EP2796400A1 - Grappin magnétique pour saisir et relâcher des matériaux magnétiques. - Google Patents

Grappin magnétique pour saisir et relâcher des matériaux magnétiques. Download PDF

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Publication number
EP2796400A1
EP2796400A1 EP20140165435 EP14165435A EP2796400A1 EP 2796400 A1 EP2796400 A1 EP 2796400A1 EP 20140165435 EP20140165435 EP 20140165435 EP 14165435 A EP14165435 A EP 14165435A EP 2796400 A1 EP2796400 A1 EP 2796400A1
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EP
European Patent Office
Prior art keywords
magnetic
bistable
mode
gripper
magnets
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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
EP20140165435
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German (de)
English (en)
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EP2796400B1 (fr
Inventor
Tom Thomas
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Individual
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Individual
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Priority to PL14165435T priority Critical patent/PL2796400T3/pl
Publication of EP2796400A1 publication Critical patent/EP2796400A1/fr
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Publication of EP2796400B1 publication Critical patent/EP2796400B1/fr
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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
    • 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
    • B66C1/04—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 magnetic means
    • B66C1/06—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 magnetic means electromagnetic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/18—Load gripping or retaining means
    • B66F9/182—Load gripping or retaining means by magnetic means

Definitions

  • the present invention concerns a magnetic gripper for grabbing and releasing magnetic materials.
  • the invention concerns such a magnetic gripper comprising a frame which is equipped with gripping means with which the magnetic gripper can be gripped by a lifting device such as for example a lifting crane, a fork lift, a portal bridge or the like.
  • a lifting device such as for example a lifting crane, a fork lift, a portal bridge or the like.
  • the magnetic gripper is hereby initially designed for lifting objects made wholly or partly of magnetic materials, such as for example steel or other ferromagnetic materials or alloys thereof, whereby such objects can take many forms, for example the form of plates, tubes, profiles, structural beams or the like.
  • the magnetic gripper for grabbing and releasing other things, such as bulk materials or ores with magnetic qualities or metal waste or scrap or the like.
  • An advantage of this known type of magnetic gripper is that no external energy needs to be supplied for generating a magnetic field.
  • This known type of magnetic gripper has many disadvantages, however, associated with its rather primitive structure, whereby for example the changeover between a gripping condition and a condition for releasing the object again must always be performed manually by an operator.
  • the magnetic field of the permanent magnet is hereby directed by manual rotation so as to either grab or release the material concerned.
  • the magnetic gripping force generated by the permanent magnet of this known type of magnetic gripper is always the same, such that the magnitude of this magnetic gripping force cannot be set.
  • Such an adjustment of the magnitude of the magnetic gripping force is usually useful, however, to ensure for example that the magnetic gripper takes only a single plate at a time from a stack of superposed steel plates and not several plates at once.
  • the electric power is supplied externally from an external power supply, such as an electric grid or generator or the like, which of course has the disadvantage that an external power supply should be at hand, whereby furthermore the connection to an external power supply often also entails limitations with regard to the mobility of the magnetic gripper.
  • an external power supply such as an electric grid or generator or the like
  • the electromagnet is supplied as of a battery provided on the magnetic gripper itself, so that it has a certain autonomy.
  • the known magnetic grippers of this type are usually not suitable in terms of shape to take hold of materials with different shapes, and they are not able to pick up objects fully automatically, whereby certain operations, such as for example switching the electromagnets, still need to be done by an operator, which may give rise to errors.
  • the present invention aims to remedy one or several of the preceding and possibly other disadvantages.
  • the object of the invention is to develop a magnetic gripper with a very high degree of autonomy, similar to the type of magnetic gripper provided with a permanent magnet, which is also very flexible in use and allows for a far-reaching automation, whereby the grabbing and releasing of objects is preferably possible without the intervention or with minimal intervention of the operator.
  • Another aim of the invention is to provide a solution to the energy supply of the magnetic gripper which is also much more environmentally friendly than the existing systems with which magnetic grippers are energized.
