EP2664575B1 - Tenaille à brames pour saisir une brame et procédé d'ajustement d'une tenaille à brames - Google Patents

Tenaille à brames pour saisir une brame et procédé d'ajustement d'une tenaille à brames Download PDF

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Publication number
EP2664575B1
EP2664575B1 EP13002362.5A EP13002362A EP2664575B1 EP 2664575 B1 EP2664575 B1 EP 2664575B1 EP 13002362 A EP13002362 A EP 13002362A EP 2664575 B1 EP2664575 B1 EP 2664575B1
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EP
European Patent Office
Prior art keywords
gripping
slab
tongs
claws
devices
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.)
Not-in-force
Application number
EP13002362.5A
Other languages
German (de)
English (en)
Other versions
EP2664575A1 (fr
Inventor
Berthold Geisen
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.)
INDUKRAN GmbH
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INDUKRAN GmbH
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Filing date
Publication date
Application filed by INDUKRAN GmbH filed Critical INDUKRAN GmbH
Publication of EP2664575A1 publication Critical patent/EP2664575A1/fr
Application granted granted Critical
Publication of EP2664575B1 publication Critical patent/EP2664575B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/422—Gripping members engaging only the external or internal surfaces of the articles actuated by lifting force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • B66C1/442—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces actuated by lifting force

