EP3176123A1 - Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise - Google Patents

Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise Download PDF

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Publication number
EP3176123A1
EP3176123A1 EP15197916.8A EP15197916A EP3176123A1 EP 3176123 A1 EP3176123 A1 EP 3176123A1 EP 15197916 A EP15197916 A EP 15197916A EP 3176123 A1 EP3176123 A1 EP 3176123A1
Authority
EP
European Patent Office
Prior art keywords
lifting
lifting device
goods
good
suction gripping
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
EP15197916.8A
Other languages
German (de)
English (en)
Other versions
EP3176123B1 (fr
Inventor
Peter Enenkel
Dolores Gerstmayr
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.)
Siemens AG
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG filed Critical Siemens AG
Priority to EP15197916.8A priority Critical patent/EP3176123B1/fr
Priority to PCT/EP2016/076980 priority patent/WO2017092979A1/fr
Publication of EP3176123A1 publication Critical patent/EP3176123A1/fr
Application granted granted Critical
Publication of EP3176123B1 publication Critical patent/EP3176123B1/fr
Active 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
    • B66C1/02—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 suction means
    • B66C1/0225—Hand held
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/02—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with non-adjustable and non-inclinable jibs mounted solely for slewing movements
    • B66C23/027—Pivot axis separated from column axis