  • a further aim of the invention is to produce said magnetic gripper in such a way that its magnetic field for taking hold of materials can be adjusted, in particular can be increased or reduced depending on the situation, and that objects in all sorts of shapes can be handled with it in a simple manner.
  • the present invention concerns a magnetic gripper for grabbing and releasing objects made of magnetic materials, comprising a frame provided with gripping means with which the magnetic gripper can be grabbed by a lifting device, whereby the magnetic gripper further contains at least the following elements:
  • a first major advantage of such a magnetic gripper according to the invention is that use is made of two or several so-called bistable magnets.
  • bistable magnets are provided with a set of permanent magnets, as well as with a coil whose function may differ depending on the specific embodiment, but which coil always serves to switch between two modes, in particular between an on mode whereby a gripping force can be exerted and an off mode whereby this is not the case.
  • the coil is used to magnetize a core.
  • the core is magnetized in one or the other sense, such that the magnetic field generated by the permanent magnets is strengthened or negated by the magnetic field of the core, in the on mode and the off mode of the magnetic gripper respectively.
  • the magnetic field which is generated in the coil is used to move the permanent magnets in a housing, whereby an air gap is either or not included in the magnetic circuit, which corresponds respectively with the off or on mode of the bistable magnets.
  • bistable magnets in order to switch between said on and off mode, an electric current should be only temporarily applied in the form of an electrical pulse so as to magnetize the core in the right direction and in accordance with the desired strength or to move the permanent magnets, whereby after the core has been magnetized or the permanent magnets have been moved, no electric current should be applied any longer, since the available magnetic field for the gripping force comes from the magnetic field of the permanent magnets, possibly combined with the remnant magnetism of the core.
  • a magnetic gripper according to the invention with a battery which allows to switch between the on mode and off mode many tens, hundreds or even thousands of times without needing to recharge the battery.
  • a magnetic gripper according to the invention has a very large autonomy.
  • Another advantage of a magnetic gripper according to the invention is that grasping and lifting an object with it can be done very safely and efficiently, since the magnetic field which is used for said lifting is provided by the permanent magnets, possibly combined with the remnant magnetism of a core, so that even if the aforesaid battery is completely discharged, there is no risk that the magnetic field for the gripping force should be interrupted or be lost.
  • bistable magnets are switched by means of a control unit which generates the appropriate electrical pulses to this end, such that no manual intervention of an operator is required and so that, consequently, such a magnetic gripper according to the invention offers the advantages of a known magnetic gripper equipped with a permanent magnet, but not its disadvantages.
  • the magnetic gripper 1 according to the invention as represented in the figures is designed for grabbing and releasing magnetic materials 2.
  • Figures 1, 2 and 4 represent a steel plate 3 as an example of a magnetic material 2 to be taken hold of, typically with rather large dimensions in two directions XX' and YY', according to the width B and the length L of the steel plate 3 respectively, and with a small dimension in the remaining direction ZZ' according to the thickness D of the steel plate 3.
  • Figures 6 to 10 illustrate a situation whereby the magnetic gripper 1 is used to take hold of a magnetic material 2 in the shape of a steel profile 4, typically with a rather large dimension in only one direction XX' according to the length L of the steel profile 4 and with rather small dimensions in the other directions YY' and ZZ' compared to the latter, according to the height H and the width B of the steel profile 4.
  • magnetic materials 2 are not excluded, such as steel profiles, structural steel bars or steel plates having other shapes, bulk materials or waste scrap and so on.
  • the magnetic gripper 1 is provided with a frame 5 forming a skeleton 5 in the given example, whereby this skeleton 5 in this case contains a central beam 6 consisting of a hollow metal box profile 6 extending in a direction UU' here.
  • the frame 5 may for example be made of carbon steel, or possibly of aluminium so as to reduce the weight.
  • the suspensions 9 form a sort of crosspieces 9 which generally extend in a direction VV' on either side of the central beam 6 and which are provided with a connection 10 in the middle with which they are connected to the central beam 6.
  • Every suspension 9 further has a pair of free ends 11 and 12, onto which is each time mounted a pair of bistable magnets 13.
  • Every suspension 9 is in this case bolted to the central beam 6 by means of bolts and nuts, such that the suspensions 9 can be easily repositioned on the central beam 6, for example so as to be able to adjust the magnetic gripper 1 as a function of the shape of the magnetic material 2 to be grabbed.