Definitions

  • the invention relates on the one hand to a slab tongs for gripping a slab, according to the preamble of claim 1.
  • the invention relates to a method for adjusting a slab tongs during the gripping of a conical or a 1 ⁇ 2-conical slab at their non-mutually parallel gripping side surfaces, in which two gripping devices equipped with two gripping claws are each moved towards each other in gripping direction with the gripping claws gripping a slab located between the two gripping devices on both sides of a longitudinal vertical plane of a slab receiving region.
  • the slabs are nowadays no longer produced as rectangular bars with substantially parallel side surfaces but more often with unequal width, in particular conical or 1 ⁇ 2-conical, to make these slabs structurally easier to mold from corresponding molds or the like.
  • US 2012/098285 A1 discloses another device for gripping and lifting objects with contact elements. By the spacing of contact elements, it is not only possible to grab straight but also roundish elements.
  • GB 1241818 A discloses a safety device for a grasping forceps, which consists of engaging arms. These under-reach arms are intended to catch an object gripped by the tongs when it should slip.
  • the publication WO 2011/008091 A1 discloses gripping tongs for holding objects rotatable. There are gripping cams or gripping claws that are symmetrical about each gripping device a rotation axis are arranged.
  • a slab tongs for gripping a slab with a gripping tongs device comprising at least two gripping devices arranged parallel to each other with respect to a longitudinal vertical plane of a slab receiving region and movable towards each other in the gripping direction, by means of which a slab arranged in the slab receiving region can be gripped on both sides of the longitudinal vertical plane and in which each of the gripping means comprises at least two gripping claws spaced apart from each other along the longitudinal vertical plane for gripping the slab, the slicing jaw being characterized in that the gripping claws of at least one of the gripping means are mutually operatively connected to this gripping means, and if not equal the Greifpratzen transversely to the longitudinal vertical plane acting gripping forces at least one of the gripping claws with respect to the other of the gripping claw in their position is variable, wherein the gripping jaws of at least one of the gripping devices are arranged displaceably mounted in relation to this gripping device in or along a common horizontal plane.
  • the gripping devices of the present gripper device can be easily adapted to conical or 1 ⁇ 2-conical slabs, so that such slabs can be gripped and transported particularly reliably with the present slab gripper.
  • the other the Greifpratzenetti be shifted in its position relative to the gripping device, so that ideally all Greifpratzenium can rest approximately simultaneously on the slab to be gripped.
  • an asymmetrical slab can be seized particularly reliable, which also significantly increases the safety at work for working in the field of slab tongs persons.
  • the present gripping tongs device is characterized by a compensating device for uniformly applying the gripping claws of at least one of the gripping devices to the conical slab.
  • the term "gripping device” describes in each case a gripper component of the gripping pliers device, which can be moved toward the slab in the manner of a pincer in order to grasp the slab with the gripper device.
  • a gripping device is placed laterally next to the slab.
  • the direct contact with the slab takes place in the sense of the invention only by the Greifpratzen.
  • the spaced-apart gripping claws of at least one of the gripping devices are arranged transversely to the longitudinal vertical plane displaceably on this gripping device.
  • the individual gripping claws can advantageously be moved relative to their gripping devices, in particular to a slab side of a slab to be gripped.
  • the object of the present invention is also achieved by a method for adjusting a slab tongs during the gripping of a conical or a 1 ⁇ 2-conical slab at their non-mutually parallel gripping side surfaces, in which two gripping devices equipped with at least two gripping jaws are moved towards each other in gripping direction in order to grasp with the gripping claws a slab located between the two gripping devices on both sides of a longitudinal vertical plane of a slab receiving region, wherein the method according to the invention is characterized in that the two gripping claws are arranged displaceable on the relevant gripping device at least along the gripping direction.
  • a preferred embodiment provides that the spaced-apart gripping claws of at least one of the gripping devices are each arranged displaceably along a curved path on this gripping device.
  • the spaced apart gripper claws along a curved path slidably disposed on the gripping device, a particularly advantageous rotatable mounting of this Greifpratzen to the respective gripping device is structurally simple.
  • the present gripping tongs device can be realized structurally extremely simply if the gripping claws of at least one of the gripping devices are rotatably mounted on a crosspiece part of this gripping device by means of a rocker element or by means of several rocker elements.
