EP3424864A1 - Auslösemechanismus - Google Patents

Auslösemechanismus Download PDF

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Publication number
EP3424864A1
EP3424864A1 EP18178830.8A EP18178830A EP3424864A1 EP 3424864 A1 EP3424864 A1 EP 3424864A1 EP 18178830 A EP18178830 A EP 18178830A EP 3424864 A1 EP3424864 A1 EP 3424864A1
Authority
EP
European Patent Office
Prior art keywords
release mechanism
lifting
connector
mechanism according
clutch
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
EP18178830.8A
Other languages
English (en)
French (fr)
Other versions
EP3424864B1 (de
Inventor
Christopher Taylor
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.)
Stanton Bonna Concrete Ltd
Original Assignee
Stanton Bonna Concrete Ltd
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 Stanton Bonna Concrete Ltd filed Critical Stanton Bonna Concrete Ltd
Publication of EP3424864A1 publication Critical patent/EP3424864A1/de
Application granted granted Critical
Publication of EP3424864B1 publication Critical patent/EP3424864B1/de
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
    • B66C1/10—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
    • B66C1/62—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 comprising article-engaging members of a shape complementary to that of the articles to be handled
    • B66C1/66—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 comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof
    • B66C1/666—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 comprising article-engaging members of a shape complementary to that of the articles to be handled for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof for connection to anchor inserts embedded in concrete structures
    • 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
    • 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
    • B66C1/12—Slings comprising chains, wires, ropes, or bands; Nets
    • B66C1/125—Chain-type slings
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/14—Conveying or assembling building elements
    • E04G21/142—Means in or on the elements for connecting same to handling apparatus

Definitions

  • the present invention relates to the field of civil engineering or construction, and more specifically to the lifting and moving of components such as concrete pipe sections.
  • large pre-formed concrete components For example, large panels can be pre-formed for use as a floor or wall in a building, and large diameter concrete draining pipes are generally formed in sections or around 2.5m in length for assembly on site. The size and weight of the pre-formed sections means that they must be lifted into place using suitable machinery.
  • Bespoke lifting tools are available for lifting pipe sections, to accommodate their awkward shape and size.
  • One such device for mounting to the quick-hitch of an excavator's lifting arm, comprises a beam which passes through the bore of the pipe section and supports the weight along its length.
  • Another comprises jaws which grip the external surface of the pipe.
  • the lifting tool can be cumbersome to use and/or manoeuvre, and may be difficult to remove from a pipe section once laid in a trench.
  • anchors In order to provide suitable lifting points for pipe sections, it is known to include steel anchors in the walls of the pipe sections during their manufacture.
  • the anchors are cast into the walls of the pipe sections during forming, and the heads of the anchors are typically provided in hemispherical recesses so as not to protrude from the outer surface of the wall.
  • the anchors may comprise a loop or eye, or may simply have an enlarged head, for example a spherical head, to be received by a suitable lifting clutch.
  • the lifting clutches used with anchors of this type typically comprise a form of gate which is rotatable between an open position, in which the clutch can be positioned over the head of the anchor, and a closed position in which the clutch passes through or around the head of the anchor to form a secure connection allowing the component to be lifted using a suitable crane hoist or similar.
  • a lever or 'tail' is provided to allow rotation of the gate between the open and closed positons.
  • Chains can be attached to the lifting clutches without risk of damaging the pipe sections, and the lifting operation is therefore more secure.
  • the clutches need to be manually set before lifting, and released after a lifting operation is complete.
  • the risks are particularly high when releasing the clutches. Firstly, the access to the tails of the clutches is more likely to be impeded once a pipe section is in position in a trench. Secondly, there is a risk that the pipe section may not be properly settled and could move, causing a crush risk.
  • the release mechanism comprises a telescoping arrangement of a first member and a second member having a retracted configuration and an extended configuration, and a locking mechanism selectively engageable to restrain the first and second members in the retracted configuration.
  • a first connector is attached to and extends from the first member and a second connector is attached to and extends from the second member.
  • the first and or second connectors can be connected to different parts of a lifting clutch, hook or similar.
  • An actuator is provided for releasing the locking mechanism, and allowing extension of the telescoping arrangement to its extended configuration. This alters the relative reach or length of the first and second connectors from the first member.
  • Varying the relative reach of the first and second connectors allows a load passing through the release mechanism to be applied either solely or initially to a first part of a lifting clutch or hook, or to a second part.
  • the first part may be a body or fixed lifting/hauling loop of the clutch or hook, and the second part may be a release actuator, lever etc.