Definitions

  • the present invention relates to a lifting device and a method provided for power assistance in moving a good.
  • the manual loading and unloading is a high physical burden due to the weight of the goods, especially for heavy goods such as luggage or mail. Each operator moves a cumulative number of tons per day, resulting in increased inconvenience due to physical wear and tear.
  • a special feature in the loading of containers with goods is that they are advantageously stacked in the highest possible density and stability. To avoid damage, it makes sense to place heavy goods near the ground and lighter ones in the upper area of the container. Manual loading and unloading is a very complex sequence of movements, which makes automation more difficult.
  • telescopic conveyors whose operation is done manually via a control unit.
  • the telescopic conveyors extend sufficiently far into the container to be loaded or unloaded and are horizontally and vertically pivotable to supply the goods to the operator.
  • the goods still have to be picked up and moved by hand.
  • WO2005110907A1 presents a suction hose lifter and method for moving a load with a suction hose lifter.
  • WO2006128405A1 discloses a lifting device which, upon manual displacement of objects, supports at least one hand gripping the article.
  • the existing telescopic conveyors usually have a low adjustment speed, also must be taken by the manual operation of the control unit a good always several times in the hand, whereby loading and unloading are slowed down.
  • Saugschlauchhebevoriques assumes that the material to be moved can be connected by exerting a negative pressure with the Saugschlauchhebevorraum. If this is not possible, for example, due to the surface condition of the material, the product must be moved manually without any assistance by the Saugschlauchhebevortechnisch. In the event of a fault, the goods may fall down during the movement, causing both the goods and the operator can be harmed. Also, the suction hose lifting device must be manually held by the operator during movement of the goods.
  • WO2006128405A1 disclosed lifting device comprises a configured for receiving an arm lifting element, wherein a support of the movement of the hand of this arm takes place.
  • the weight of the goods is indeed absorbed by the lifting device, but still charged first the arm and / or the hand of the operator, especially in a recording of the goods.
  • the present invention is therefore an object of the invention to provide an improved lifting device with a wide range of applications and ease of use.
  • the solution according to the invention provides a lifting device which is suitable for power assistance when moving a good, comprising at least one lifting aid and at least one suction gripping element, wherein the lifting aid is used to Hubkraftunterstützung of the goods and with the Sauggreifelement a holding force on the good is exercised by means of which the estate is tangible.
  • the suction gripping element comprises a fastening device which is suitable for attachment to at least one body part, in particular a part of an arm and / or a hand.
  • the lifting force support of the lifting aid can act directly on the suction gripping element.
  • the Hubkraftunterstützung is thereby as directly as possible, without burdening the body part.
  • the fastening device can be configured as a loop for receiving the body part.
  • the lifting device may comprise at least two Sauggreifmine. This allows an intuitive, since a physiological sequence of movements modeled handling of the lifting device.
  • the force support when moving from a good done redundantly. In case of a malfunction of one of the two Sauggreifimplantation is still the other Sauggreifelement available.
  • the suction gripping element can be configured, the good side and / or of to grab up and / or from below.
  • the Sauggreifelement can thus almost as flexible as a human operator grab a good.
  • At least one control element can be provided for activating and / or deactivating the Hubkraftunterstützung the lifting aid and / or the holding force of the Sauggreifelements.
  • the power assistance can be easily activated and / or deactivated with the operating element. This makes it possible, which can be exercised with the lifting aid Hubkraftunterstützung and / or with the Sauggreifelement exercisable holding force exercise only if the operator deems necessary.
  • the control is particularly easy to use and the operation of the control does not cause strong impairment of the movement in a use of the lifting device
  • the at least one control element can be arranged directly on Sauggreifelement and / or the fastening device.
  • the at least one operating element can be operated without major circumstances even when the suction gripping element is attached to the at least one body part.
  • the lifting aid can be configured horizontally and / or vertically movable.
  • the holding force on the estate with the Sauggreifelement and / or with the at least a body part are exercised.
  • the holding force is exerted by the body part of the operator.
  • moving the goods can be done with Hubkraftunterstützung a lifting aid.
  • the physical stress is minimized.
  • the lifting force support of the lifting aid can act directly on the suction gripping element.
  • the lifting device can comprise at least two suction gripping elements.
  • the holding force can be applied redundantly, which increases reliability.
  • a physiological gripping and lifting process can take place when moving the goods.
  • the physiological gripping and lifting process secures the good redundant, which greatly minimizes the risk of falling down the goods, which can lead to damage to the goods and / or the operator.
  • the Hubkraftunterstützung and / or the exercise of the holding force with the Sauggreifelement can be on demand with at least one control and / or switched off.
  • the Hubkraftunterstützung and / or holding force with the Sauggreifelement are exerted only if this is desired by the operator and a switching on and / or off is possible in a simple way with the control.
  • FIG. 1 schematically shows a lifting device 2 which is designed for power assistance when moving from a good 4 according to a preferred embodiment of the invention.
  • the lifting device 2 comprises two mirror-image configured Sauggreifimplantation 61, 6r and a lifting aid 8.
  • the two Sauggreifimplantation 6 and consequently also their fastening devices 18 are designed mirror images of each other.
  • the left suction gripping element 61 is optimized for receiving left arm and / or left hand 28; the right Sauggreifelement 6r is optimized for receiving right arm and / or right hand 28.
  • the lifting device 2 for a loose loading and unloading of storage containers, in particular for receiving packages, packages, mail containers, Suitcases and other items of luggage are provided and subsequently always uniformly generalized as goods 4 are called.
  • the lifting aid 8 provides a continuous lifting force support 10 by receiving the entire or at least part of the weight 12 of the goods 4 and / or the Sauggreifimplantation 6 and / or the lifting aid 8 via a pull cable 14.
  • the traction cable 14 is wound up or down during lifting and lowering.