  • Such rocker elements offer a structurally simple solution to be able to transmit the extremely high gripping forces between the gripping claws and the truss part.
  • two spaced gripping claws of a gripping device by means of a single rocker element may be rigidly connected to each other, said rocker element by means of a bearing axis on the cross member of the gripping device is rotatably mounted or mounted swingably.
  • the gripping claws are also rotatably mounted rotatably on this single swing element, so that an improved adaptation and thus capture a slab can be achieved.
  • a further preferred embodiment also provides that the gripping claws of at least one of the gripping devices are articulated to each other by means of articulated gear members connected to one another.
  • the gripping jaws in many different ways, for example hydraulically or pneumatically, can be operatively connected to each other that they can cause a mutual change in position.
  • a structurally particularly robust embodiment variant envisages that at least two rocker elements carrying the gripping claws of at least one of the gripping devices are connected to one another in an articulated manner by means of a lever arm element displaceable relative to this gripping device.
  • this mechanical connection variant is characterized by handling the quite hot slabs as less susceptible to interference and thus advantageous.
  • the mechanical connection between the two gripping claws or the relevant swinging elements is designed such that the lever arm element can be configured as a pressure bar element or as a tension bar element.
  • the gripping jaws of at least one of the gripping devices are arranged displaceably mounted in a common horizontal plane relative to this gripping device, whereby the storage of these gripping claws on the respective gripping devices can be kept relatively simple.
  • the two gripping jaws can each be displaceably mounted in parallel or skewed horizontal planes. In this case, however, the rotary bearings and the truss part of the gripping device are loaded with additional forces, but this can be avoided if the gripping claws are preferably mounted displaceably in a common horizontal plane.
  • the rocker elements are each rotatably mounted on a pivot axis of a swing element bearing on a cross member of a gripping device
  • the Greifpratzen are rotatably mounted respectively on a Greifpratzendusachse a Greifpratzenlagers on the respective rocker element and a Hebelarmelement each at a Hebelarm institutemosachse a Hebelarm institutelagers to the Swing elements are mounted rotatably, wherein the Greifspatzenlager and Hebelarm compriselager are arranged at different distances from the swing element bearing remote at the respective gripping device.
  • the gripping jaws can be moved in a horizontal plane structurally simple to the present longitudinal vertical plane to or from this longitudinal vertical plane, when the swing element rotational axis, the Greifpratzencardse and Hebelarmianofitachse are arranged parallel to each other.
  • the gripping ability of the present slab gripper can be further improved substantially further, when the gripping means are each articulated to a housing unit of the gripper device, wherein between the housing unit and the gripping means is arranged in each case a parallel-link swivel mechanism with at least four parallel link units.
  • a parallel guide element of the parallel link units comprises a Scherenarmelement a scissors frame unit of the slab tongs.
  • the in the FIGS. 1 until slab tongs 1 shown for gripping a slab 2 (see in particular FIG. 7 ) comprises a gripping tongs device 3, a scissors frame unit 4 and a pulley truss unit 5.
  • the gripper device 3 has a housing unit 10, on which by means of a parallel link pivot mechanism 11, a first gripping device 12 and a second gripping device 13 are arranged articulated.
  • the parallel link pivot mechanism 11 in this embodiment comprises four parallel link units 14, 15, 16 and 17 (see, in particular, FIG. 4 ).
  • Each of the four parallel link units 14, 15, 16 and 17 is characterized by a straight configured parallel link element 18 and a curved parallel link element 19, wherein structurally extremely advantageous the bent parallel guide element 19 respectively by a lower Scherenarmelement 20 and a lower Scherenarmelement 21 of the scissors frame unit 4th is designed.
  • the lower Scherenarm comprise 20 and 21 are rotatably mounted on the housing unit 10. With the lower Scherenarmelementen 20 and 21 corresponding upper Scherenarm comprise 22 and 23 are articulated and rotatably mounted on a pulley longitudinal beam 24 of the pulley trolley unit 5.
  • the lower Scherenarm comprise 20 and 21 are lower pivot points 25 (only exemplified) with the housing unit 10 and the upper scissor elements 22 and 23 are connected via an upper pivot point 26 with the pulley trolley unit 5.
  • the currently configured parallel guide elements 18 are articulated at further pivot points 27 on the housing unit 10.
  • the straight parallel link elements 18 are mounted on the respective gripping device 12 or 13 by corresponding linkage points 28 (only numbered as an example) and the arcuately configured parallel link elements 19 by corresponding other linkage points 29 (only numbered as an example).