  • the locking mechanism may comprise a movable engagement surface or ledge which selectively prevents movement of the second member beyond a first axial position relative to the first member, or a collapsible linkage connected between the first and second members, perhaps defining both first and second axial positions.
  • the actuator may extend below the second member and be operated by bearing against a solid surface under the weight of the telescoping arrangement.
  • the solid surface may be the component being lifted, or any other suitably hard surface.
  • the first member may comprise a housing and the second member may comprise a core received within the housing.
  • Extension of the telescoping arrangement to its extended configuration may reduce the reach of the second connector relative to the first connector.
  • the length or reach of the first connector may remain constant, and the reach of the second connector, from the first member, may reduce when the telescoping arrangement is in its extended configuration.
  • the reach, from the first member, of the first connector may thus be shorter than the reach of the second connector from the first member when the telescoping arrangement is in its retracted configuration, and longer than the reach of the second connector from the first member when the telescoping arrangement is in its extended configuration.
  • the second connector may comprise a wire or cable, for connection to a lever or similar for releasing a hook or clutch.
  • the first connector may be attached directly to the first member.
  • the first connector may be attached to the first member via a beam or bar extending outwards from the first member.
  • the beam or bar may be of any type, and may extend generally horizontally from the first member in one or more directions.
  • a lifting chain may be attached to the beam or bar for lifting the release mechanism, and/or a roller may be provided on the beam, and the second connector may pass over the roller provided on the beam.
  • the first connector may comprise a wire or cable, for connection to a lever or similar for releasing a hook or clutch.
  • a clutch release system may also be provided, comprising a lifting clutch with a body, a gate movable relative to the body, and a gate release actuator; and a release mechanism as previously described
  • the first connector may be attached to a body of the lifting clutch and the second connector to the gate release actuator, or the second connector may be attached to a body of the lifting clutch and the first connector to the gate release actuator as appropriate.
  • the connector having the shorter reach when the telescoping arrangement is retracted should be attached to the body of the lifting clutch to bear the weight of an article during lifting.
  • the gate may comprise a rotating component for passing through or around a fixed anchor.
  • a rotating clutch head may be provided with a channel around a part of its periphery for receiving an enlarged head portion of an anchor fixed to a component, or a static clutch head may house a rotatable ring like latch to engage a loop provided in or on an anchor, or pass under a horizontal bar.
  • the release actuator may comprise a lever, for rotating the gate, or may comprise a quick-release mechanism.
  • first and or second connectors could be provided in the release mechanism to simultaneously release additional clutches or hooks if required.
  • the clutch release system may likewise include additional clutches, for example two, three, or four clutches as required.
  • FIG. 1A An example of a known lifting clutch 2 is shown in Figure 1A .
  • the lifting clutch 2 briefly comprises a lifting loop 4 and a generally spherical clutch head 6 which is rotatable relative to the lifting loop 4.
  • the clutch head 6 has an internal cavity 9 accessed via a channel 8 around a part of its periphery with a wider opening portion 10 provided at one end of the channel.
  • a lever 12 sometimes referred to as a 'tongue' or 'tail', is provided to allow a user to rotate the clutch head 6 easily when required to attach or detach the clutch 2 during use.
  • FIG 1B shows a cross-sectional view of the clutch head 6 attached to an anchor 14 which comprises a stem 13 and an enlarged head portion 15.
  • the anchor 14 would, in use, be provided in a recess in a concrete component, the recess being sized to receive the clutch head 6.
  • the enlarged anchor head 15 is received in the cavity 9 and the edges of the channel 8 are closely abutting the stem 13 of the anchor 14.
  • the enlarged anchor head 15 cannot pass through the channel 8 and the clutch 2 is, therefore, secured to the anchor 14.
  • One advantage of an anchor 14 of this type is that the clutch 2 can be attached to lift in any direction as required.
  • Actuation of the levers/tails 12,12' is typically performed by hand by a site worker.
  • a site worker When attaching or 'setting' a clutch the close proximity of a worker can be beneficial in ensuring that the connection is correct and sound.
  • the need for a worker to approach a component and release the clutches 2,2' creates health and safety risks as discussed above, as well as potentially slowing work on site.
  • Figure 3A shows a section of concrete pipe 22 being lifted using an arrangement of chains 24,26 and a clutch release mechanism 20 to allow a pair of ring clutches 2' to be released remotely.
  • the clutch release mechanism 20 comprises a first member 28, in the form of a steel housing.