  • connection 10 between a suspension 9 and the central beam 6 is made rotatable, whereby the suspensions 9 can be rotated round a shaft WW' which is perpendicular to the direction UU' on the one hand, i.e. the direction in which the central axis 6 extends, and to the direction VV' on the other hand, i.e. the direction in which the suspension 9 concerned extends.
  • a suspension 9 can rotate by means of the rotatable connection 10 thanks to the manual intervention of an operator.
  • the operator may hereby for example unlock a mechanical lock, after which a rotation of the suspension 9 into the desired position is possible.
  • connection 10 can be re-fixed by the operator by locking the mechanical lock again.
  • Such a mechanical lock may for example consist of a pin which can be moved to and fro, provided on a first part of the connection 10, and of holes which are uniformly distributed over the circumference of a second part of the connection 10 whereby, by introducing the pin in one of the holes, the connection 10 can be fixed in the desired position.
  • Such a pin is preferably spring-loaded, such that it can be automatically maintained in the hole concerned as long as it is not unlocked by an operator.
  • the direction VV' of every suspension 9 in relation to the central axis 6 can be changed by a rotation about the axis WW', whereby in the case of figure 1 , the suspensions 9 which are designed as a kind of crosspieces 9 effectively stand transversely to the central axis 6, such that the directions VV' are perpendicular to the direction UU', whereas in the case of figure 6 , the suspensions 9 are provided parallel to the central axis 6, such that the directions VV' extend parallel to the direction UU'.
  • suspensions 9 can be positioned in relation to the central beam 6, a greater degree of freedom is obtained for positioning the bistable magnets 13.
  • a simpler version of a magnetic gripper 1 is not excluded, whereby the frame 5 merely consists of parts that are fixedly connected to one another and whereby the bistable magnets 13 are solely positioned in relation to a magnetic material 2 by positioning the frame 5 itself.
  • the bistable magnets 13 are magnets which, as the name suggests, have two stable positions, whereby such a bistable magnet 13 can be switched in particular between an on and off mode.
  • the bistable magnet 13 concerned can exert a magnetic gripping on a magnetic material 2 to be taken hold of, whereas in off mode, the bistable magnet 13 concerned can exert no or practically no magnetic gripping force on a magnetic material 2 to be taken hold of.
  • both modes are stable since the magnetic field which is switched on to grab a magnetic material 2 or which is switched off to release the magnetic material 2 again is only provided by permanent magnets, either or not combined with remnant magnetism generated in a core, and thus is not provided by an electromagnet whose magnetic field can be interrupted by a power failure.
  • Every pair of bistable magnets 13 is in this case integrated in a foot 14 provided with an upright piece 15 which extends in a direction TT' parallel to the direction WW' around which its suspension 9 can rotate.
  • the upright piece 15 is fixedly connected to a flat sole 17, designed to make contact with the magnetic material 2 to be picked up.
  • the flat soles 17 are in this case rectangular, whereby two bistable magnets 13 at a time are integrated in a sole 17 and whereby the bistable magnets 13 of such a pair are placed next to one another in the direction VV' of the suspension 9 onto which they are connected.
  • the upright piece 15 is provided in the middle of the flat sole 17 and is perpendicular to the latter.
  • the other far end 18 of the upright piece 15 of the foot 14 is suspended to the free end 11 or 12 concerned of its suspension 9 by means of a cardan connection 19, such that the direction TT' of the upright piece 15 is aligned in the direction of gravity as far as the feet 14 are freely suspended to their suspension 9.
  • the cardan connection 19 contains an intermediate piece 20 which is hinge-mounted to the far end 18 of the upright piece 15 by means of a hinge 21 on the one hand, which hinge 21 makes it possible for the foot 14 to rotate about an axis 22 which extends parallel to the direction VV' of the suspension 9 concerned.
  • the intermediate piece 20 is hinge-mounted to the free far end 11 or 12 of the suspension 9 concerned by means of a hinge 23, which hinge 23 allows for a rotation about an axis 24 perpendicular to the other axis 22 and which extends perpendicular to the direction VV' of the suspension 9 concerned.
  • the suspensions 9 and the feet 14 with the pairs of bistable magnets 13 hang from the central beam 6 or they support the central beam 6 in such a manner that the frame 5 as a whole can be easily placed on the magnetic material 2 to be taken hold of, whereby in particular when picking up a steel plate 3, all the feet 14 are aligned in a plane containing the directions XX' and YY', and when grabbing a rather one-dimensional structure such as a steel profile 4, the feet 14 are aligned according to a line XX'.
  • the magnetic gripper 1 also contains only two suspensions 9 with in each case a pair of bistable magnets 13 on each of the far ends 11 and 12 thereof, whereby the magnets 13 are provided in pairs and according to a symmetrical pattern to the frame 5, which can be easily expanded according to the invention to several pairs of bistable magnets 13 or even to totally different configurations should this be required for a certain application.