  • the respective lower scissor arms 20 and 21 are hinged together at hinge points 30 and 31 with the respective upper scissor arms 22 and 23.
  • the operating mechanism underlying the slab tongs 1 with respect to the pulley truss unit 5 in combination with the scissor support unit 4 is substantially known from the prior art, so that in the present case, only the extent that the gripper device 3 by means of pulleys 40 and 45 guided here unillustrated ropes on the pulley trolley unit 5 can be moved relative to or moved away from her; Namely, according to the stroke-lowering directions 46 along a longitudinal vertical plane 50 of a slab receiving portion 51 of the slab tongs. 1
  • FIG. 1 is the slab tongs 1 with a stretched scissors frame unit 4 and thus shown with a closed gripper device 3.
  • the two gripping devices 12, 13 are in this case arranged parallel to one another and, with regard to their longitudinal extensions 57 (shown only by way of example), always run parallel to the longitudinal vertical plane 50 when gripping the slab 2.
  • Each of the two gripping devices 12, 13 respectively comprises two gripping claws 60 and 61 or 62 and 63, by means of which the direct contact between the gripper device 3 and the slab 2 is produced.
  • the gripping claws 60 and 61 of the first gripping device 12 and the gripping claws 62 and 63 of the second gripping device 13 are each mutually operatively connected to one another at the respective gripping device 12 or 13, that at not equal to the gripping claws 60, 61, 62 or 63 transversely to the longitudinal vertical plane 50 acting gripping forces 64 and 65 with respect to the Greifpratzen 61 and 63 causes a bearing change according to the arrows 66 and 67, so that the two gripping claws 61 and 63 create the slab side surfaces 68 and 69, respectively.
  • the spaced-apart gripping claws 60, 61, 62, 63 of the two gripping devices 12 and 13 are mounted transversely to the longitudinal vertical plane 50 displaceable on the respective gripping device 12 and 13 respectively.
  • the respective gripping claws 60 and 61 or 62 and 63 can communicate with each other, they are not only connected to one another via a respective cross member 70 or 71, but also still functionally connected to one another by means of articulated gear elements 72 (numbered here only by way of example) ,
  • These articulated link members 72 in this embodiment include a first rocker member 73, a second rocker member 74, and a lever arm member 75a.
  • the gripping claws 60 to 63 of the gripping devices 12 and 13 are mounted in multiple rotatably movable relative to these gripping devices 12 and 13, respectively.
  • rocker element rotation axis 76, the Greifpratzencardse 78 and the Hebelarm comprisemosachse 80 are arranged not only mutually parallel but beyond also parallel to the longitudinal vertical plane 50th
  • the gripping jaws 60, 61, 62 and 63 respectively along a cam track 82 (here only explicitly shown and numbered) slidably relative to the respective gripping device 12 and 13 arranged thereon.
  • This cam track 82 extends in the horizontal area plane 56 or at least parallel thereto, so that the respective gripping claw 60, 61, 62 and 63 can be moved toward the respective slab side surface 68 and 69, respectively, in accordance with the arrow directions 66 and 67.
  • the present slab tongs 1 is shown in a closed operating state 85, while with respect to the representations according to the FIGS. 5 and 6 is shown in an open operating state 86.
  • both the two pivot points 25 and 27 and the griffin therapies worne hinge points 28 and 29 during gripping or moving the second gripping device in the second gripping direction 55 each remain in joint trapezoidal planes 87 and 88, which parallel to the Horizontalgreifebene 56 run.
  • FIG. 9 an additional embodiment is shown in which two gripping claws 60 and 61 of the first gripping device 12 are rotatably mounted only on a single swing element 90, wherein the single swing member 90 is rotatably mounted about a central axis of rotation 91 on the first gripping device.
  • the single swing member 90 is rotatably mounted about a central axis of rotation 91 on the first gripping device.
  • FIGS. 10 a - c show front views and plan views of the gripping means of the closed gripping tongs device of the slab tongs according to another embodiment.
  • This embodiment differs from that in FIG Fig. 3 illustrated embodiment in that instead of a pressure rod element 75a, a tension rod 75b is used.
  • a pressure rod element 75a instead of a pressure rod element 75a, a tension rod 75b is used.
  • the arrangement of the lever arm element on the rocker elements 73 and 74 is different. Identical and equivalent components are provided with the same reference numerals.
  • the rocker elements 73 and 74 in turn each on a pivot axis 76b (here only exemplified) of a swing element bearing 77b (here only exemplified) rotatably mounted on the respective cross member 70 and 71 respectively.
  • the swing pivot axes 76b are disposed on the swing member bearing 77b at a position different from that of the swing pivot axes 76a on the swing member bearings 77a Fig.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Claims (12)