  • a second, core, member 30, also formed from steel, is received within the housing 28 in a telescoping arrangement, and is coupled thereto by a locking mechanism 50 (see Figure 6 ) which can selectively retain the core 30 within the housing 28 in a first defined axial position, or allow movement of the core 30 to a second axial position relative to the housing 28.
  • An actuator 32 is also provided, extending below the core 30, to selectively release the locking mechanism when required.
  • the release mechanism 20 is in a first, 'lifting', configuration, with a large degree of overlap between the core 30 and the housing 28, ie the telescoping arrangement of the core 30 and housing 28 is in a retracted configuration.
  • the locking mechanism is holding the core 30 in a first axial position relative to the housing 28 such that the core 30 cannot move downwards to extend further from the housing 28.
  • the locking mechanism 50 may be selected from a number of known types. For example, a moveable stop may be provided to hold the core in the first axial position, with a fixed stop defining the second axial position.
  • a ratchet, cam or rocker may be associated with the movable stop, and may be tripped or actuated every time a component moves past to alternatively allow and prevent movement of the core 30 past the movable stop.
  • a linkage having a collapsible 'knee' joint may be provided between the core 30 and the housing 28.
  • a latch or trip link may be provided to selectively retain the knee in a bent configuration, providing the first axial positon of the core 30, or allow the linkage to extend until the core 30 is in a second axial position.
  • the housing 28 is suspended from a primary lifting chain 24 attached to a crane hoist or similar, and a pair of secondary lifting chains 26 are connected between the core 30 and a pair of lifting clutches 2', each similar to that shown in Figure 2 .
  • the clutch release mechanism 20 also comprises a pair of actuation cables 34, formed from wire rope, connected between the housing 28 and the tails 12' of the lifting clutches 2'.
  • the lifting clutches 2' are set in their closed position, and the lifting chains 24,26 are under tension as the pipe section is lifted. The tension in the system during lifting naturally resists rotation of the tails 12' of the lifting clutches 2', but in any case the cables 34 are sufficiently long that slack is provided and no force is applied to the tails 12'.
  • Figure 3B shows the same pipe section 22 having been lowered into position, and the clutch release mechanism 20 being actuated to move from the lifting configuration shown in Figure 3A to a second, 'releasing', configuration.
  • the clutch release mechanism 20 is lowered further until the actuator 32 contacts the top of the pipe section 22 and the lifting chains 24,26 fall slack.
  • the weight of the housing 28 and the core 30 together are sufficient to operate the actuator 32 and trip or release the locking mechanism between the housing 28 and the core 30. This allows the core 30 to move within the housing 28 to a second, extended, position as shown in Figure 3C when the arrangement is lifted clear of the pipe section 22.
  • Figure 3C shows the clutch release mechanism 20 having released the lifting clutches 2' as it is lifted clear of the pipe section 22.
  • the lifting chains 24,26 in Figure 3C are again shown under tension as the clutch release mechanism 20 is lifted by the primary lifting chain 24.
  • the core 30 has moved, under its own weight, from the position shown in Figure 3A to an extended position where it protrudes further from the housing 28, and is prevented from extending beyond this second axial position by the locking mechanism or simply by interference between the core 30 and the housing 28.
  • the extended position of the core 30 effectively increases the distance between the mounting points of the cables 34 on the housing 28 and the secondary lifting chains 26 on the core 30.
  • lifting the arrangement vertically applies tension to the cables 34 before tension is created in the secondary lifting chains 26.
  • the tension in the cables 34 has rotated the tails 12' of the lifting clutches 2', in the direction of arrow 16, to release the clutches as previously described. Further lifting of the arrangement will lift the clutches 2' free from the pipe section 22 without direct interaction from a worker.
  • FIGS 4A to 4C show a second embodiment of the invention.
  • the second embodiment is similar in many ways to the first embodiment previously described, and is illustrated in the same three stages of operation.
  • the main difference is that in the clutch release mechanism 120 of the second embodiment both the primary lifting chain 124 and the secondary lifting chains 126 are attached to the housing 128, with the cables 134 attached to the core 130.
  • a benefit of this arrangement is that the locking mechanism provided between the housing 128 and the core 130 need not bear the weight of the pipe section 22 during lifting. The problem discussed above for the first embodiment is therefore avoided.
  • the operation of the clutch release mechanism 120 of Figure 4A remains similar to the clutch release mechanism 20 of the first embodiment because the cables 134 are passed over rollers or pulleys 136 provided on the housing 128 before being attached to the core 130.
