to increase safety.
  • both control units on the transfer function 12 and 22 through which the control of the movement of the load moving device can be issued or taken over by the operation of the corresponding actuators.
  • both control units have actuators for actuating the corresponding dispensing and transfer function.
  • the first permanently installed operating unit 10 is in this case in direct communication with the central computer 18 of the machine control, which in turn controls the movement of the load-moving device via control modules 19.
  • the machine controller central computer 18 now communicates with a remote control receiver 15 through a connection line 17 to facilitate communication with the remote control 20.
  • the remote control 10 has a remote control transmitter 25 for this purpose.
  • the remote control transmitter 25 so information from the controls 21, the transfer function 22 and the emergency stop switch 23 to the remote control receiver 15 are transmitted.
  • it is a two-channel system, so that the remote control receiver 15 also has a transmitter, the remote control transmitter 25 also has a receiver. This information can be transmitted from the machine controller 18 to the remote control 20 and displayed on the integrated display 24.
  • the first operating unit 10 further has a preselector switch 30, by which when commissioning the load moving device between a remote control operation in which the control over the movement of the load moving device between the first and the second operating unit can be transmitted back and forth between an operation only on the permanently installed control station 10 can be selected. If the remote control mode is selected by the preselector switch 30, it applies the emergency contact 16 of the remote control receiver 15 to the emergency stop circuit and supplies the remote control receiver 15 with electrical energy.
  • FIG. 2 A flow chart for operating the load moving device according to the invention is now in FIG. 2 shown.
  • the remote control operation according to the invention is thereby selected when starting the machine via the electric preset switch 30, whereby the emergency stop 16 of the remote control receiver 15 is included as described in the emergency circuit and the remote control receiver 15 is supplied with electrical energy.
  • the remote control transmitter 25 of the remote control 20 can then be switched on in a step 41. If the remote control transmitter 25 is turned on and the remote control receiver 15 contains the appropriate feedback that the emergency stop switch 23 of the remote control 20 is not activated, this closes its Notaustag 16 and turns on the crane control in a step 42.
  • the crane control recognizes the remote control operation by information from the remote control receiver via the data bus 17, accepts commands from the remote control 20 and disables the controls 11, which are advantageously designed as joysticks, in the cab.
  • the remote control 20 is thus the active control station.
  • the prime mover can be started in a step 44 via the remote control 20.
  • step 45 The machine is now moved in a step 45 from the respective active control station, wherein the control is carried out either via the controls 11 of the first control unit or the controls 21 of the second control unit.
  • a control loop is thereby checked regularly in a step 46, whether the respective active control station wants to give the control in which the output function of the transfer function 12 or 22 is actuated. If it is determined that the dispensing function of the active control station has not been actuated, the routine returns to step 45, so that the machine continues to be guided from the active control station.
  • the machine movements are stopped in a controlled manner in a step 47, which can take place automatically via a corresponding safety function.
  • the actuators 21 and 11, which are used to initiate machine movements are deactivated at the respectively active control station in a step 48, but the emergency shutdown function 23 or 13 remains active on all control stations.
  • both control states are inactive as long as it is detected in a step 49 that an inactive control station wants to take control. This is done by a corresponding actuation of the transfer function of the transfer function 12 or 22. If a corresponding actuation of the transfer function is detected at the inactive control station, the controls 11 and 21 are activated in a step 50 at the new, active control station. The routine returns to step 45, in which the machine is driven from the now active control station.
  • step 40 The ramp-up of the load moving device according to the invention in steps 40 to 44 is in particular due to the separate execution of the emergency stop circuit, since this must be activated before the prime mover is started. For safety reasons, it is no longer possible to switch to remote control mode during ongoing operation of the load moving device.
  • remote control operation is selected in step 40, control over the movement of the load moving device is first assigned to the remote control 20 to ensure that operators are not endangered by the remote control 20 located in the work area of the load moving device.
  • the crane is controlled by the operator 1 from the control station as long as the load is within the field of vision of the machine operator 1.
  • the second operator who is located at the positioning location with the remote control, the latter takes control of the crane with the remote control.
  • the fine positioning of the load is now performed by the operator 2.
  • Both the operator 1 and the operator 2 have all the necessary and mandatory information of the crane available, because in the remote control, a display is installed, which is supplied via a return duct from the crane with information.
  • a display is installed, which is supplied via a return duct from the crane with information.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Motorcycle And Bicycle Frame (AREA)
EP12000727.3A 2007-04-19 2008-04-18 Procédé de commande d'un dispositif de déplacement de charge et de commande d'une installation de déplacement de charge Active EP2457866B2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007018646A DE102007018646A1 (de) 2007-04-19 2007-04-19 Verfahren zum Steuern einer Lastbewegungsvorrichtung und Steuerung einer Lastbewegungsvorrichtung
EP08735328.0A EP2139803B2 (fr) 2007-04-19 2008-04-18 Procédé pour assurer la commande d'un dispositif de déplacement de charge et commande de dispositif de déplacement de charge