  1. Tenaille à brames (1) pour la saisie d'une brame (2) par un mécanisme à pince de préhension (3) comprenant au moins deux dispositifs de préhension (12, 13) parallèles opposés par rapport à un plan vertical longitudinal (50) d'une zone de réception de brame (51) et à déplacer l'un vers l'autre dans la direction de saisie (53, 55), au moyen desquels une brame (2) disposée dans la zone de réception de brame (51) peut être saisie de part et d'autre du plan vertical longitudinal (50), chacun des dispositifs de préhension (12, 13) comprenant au moins deux griffes de préhension (60, 61, 62, 63) pour la saisie de la brame (2) espacées l'une de l'autre le long du plan vertical longitudinal (50),
    les griffes de préhension (60, 61, 62, 63) d'au moins un des dispositifs de préhension (12, 13) étant disposées contre ledit dispositif de préhension (12, 13) en lui étant raccordées de manière à coopérer mutuellement, de telle manière qu'en cas de forces de préhension (64, 65) agissant inégalement sur les griffes de préhension (60, 61, 62, 63) transversalement au plan vertical longitudinal (50), la position d'au moins une des griffes de préhension (60, 61, 62, 63) peut être modifiée par rapport à l'autre griffe de préhension (60, 61, 62, 63),
    caractérisée en ce que
    les griffes de préhension (60, 61, 62, 63) d'au moins un des dispositifs de préhension (12, 13) sont montés de manière translationellement mobile par rapport audit dispositif de préhension (12, 13) dans ou le long d'un plan horizontal (56) commun.
  2. Tenaille à brames (1) selon la revendication 1,
    caractérisée en ce que
    les griffes de préhension (60, 61, 62, 63) espacées l'une de l'autre d'au moins un des dispositifs de préhension (12, 13) sont disposées de manière mobile transversalement au plan vertical longitudinal (50) contre ledit dispositif de préhension (12, 13).
  3. Tenaille à brames (1) selon la revendication 1 ou 2,
    caractérisée en ce que
    les griffes de préhension (60, 61, 62, 63) espacées l'une de l'autre d'au moins un des dispositifs de préhension (12, 13) sont disposées de manière mobile chacune le long d'une trajectoire courbe (82) contre ledit dispositif de préhension (12, 13).
  4. Tenaille à brames (1) selon l'une des revendications 1 à 3,
    caractérisée en ce que
    les griffes de préhension (60, 61, 62, 63) d'au moins un des dispositifs de préhension (12, 13) sont montées de manière à être multiplement rotatives par rapport audit dispositif de préhension (12, 13).
  5. Tenaille à brames (1) selon l'une des revendications 1 à 4,
    caractérisée en ce que
    les griffes de préhension (60, 61, 62, 63) d'au moins un des dispositifs de préhension (12, 13) sont montées de manière à être rotatives au moyen d'un seul élément oscillant (90) ou de plusieurs éléments oscillants (73, 74) contre une pièce de traverse (70, 71) dudit dispositif de préhension (12, 13).
  6. Tenaille à brames (1) selon l'une des revendications 1 à 3,
    caractérisée en ce que
    les griffes de préhension (60, 61, 62, 63) d'au moins un des dispositifs de préhension (12, 13) sont raccordées par articulation de manière à coopérer l'une avec l'autre au moyen d'éléments de transmission (72) raccordés de manière articulée entre eux.
  7. Tenaille à brames (1) selon l'une des revendications 1 à 5,
    caractérisée en ce qu'
    qu'au moins deux éléments oscillants (73, 74), d'au moins un des dispositifs de préhension (12, 13), supportant les griffes de préhension (60, 61, 62, 63) sont raccordés par articulation l'un avec l'autre au moyen d'un élément à bras de levier mobile par rapport audit dispositif de préhension (12, 13), l'élément à bras de levier étant réalisé comme élément à barre de poussée (75a) ou comme élément à barre de traction (75b).
  8. Tenaille à brames (1) selon l'une des revendications 1 à 7,
    caractérisée en ce que
    les éléments oscillants (73, 74) sont montés chacun de manière rotative contre un axe de rotation d'élément oscillant (76) d'un palier d'élément oscillant (77a, b) sur une pièce de traverse (70, 71) d'un dispositif de préhension (12, 13), les griffes de préhension (60, 61, 62, 63) sont montées chacune de manière rotative contre un axe de rotation de griffe de préhension (78) d'un palier de griffe de préhension (79) sur l'élément oscillant (73, 74) correspondant, et l'élément à bras de levier (75a, b) est monté de manière rotative contre un axe de rotation d'élément à bras de levier (80) d'un palier d'élément à bras de levier (81) sur les éléments oscillants (73, 74), le palier de griffe de préhension (79) et le palier d'élément à bras de levier (81a, b) étant disposés contre le dispositif de préhension (12, 13) à espacements différents par rapport au palier d'élément oscillant (77a, b).
  9. Tenaille à brames (1) selon la revendication 8,
    caractérisée en ce que
    l'axe de rotation d'élément oscillant (76a, b), l'axe de rotation de griffe de préhension (78) et l'axe de rotation d'élément à bras de levier (80) sont parallèles entre eux.
  10. Tenaille à brames (1) selon l'une des revendications 1 à 7,
    caractérisée en ce que
    les dispositifs de préhension (12, 13) sont articulés chacun sur une unité de boîtier (10) du mécanisme à pince de préhension (3), un mécanisme de pivotement à bielles parallèles (11) étant disposé avec au moins quatre unités de bielles parallèles (14, 15, 16, 17) entre l'unité de boîtier (10) et les dispositifs de préhension (12, 13).
  11. Tenaille à brames (1) selon la revendication 10,
    caractérisée en ce
    qu'un élément à bielles parallèles (19) des unités de bielles parallèles (14, 15, 16, 17) comprend un élément à bras de ciseau (20, 21) d'une unité de ciseau (4) de la tenaille à brames (1).
  12. Procédé d'ajustement d'une tenaille à brames (1) pendant la saisie d'une brame (2) conique ou demi-conique par ses surfaces de préhension latérales (68, 69) non parallèles entre elles, où deux dispositifs de préhension (12, 13) pourvus chacun d'au moins deux griffes de préhension (60, 61, 62, 63) sont déplacés l'un vers l'autre dans la direction de saisie (53, 55) pour saisir au moyen des griffes de préhension (60, 61, 62, 63) une brame (2) s'étendant de part et d'autre d'un plan vertical longitudinal (50) d'une zone de réception de brame (51) entre les deux dispositifs de préhension (12, 13),
    caractérisé en ce que
    les deux griffes de préhension (60, 61, 62, 63) sont disposées de manière mobile contre le dispositif de préhension (12, 13) correspondant au moins le long de la direction de saisie (53, 53).
EP13002362.5A 2012-05-14 2013-05-03 Tenaille à brames pour saisir une brame et procédé d'ajustement d'une tenaille à brames Not-in-force EP2664575B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102012009501 2012-05-14
DE102012018079 2012-09-13
DE102012020991.6A DE102012020991B4 (de) 2012-05-14 2012-10-26 Brammenzange zum Greifen einer Bramme und Verfahren zum Anpassen einer Brammenzange