  • the magnetic gripper 1 is further provided with a control unit 25 with which the bistable magnets 13 can be controlled or switched into the corresponding desired positions, for example by means of electrical pulses generated by the control unit 25.
  • An electric battery 26 serves as an autonomous source of energy for generating the electrical pulses.
  • bistable magnets 13 Since the bistable magnets 13 only consume energy when being switched from one mode to another, such a battery 26 may last very long without having to be reloaded, whereby several tens or even thousands of switch-overs of the bistable magnets 13 are possible.
  • control unit 25 is also designed for rotating each and every suspension 9 in relation to the central beam 6 so as to place the bistable magnets 13 in a position which is appropriate for picking up the magnetic material 2 concerned.
  • a magnetic gripper 1 may contain one or several bistable magnets 13 provided on a moving part of the frame 5 which may have another shape than the suspensions 9 from the figures, such as for example on a movable arm or the like.
  • Such a movable part can be moved and positioned in relation to the remaining part of the frame 5 by controlling it via the control unit 25.
  • bistable magnets 13 it may be possible to better position the bistable magnets 13 as a function of the shape of the magnetic material 2 to be picked up, before the magnetic material 2 is being grabbed, by placing the magnetic gripper 1 on it with a lifting device.
  • control unit 25 it is also possible to control the movement of the movable part in such a manner by means of the control unit 25 that one or several bistable magnets 13 are brought directly in contact with the magnetic material 2 to be picked up by said movement.
  • gripping means 27 are provided according to the invention.
  • These gripping means 27 in this case contain a pair of box-shaped beams 28 with open far ends provided centrally on the frame 5 on the one hand, in particular on the central beam 6, and which extend at right angles to said central beam 6.
  • Said box-shaped beams 28 are designed to grasp and lift the magnetic gripper with a forklift, by sliding its forks via the open far ends in the box-shaped beams 28.
  • the gripping means 27 in this case also comprise a pair of eyes 29 provided at an equal distance from the middle of the central beam 6, which may be used to lift or grasp the magnetic gripper 1 with a pair of hooks of a hoist or crane or the like.
  • a magnetic gripper 1 according to the invention is provided with detection means 30 making it possible to detect either a complete grab-ready or incomplete grab-ready running order.
  • a complete grab-ready running order refers to a state of the magnetic gripper 1 in which all bistable magnets 13 of the magnetic gripper 1 are grab-ready, bistable magnets 13, as they can each reach a grabbing state for picking up magnetic material 2 and can hereby each make a contribution to achieving the necessary magnetic lifting force for lifting the magnetic material 2.
  • each bistable magnet 13 can be put into contact with the magnetic material 2 to be grabbed.
  • An incomplete grab-ready running order refers to a condition of the magnetic gripper 1 whereby one or several bistable magnets 13 of the magnetic gripper 1 are bistable magnets 13 that are not grab-ready, as they cannot reach a grabbing state since the magnets concerned are not capable to get hold of the magnetic material 2 concerned, for example as they cannot make contact with the magnetic material 2 or as there is no magnetic material 2 available at the contact point of the piece to be grabbed or the like.
  • said detection means 30 are provided as well, which are shown in greater detail in figures 3 and 5 .
  • These detection means 30 in this case consist of detection switches 31 which are switched during the transition from a nongrab-ready running order, whereby the magnetic gripper 1 is being lifted at the bistable magnet 13 or magnets 13 concerned by a lifting device, to a grab-ready running order, whereby the magnetic gripper 1 is not being lifted at the bistable magnet by a lifting device, and vice versa.
  • the suspensions 9 in the given example are made in two pieces, like a pair of scissors with two legs 32 that are hinge-mounted to one another in the centre of the suspension 9 by means of a hinge 33 whose axis of rotation 34 extends in the direction UU' of the central axis 6.
  • Each leg 32 of a suspension 9 hereby has a long leg part 35 with a long lever arm with respect to the hinge 33 and which extends up to the corresponding free far end 11 or 12 with the foot 14 and bistable magnet 13 concerned, as well as a short leg part 36 with a short lever arm with respect to the hinge 33 and which extends in the direction of the foot 14 with the bistable magnet 13 of the other leg 32.
  • Each suspension 9 is hereby provided with a pair of detection switches 31 which are in this case provided between a long leg part 35 and a short leg part 36 of the suspension 9 on either side of the central beam 6.
  • the detection switches 31 have a housing 37 on the long leg part 35 concerned of one of the legs 32, whereby a switching section 38, extending as of said housing 37, is equipped with a pin 39 placed in a slot 40 which is provided in every short leg part 35 of the other leg 32 to this end.