  • the suction pads 6, each comprising a suction cup 16 and a fastening device 18 a holding force 20 can be exercised on the good 4.
  • an operating element 22 is respectively arranged, with which the holding force 20 of the suction gripping element 6 and the Hubkraftunterstützung 10 of the lifting aid 8 uncomplicated without large additional movements and thus without major disturbances in the movement, such as multiple embracing, and can be switched off.
  • the operating element 22 comprises one or more switches with which lifting force support 10 and holding force 20 are activated and deactivated individually by pressing.
  • the exact configuration of the suction cup 16 is optimized for the specific application area of the lifting device 2, in particular with regard to the goods to be moved 4. Especially heavy goods 4, especially if they additionally have irregular surfaces, require a particularly powerful suction cup 16.
  • the holding force 20 is exercised by means of negative pressure.
  • the suction cups 16 are connected via pneumatic lines 24r, 241, 24 to a vacuum source, for example to a vacuum pump. connected.
  • the pneumatic lines 24r, 241, which run in a spiral around the traction cables 14, are supplied by a common supply line 24. Vacuum can also be generated with an ejector module comprising a compressed air nozzle.
  • the ejector module is configured to deactivate the holding force 20 exerted by the suction cup 16 by releasing the negative pressure by passing a short burst of compressed air into the suction cup 16 in order to prevent the suction cup 16 from sticking.
  • One task of the suction gripping elements 6 is to transfer the weight of the goods 4 to the traction cable 14.
  • the suction gripping elements 6 constitute an operating interface. Since the weight force 12 is not absorbed by the body part and forwarded to the lifting aid 8, an operator 32 is only slightly burdened when moving the goods 4.
  • the lifting aid 8 is fixed to a suspension 26 which is designed to be horizontally and vertically movable.
  • the lifting device 2 is configured to automatically follow movements of the operator.
  • the fastening device 18 with which the suction gripping element 6 can be fastened to a body part, in particular a part of an arm and / or a hand 28 of the operator 32, makes it possible to move the suction gripping element 6 together with the body part, without it having to be actively held fast. This simplifies handling considerably, moreover, so both hands 28 of the operator can be used as a gripping and lifting tool. Also, a redundant exercise of both the holding force 20 on the estate 4, as well as the Hubkraftunterstützung 10 allows. Redundant in a double sense, because there are both at least two body parts, in particular two hands 28 and / or arms, as well as two suction gripping elements 6 are available.
  • the holding force 20 can be exerted on the one hand with the suction cup 16, on the other hand with the hand 28 of the operator 32nd
  • the fastening device 18 is arranged so that the good 4 with both the suction cup 16, and with the hands 28 is tangible, even if a part of an arm and / or a hand 28 with the fastening device 18 is connected.
  • the hands 28 of the operator 32 can thus continue to perform normal gripping movements. If the sucker 16 does not grip properly or lose contact - because the surface procurement of the item 4 does not allow gripping with the sucker 16 or due to a malfunction, such as a power failure - the item 4 can be collected and held by the hands 28.
  • the design of the fastening device also still supports the operator when lifting force and / or holding force are exerted by the operator.
  • the fastening device 18 is particularly adapted to assist manual gripping, which makes the use of the lifting device 2 highly intuitive.
  • manual gripping a large part of the weight 12 is taken up by the lifting device 8 via the fastening device 18 and the suction gripping element 6, so that the hand 28 and fingers are loaded as little as possible.
  • a transmission of the lifting force of the hands 28 on the fastening device 18 and thus the lifting aid 8 is thus optimized.
  • the Sauggreifelement support the movement of the goods 4.
  • the load on the hands 28 and individual fingers is very high in a gripping without any power assistance in a heavy good 4.
  • a gripping support integrated into the fastening device 18 is used to prevent or reduce unfavorable loads on individual areas of the hands 28.
  • the gripping support can be designed loop-like, as used in gymnastic or training gloves.
  • a configured as a complete glove fastening device 18 also fulfills this purpose.
  • both suction gripping elements 6r, 61 but at least one on at least one body part, in particular a part of an arm and / or a hand 28, are fastened. Subsequently, a holding force 20 is exerted on the good 4 and the good 4 is moved. The holding force 20 is exercised with the Sauggreifigan 6r, 61 and additionally redundant secured with the hands 28 on the estate. In case of failure of one or both Sauggreifimplantation 6r, 61, the good 4 alone with his hands 28 held with a physiological gripping operation.
  • FIG. 2 shows a Sauggreifelement 6 with a designed as a loop fastening device 18.
  • the loop and thus the entire Sauggreifelement 6 are attached to the right hand 28 of an operator 32.
  • the loop surrounds the hand 28 below the thumb such that both thumb and fingers are freely movable.
  • the design of the fastening device 18 as a loop allows both a quick and uncomplicated recording of the hand 28, as well as a use of the hand 28 of the operator 32 as a gripping tool and also serves as a gripping support.
  • a switch operable with the thumb is mounted as a control element 22, with which both the exercisable by the suction cup 16 holding force 20, and the Hubkraftunterstützung 10 can be activated and deactivated.
  • the suction cup 16 is connected to the fastening device 18 via a connecting piece 30 extending below the thumb over the palm of the hand. Since the pull cable 14 of the lifting aid 8 as well as already in FIG. 1 shown acts directly on the suction cup 16, when the suction cup 16 exerts a holding force 20 on a good 4, the whole or at least part of the weight 12 taken by the lifting aid 8, without burdening the hand 28.
  • the pneumatic line 24 extends around the pull cable 14 of the lifting aid 8.
  • the suction cup 16 is freely rotatably attached to the connecting piece 30. This and the staggered arrangement via the connector 30 allow complete freedom of movement of the hand 28. In the event that an exercise of the holding force 20 with the suction cup 16 fails, the good 4 can be gripped and aligned with the hand 28. In this case, the weight 12 is transmitted from the back of the hand to the loop and finally via the connecting piece 30 on the traction cable 14 of the lifting aid 8, which receives the weight force 12 and thus provides 10 Hubkraftunterstützung.
  • FIG. 3 shows a good 4, which is held in accordance with a preferred embodiment of the invention by two Sauggreifaminen 6 of the lifting device 2 and additionally redundant manually by two hands 28.
  • the manual gripping and lifting of the goods 4 takes place by the exercise of a physiological gripping and lifting process and is thus very intuitive. Since the Sauggreifimplantation 6 are arranged in the shadow of the arms, access between two closely spaced goods 4 not hindered.