Publications (2)

Publication Number Publication Date
EP2664575A1 EP2664575A1 (fr) 2013-11-20
EP2664575B1 true EP2664575B1 (fr) 2016-03-09

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EP13002362.5A Not-in-force EP2664575B1 (fr) 2012-05-14 2013-05-03 Tenaille à brames pour saisir une brame et procédé d'ajustement d'une tenaille à brames

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EP (1) EP2664575B1 (fr)
DE (1) DE102012020991B4 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115070934B (zh) * 2021-03-16 2023-07-25 广东博智林机器人有限公司 转钎装置及板材生产系统
CN113799164B (zh) * 2021-10-09 2024-02-06 郑州大学 一种仿生机器人的夹爪

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR1582016A (fr) * 1967-12-28 1969-09-26
DE2054813A1 (de) * 1970-11-07 1972-05-10 Krupp Gmbh Greifvorrichtung einer Hubeinrichtung für Brammen od. dgl
DE2232816C3 (de) * 1972-07-04 1985-07-11 Estel Hoogovens B.V., Ijmuiden Zangengreifer
US4736971A (en) * 1986-11-14 1988-04-12 Acme Machine Works, Inc. Billet grab
JPH11180672A (ja) * 1997-12-19 1999-07-06 Nkk Corp 荷吊下装置
NL1032933C2 (nl) * 2006-11-23 2008-05-26 Peinemann Equipment Bv Grijper voor objecten.
WO2011008091A1 (fr) * 2009-07-13 2011-01-20 Janse - Van Kampen, Sylvia Johanna Pince de levage auto-serrante
CA2718785C (fr) * 2010-10-25 2018-01-02 Erwin Wall Appareil permettant la prehension et le levage de pieces coulees de construction

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DE102012020991B4 (de) 2019-11-14
EP2664575A1 (fr) 2013-11-20

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