  • the appropriate detection switch 31 will be switched, as a result of which said switching in this case corresponds to observing a condition in which the weight of the magnetic gripper 1 either or not rests on magnetic material 2 at the bistable magnet 13 concerned.
  • a complete grab-ready running order is in this case a condition whereby one of the detection switches 31 of each bistable magnet 13 is switched into the condition as represented in figure 3 , whereby all feet 14 rest on the magnetic material 2 and carry a part of the weight of the magnetic gripper 1.
  • Such detection means 30 are very useful, as they allow the magnetic gripper 1 to perform in full-automatic mode, whereby this mode can preferably be set by an operator via the control unit 25.
  • control unit 25 can automatically switch all bistable magnets 13 into on mode by means of corresponding electrical pulses generated by the control unit 25, such that they can exert a magnetic force on the magnetic material 2.
  • control unit 25 is provided with a security which, when an incomplete grab-ready running order is detected by the detection means 30, prevent any magnetic material 2 being lifted by switching all bistable magnets 13 into off mode.
  • control unit 25 is provided with a security which, when an incomplete grab-ready running order is detected by the detection means 30, nevertheless allows for the magnetic material to be lifted by switching all the grab-ready, bistable magnets 13 into on mode and by additionally magnetizing them with an electrical pulse so as to increase the magnetic gripping force of the switched-on bistable magnets 13 to the extent that the lack of any gripping force at the nongrab-ready, bistable magnets 13 is compensated.
  • a magnetic gripper 1 according to the invention is preferably also equipped with signalling means, for example in the shape of one or several LEDs or an LCD screen or the like, so as to be able to signal certain conditions of the magnetic gripper 1 to an operator.
  • such signalling means can for example be used to inform an operator that the magnetic gripper 1 is in full grab-ready running order.
  • the bistable magnets 13 are additionally provided with an adjustable electromagnet for generating a demagnetizing field which is adjustable by the control unit 25, when the bistable magnet 13 concerned is switched in on mode, so as to set the magnitude of the total available magnetic gripping force in on mode.
  • the magnetic gripper 1 picks up only a single steel plate at a time from a stack of steel plates when the bistable magnets 13 are switched on to that end.
  • the control unit 25 is preferably also adjustable in a mode of operation by an operator by means of a remote control, whereby the operator can put the bistable magnets 13 in a switched-on or switched-off mode by means of a remote control.
  • Such an operation mode can be particularly useful when for example scrap waste needs to be dumped with the magnetic gripper 1, whereby it may be sufficient for an operator to observe from a distance that the lifted magnetic materials 2 are in a position in which it is safe to switch the bistable magnets 13 into off mode in order to dump the waste there.
  • control unit 25 can also be set in a manual mode of operation by an operator, whereby the operator can manually put the bistable magnets 13 jointly or separately in a switched-on or switched-off mode.
  • This mode of operation is meant rather for emergencies or instances where something has gone wrong.
  • the magnetic gripper 1 may for example be adapted to pick up and lift rather light objects or much heavier objects, for example objects having a weight which may range for example from 28 kg to 28 Mt.
  • the number of bistable magnets with which the magnetic gripper 1 is equipped can be increased or decreased accordingly.
  • a magnetic gripper 1 according to the invention, adapted as a function of the dimensions of the objects to be picked up, whereby the frame 3 can be enlarged or reduced accordingly, carried out with more or less beams, carried out as a box or plate-shaped element, provided with fold-out or pull-out sections and so on.
  • the magnetic gripper 1 may be designed for standard steel plates of 1 m by 2 m and 0.5 mm thick, but the magnetic gripper may just as well be designed for gripping steel plates having dimensions up to 12 m by 3 m and with strongly varying thicknesses and so on.
  • a magnetic gripper 1 may be integrated in a system with a robot or laser cutter.
  • the control unit 25 of the magnetic gripper 1 may hereby be part of the robot or the laser cutter, such that it can monitor and control the magnetic gripper 1, whereby the magnetic gripper 1, and in particular its bistable magnets 13, can be controlled differently, for example as a function of the size or shape of the material 2 to be grabbed, all of this fully automatically, without any operator intervention.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Load-Engaging Elements For Cranes (AREA)
EP14165435.0A 2013-04-24 2014-04-22 Grappin magnétique pour saisir et relâcher des matériaux magnétiques. Not-in-force EP2796400B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL14165435T PL2796400T3 (pl) 2013-04-24 2014-04-22 Chwytak magnetyczny do chwytania i uwalniania materiałów magnetycznych