Related Parent Applications (3)

Application Number Title Priority Date Filing Date
EP08735328.0A Division EP2139803B2 (fr) 2007-04-19 2008-04-18 Procédé pour assurer la commande d'un dispositif de déplacement de charge et commande de dispositif de déplacement de charge
EP08735328.0A Division-Into EP2139803B2 (fr) 2007-04-19 2008-04-18 Procédé pour assurer la commande d'un dispositif de déplacement de charge et commande de dispositif de déplacement de charge
EP08735328.0 Division 2008-04-18

Publications (3)

Publication Number Publication Date
EP2457866A1 true EP2457866A1 (fr) 2012-05-30
EP2457866B1 EP2457866B1 (fr) 2013-10-02
EP2457866B2 EP2457866B2 (fr) 2017-05-17

Family

ID=39684362

Family Applications (2)

Application Number Title Priority Date Filing Date
EP08735328.0A Active EP2139803B2 (fr) 2007-04-19 2008-04-18 Procédé pour assurer la commande d'un dispositif de déplacement de charge et commande de dispositif de déplacement de charge
EP12000727.3A Active EP2457866B2 (fr) 2007-04-19 2008-04-18 Procédé de commande d'un dispositif de déplacement de charge et de commande d'une installation de déplacement de charge

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP08735328.0A Active EP2139803B2 (fr) 2007-04-19 2008-04-18 Procédé pour assurer la commande d'un dispositif de déplacement de charge et commande de dispositif de déplacement de charge

Country Status (6)

Country Link
US (1) US9567193B2 (fr)
EP (2) EP2139803B2 (fr)
JP (1) JP5502724B2 (fr)
CN (1) CN101687616A (fr)
DE (1) DE102007018646A1 (fr)
WO (1) WO2008128724A1 (fr)

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JP5204876B2 (ja) * 2011-08-04 2013-06-05 東海旅客鉄道株式会社 車両
JP5204877B2 (ja) * 2011-08-04 2013-06-05 東海旅客鉄道株式会社 車両
GB201120864D0 (en) * 2011-12-05 2012-01-18 Broadhurst Mark D Improvements in or relating to remote control
DE102013209279A1 (de) 2013-05-21 2014-11-27 Zf Friedrichshafen Ag Eine Vorrichtung und ein Verfahren zum Erzeugen eines Steuersignals zur Steuerung einer Arbeitsmaschine
DE102013209280A1 (de) 2013-05-21 2014-11-27 Zf Friedrichshafen Ag Eine Vorrichtung und ein Verfahren zum Erzeugen eines Steuersignals zur Steuerung einer Arbeitsmaschine
CN103848346A (zh) * 2014-03-25 2014-06-11 沈阳大学 一种集成吊机倒垛存取作业的优化控制设备
CN108698805B (zh) * 2016-03-03 2019-09-10 株式会社多田野 作业机械以及作业机械的操作系统
EP3565338B1 (fr) 2017-01-04 2021-11-17 Guangdong Oppo Mobile Telecommunications Corp., Ltd. Procédé de transmission d'informations et dispositif terminal
JP6399669B1 (ja) * 2017-07-28 2018-10-03 三菱ロジスネクスト株式会社 運転支援システムおよび運転支援方法
CN110941216B (zh) * 2019-11-25 2021-03-12 江苏徐工工程机械研究院有限公司 无线急停系统和方法
US11919756B2 (en) * 2020-02-04 2024-03-05 Xtreme Manufacturing, Llc Aerial work vehicle boom auxiliary control panel
US20210238021A1 (en) * 2020-02-04 2021-08-05 Xtreme Manufacturing, Llc Aerial work vehicle auxiliary wireless control device
FR3107046B1 (fr) * 2020-02-06 2022-02-11 Manitowoc Crane Group France Procédé de maintenance d’une grue

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Publication number Publication date
EP2457866B2 (fr) 2017-05-17
WO2008128724A1 (fr) 2008-10-30
WO2008128724A8 (fr) 2009-12-10
EP2139803B1 (fr) 2013-06-12
JP5502724B2 (ja) 2014-05-28
US20100116767A1 (en) 2010-05-13
DE102007018646A1 (de) 2008-10-30
US9567193B2 (en) 2017-02-14
CN101687616A (zh) 2010-03-31
EP2139803A1 (fr) 2010-01-06
JP2010524802A (ja) 2010-07-22
EP2139803B2 (fr) 2017-05-31
EP2457866B1 (fr) 2013-10-02

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