  • the Sauggreifetti 6 are as in FIG. 1 Saugrreifetti shown 6r, 61 formed mirror images of each other, wherein the left Sauggreifelement 6 the in FIG. 2 represented Sauggreifelement 6 corresponds.
  • the suction gripping element 6 shown on the left in the drawing is optimized for receiving the right hand 28, the suction gripping element 6 shown on the right is optimized for receiving the left hand 28.
  • the lifting force is on the traction cables 14, to which pneumatic lines 24 lead taken.
  • the material 4 is held laterally mainly by the holding force 20 exercising suction cups 16.
  • Hubkraftunterstützung 10 and the exercise of the holding force 20 with the suction cups 16 is separately by pressing the control 22 activated separately with the thumb for each Sauggreifelement 6. A deactivation takes place by releasing the operating element 22.
  • FIG. 4 shows a schematic diagram of the lifting device 2 according to a preferred embodiment of the invention.
  • An operator 32 is located in a container 34, which serves as a storage container, and builds up a stack of goods 36, the goods 4 are transported by a telescopic conveyor 38 in the container 34. Due to the design of the fastening device 18 as a loop, as well as in FIG. 2 and 3 shown, a loading and unloading of the Sauggreifetti 6 of the lifting device 2 with a simple sliding in and out is straightforward and only a little time consuming, so that an aid of the lifting device 2 for each good 4 can be decided individually.
  • a display 40 which indicates the weight of the goods 4, which is currently located at the Teleskop makeupende.
  • the display 40 includes a weight indicator 40g and a traffic light indicator 40a.
  • the traffic light display 40a allows a quick visual classification.
  • the Sauggreifamine 6 are either on the edge of the telescopic conveyor 38, or they hang at a height in which they were stored and can be easily re-applied to the traction cables 14.
  • the Sauggreifimplantation be with Help of a weight detection kept at this altitude.
  • the operator 32 simply slips with the hands 28 into the loops, engages a good 4 and activated with the controls 22, the power assistance.
  • the traffic light indicator 40a glows green and use of the elevator 2 is unnecessary. If nevertheless a lifting device 2 is used This can limit the ergonomics of the operator 32, which can lead to one-sided loads and premature fatigue.
  • the traffic light indicator 40a lights up red and use of the lifting device 2 is obligatory in order to avoid physical stress damage. In a middle heavy goods 4 the traffic light indicator 40a glows yellow and the operator 32 can decide based on his individual exercise capacity himself, whether he wants to use the lifting device 2 or not.
  • the display 40 allows for an individual handling of the lifting device 2, depending on the physical requirements of the respective operator 32, without personal adjustments are required. Due to high personnel changes, this would be unfavorable.
  • the traction cables 14 of the lifting aid 8 engage as well as in the FIGS. 1 to 3 shown directly on the suction pads 6, to receive the weight of the goods 4 12.
  • the operator 32 has both hands 28 plugged into the designed as loops attachment device 18 and additionally accesses even redundantly manually Good 4, which was transported with a telescopic conveyor 38 in the container 34.
  • the suspension 26 comprises the cable spreader 42 and a lightweight boom, which is attached to a mounted on the telescopic conveyor 38 beam portal 46.
  • the beam portal 46 is height adjustable and automatically adaptable to the container height with a distance detection.
  • the suspension 26 is arranged directly below the container ceiling, whereby a maximum freedom of movement of the operator 32 is made possible.
  • the lightweight boom 44 has very smooth joints and can be moved without noticeable resistance in all vertical directions.
  • the operator 32 picks up the goods 4 from the end of the telescoping conveyor 38 and forms the stack of goods 36 in front of them, the goods 4 being nested on the container wall as precisely as possible, in order to achieve the highest possible packing density. Since the upper body is usually rotated by 180 degrees, the lightweight boom 44 is designed to ensure at least this freedom of movement. Ideally, however, the operator 32 may rotate multiple times about its own axis with fastener 18 attached to the hands 28. The operator 32 uses a step stool 48 to stack the goods 4 even higher than his height actually allows.
  • the operator can estimate even before recording the weight of a good 4, whether his hands 28 grab the property 4 only safeguarding manually, or else have to exercise the entire holding force 20.
  • FIGS. 1 to 4 sketched arrangement of two suction gripping elements 6 allows a dynamic and fluid workflow by the favorable for an exercise of the holding force 20 combination of fastening device 18, the suction cup 16 and lifting aid 8 with traction cable 14.
  • the arrangement is redundant to the normal gripping process, so that the failure of the lifting device 2 of the natural manual gripping and holding process is maintained.
  • Both the Hubkraftunterstützung 10 with the lifting aid 8, as well as the exercise of the holding force 20 with the Sauggreifelement 6 can be switched on and off depending on demand.
  • the fastening device 18 instead of activating and deactivating the power assistance with a control element 22, it is also possible, according to a preferred embodiment, for the fastening device 18 to comprise a sensor which activates the force support when fastening the suction gripping element 6 to a body part or when releasing the suction gripping element 6 Body part disabled. As soon as a good 4 is raised, a weight recognition comes into force.
  • This solution has the advantage that an active actuation of a control element 22 is not required, which simplifies handling even more. However, the operator must first make considerable lifting power himself before the lifting aid 8 is activated. In this embodiment, the lifting aid 8 takes only part of the weight 12 of the goods 12, a control is done by lifting and lowering the residual weight.
  • the hands 28 are not torn uncontrollably when falling down a good 4 up, the Hubkraftunterstützung is stopped immediately when the weight detection is interrupted.
  • a brake is activated, which forces a very slow deflation of the goods 4.
  • the handling of the lifting device 2 is highly simple and intuitive, the at least one suction gripping element 6 is very quickly on and / or stored.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
EP15197916.8A 2015-12-04 2015-12-04 Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise Active EP3176123B1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP15197916.8A EP3176123B1 (fr) 2015-12-04 2015-12-04 Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise
PCT/EP2016/076980 WO2017092979A1 (fr) 2015-12-04 2016-11-08 Dispositif de levage et procédé d'amplification de force lors du déplacement d'un produit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP15197916.8A EP3176123B1 (fr) 2015-12-04 2015-12-04 Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise

Publications (2)

Publication Number Publication Date
EP3176123A1 true EP3176123A1 (fr) 2017-06-07
EP3176123B1 EP3176123B1 (fr) 2021-01-27

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EP15197916.8A Active EP3176123B1 (fr) 2015-12-04 2015-12-04 Dispositif de levage et procédé d'assistance de force pour le déplacement d'une marchandise

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EP (1) EP3176123B1 (fr)
WO (1) WO2017092979A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3453641A1 (fr) * 2017-09-08 2019-03-13 Siemens Aktiengesellschaft Dispositif de support, dispositif de fret, procédé pour charger un conteneur
WO2021093913A1 (fr) 2019-11-15 2021-05-20 Heinzelmann Dominik Dispositif comprenant un module d'entraînement et procédé d'entretien de force
WO2022105966A1 (fr) 2020-11-19 2022-05-27 Heinzelmann Dominik Dispositif d'aide au levage et élément dorsal fixe

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998043911A1 (fr) * 1997-03-28 1998-10-08 Homayoon Kazerooni Module pneumatique amplificateur de force humaine
WO1999012840A1 (fr) * 1997-09-08 1999-03-18 P-Frame Pty. Ltd. Dispositif de levage d'un materiau en feuille
US6386513B1 (en) * 1999-05-13 2002-05-14 Hamayoon Kazerooni Human power amplifier for lifting load including apparatus for preventing slack in lifting cable
WO2005110907A1 (fr) 2004-05-18 2005-11-24 Vaculex Ab Dispositif elevateur a tube sous vide et procede de deplacement d'une charge au moyen d'un dispositif elevateur a tube sous vide
WO2006128405A1 (fr) 2005-06-02 2006-12-07 Gebhardt Transport- Und Lagersysteme Gmbh Dispositif de levage

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998043911A1 (fr) * 1997-03-28 1998-10-08 Homayoon Kazerooni Module pneumatique amplificateur de force humaine
WO1999012840A1 (fr) * 1997-09-08 1999-03-18 P-Frame Pty. Ltd. Dispositif de levage d'un materiau en feuille
US6386513B1 (en) * 1999-05-13 2002-05-14 Hamayoon Kazerooni Human power amplifier for lifting load including apparatus for preventing slack in lifting cable
WO2005110907A1 (fr) 2004-05-18 2005-11-24 Vaculex Ab Dispositif elevateur a tube sous vide et procede de deplacement d'une charge au moyen d'un dispositif elevateur a tube sous vide
WO2006128405A1 (fr) 2005-06-02 2006-12-07 Gebhardt Transport- Und Lagersysteme Gmbh Dispositif de levage

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3453641A1 (fr) * 2017-09-08 2019-03-13 Siemens Aktiengesellschaft Dispositif de support, dispositif de fret, procédé pour charger un conteneur
WO2021093913A1 (fr) 2019-11-15 2021-05-20 Heinzelmann Dominik Dispositif comprenant un module d'entraînement et procédé d'entretien de force
WO2022105966A1 (fr) 2020-11-19 2022-05-27 Heinzelmann Dominik Dispositif d'aide au levage et élément dorsal fixe

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EP3176123B1 (fr) 2021-01-27
WO2017092979A1 (fr) 2017-06-08

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