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
BE2013/0289A BE1021277B1 (nl) 2013-04-24 2013-04-24 Magneetgrijper voor het vastnemen en loslaten van magnetische materialen

Publications (2)

Publication Number Publication Date
EP2796400A1 true EP2796400A1 (fr) 2014-10-29
EP2796400B1 EP2796400B1 (fr) 2015-12-30

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP14165435.0A Not-in-force EP2796400B1 (fr) 2013-04-24 2014-04-22 Grappin magnétique pour saisir et relâcher des matériaux magnétiques.

Country Status (3)

Country Link
EP (1) EP2796400B1 (fr)
BE (1) BE1021277B1 (fr)
PL (1) PL2796400T3 (fr)

Cited By (6)

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Publication number Priority date Publication date Assignee Title
RU2582742C1 (ru) * 2015-03-16 2016-04-27 Общество с ограниченной ответственностью "ЭРГА Плюс" Магнитная траверса с электропостоянными магнитными захватами
CN106006481A (zh) * 2016-08-09 2016-10-12 营口市工业电磁盘厂 叉车专用电磁吊具
US20200095074A1 (en) * 2018-09-26 2020-03-26 Cisco Technology, Inc. Docking and undocking payloads from mobile robots
CN112978554A (zh) * 2021-03-01 2021-06-18 中铁十九局集团轨道交通工程有限公司 一种盾构机钢管安装举升装置
CN113199537A (zh) * 2019-02-15 2021-08-03 高宇泽 网垫制作组件、流水线及制作方法
CN116768011A (zh) * 2023-05-08 2023-09-19 中电建成都铁塔有限公司 一种单张钢板吊运装置及其使用方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN211594930U (zh) * 2019-11-28 2020-09-29 璟泰（清远）橡胶工业有限公司 一种装模吊装以及叉车

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Publication number Priority date Publication date Assignee Title
JP2002302374A (ja) * 2001-03-29 2002-10-18 Kurimoto Ltd 部材反転装置
DE202005016489U1 (de) * 2005-10-20 2007-03-01 Liebherr-Hydraulikbagger Gmbh Hydraulikbagger mit eingebauter Magnettraverse
WO2010043919A1 (fr) * 2008-10-17 2010-04-22 Hh Intellitech Aps Véhicule de levage

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002302374A (ja) * 2001-03-29 2002-10-18 Kurimoto Ltd 部材反転装置
DE202005016489U1 (de) * 2005-10-20 2007-03-01 Liebherr-Hydraulikbagger Gmbh Hydraulikbagger mit eingebauter Magnettraverse
WO2010043919A1 (fr) * 2008-10-17 2010-04-22 Hh Intellitech Aps Véhicule de levage

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2582742C1 (ru) * 2015-03-16 2016-04-27 Общество с ограниченной ответственностью "ЭРГА Плюс" Магнитная траверса с электропостоянными магнитными захватами
CN106006481A (zh) * 2016-08-09 2016-10-12 营口市工业电磁盘厂 叉车专用电磁吊具
CN106006481B (zh) * 2016-08-09 2019-06-14 营口市工业电磁盘厂 叉车专用电磁吊具
US20200095074A1 (en) * 2018-09-26 2020-03-26 Cisco Technology, Inc. Docking and undocking payloads from mobile robots
US11104552B2 (en) * 2018-09-26 2021-08-31 Cisco Technology, Inc. Docking and undocking payloads from mobile robots
CN113199537A (zh) * 2019-02-15 2021-08-03 高宇泽 网垫制作组件、流水线及制作方法
CN112978554A (zh) * 2021-03-01 2021-06-18 中铁十九局集团轨道交通工程有限公司 一种盾构机钢管安装举升装置
CN112978554B (zh) * 2021-03-01 2022-04-08 中铁十九局集团轨道交通工程有限公司 一种盾构机钢管安装举升装置
CN116768011A (zh) * 2023-05-08 2023-09-19 中电建成都铁塔有限公司 一种单张钢板吊运装置及其使用方法
CN116768011B (zh) * 2023-05-08 2024-04-16 中电建成都铁塔有限公司 一种单张钢板吊运装置及其使用方法

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