  • the weight of the core 130 is sufficient to actuate the tails 12 of the clutches 2' only when there is no tension on the secondary lifting cables 126. Accordingly, a failure in the locking mechanism of the clutch release mechanism 120 of the second embodiment during a lifting operation will not result in release of the clutches 2'. The locking mechanism is therefore less likely to fail during use, and any failures that do occur are less problematic.
  • Resetting the clutch release mechanism 120 to a 'lifting' configuration is achieved as in the first embodiment.
  • Rollers or pulleys 236 are provided on the housing 228, as in the second embodiment, and further rollers or pulleys 240 are provided on the spreader beam 238, again spaced to match the spacing of the lifting points on the pipe section 22.
  • the cables 234 run from the tails 12' of the lifting clutches 2' over the pulleys 240 on the spreader beam, then over the pulleys 236 on the housing 228 before being attached to the core 230.
  • Figure 5A shows the clutch release mechanism 220 in the 'lifting' configuration, with the core 230 held in a first axial position within the housing 228 by the locking mechanism.
  • the primary and secondary lifting chains 224,226 are under tension, and the cables 234 are slack.
  • the clutch release mechanism 220 is moved to the 'releasing' configuration by lowering the arrangement until the actuator 232 makes contact with the pipe section 22 as shown in Figure 5B .
  • the secondary lifting chains 226 and cables 234 are slack, indicating that the weight of the arrangement is borne by the actuator 232. This releases the locking mechanism allowing the core 230 to extend from the housing 228 when lifted as shown in Figure 5C .
  • the weight of the core 230 draws the cables 234 over both sets of pulleys 238,240 as it moves to its second axial position relative to the housing 228.
  • the tension in the cables 234 rotates the tails 12' of the clutches 2' in the direction of arrow 16 and thus release the clutches 2' from the pipe section 22.
  • the weight of the core 230 is only sufficient to release the clutches 2' when there is no tension in the secondary lifting chains 226.
  • the third embodiment allows the cables 234 to drop substantially vertically to the tails 12' of the clutches 2'. This can help to ensure that the clutches 2' are released by the system regardless of the orientation of the tails 12' relative to the pipe section.
  • the clutch release mechanisms 20,120 of the first two embodiments are intended for use with clutches 2' oriented so that their tails 12' point outwards, away from the angled secondary lifting chains 26 as shown in the Figures.
  • Resetting the clutch release mechanism 220 to a 'lifting' configuration is achieved as in the first and second embodiments, ie by again lowering the actuator 232 onto a suitable hard surface.
  • the locking mechanism 50 comprises a top link 52 and a bottom link 54 connected at a pivot point 56.
  • the top link 52 has a generally L-shaped opening or slot 58 and the bottom link 54 has a straight, generally vertical opening or slot 60.
  • the slots 58,60 receive locating pins 59,61 provided on the housing 28,128,228 of the telescoping arrangement.
  • the locking mechanism 50 provides an upper surface or ledge 62 on the top link 52 for supporting the core 30,130,230 of the telescoping arrangement in the first axial position as previously described.
  • a lower engagement surface 64 is provided on the bottom link 54 to release the locking mechanism 50.
  • a bar or similar structure engages the engagement surface 64 and lifts the entire locking mechanism 50 in the direction of arrow 66.
  • the generally vertical slot 60 and its respective pin 61 constrain movement of the bottom link 54 to a generally vertical direction, but the L-shaped slot 58 allows the top link 52 to fall or collapse in the direction of arrow 68, rotating about the pivot point 56, once the relevant locating pin 59 reaches the corner of the L-shaped slot 58.
  • a weight 70 is provided on the top link 52 to encourage this movement.
  • the ledge 62 of the top link is clear of the core 30,130,230, which is then able to move downwards past the top link 52 until it reaches the second axial position where it is prevented from extending further by a fixed stop. This corresponds to the extended position of the core 30,130,230 or the 'releasing' configuration of the clutch release mechanism 20,120,220.
  • a subsequent vertical force applied to and released from the engagement surface 64 serves to move the locking mechanism 50 back to the configuration shown in Figure 6 .
  • the same vertical force contracts the telescoping mechanism, so the core 30,130,230 is again restrained in the first axial position.
  • the release mechanisms described would work not only with ring clutches 2' of the type shown in Figure 2 , but also with other lifting clutches or hooks with a suitable latch or gate arrangement, including double hooks providing a scissor-type or 'pincer' mechanism, or expanding lifters such as that produced by Obelix Lifting Systems Pty Limited. Hook or clutch designs employing a form of quick release mechanism would be particularly suitable for use with the present invention.
  • the illustrated embodiments all show an arrangement for attaching to a pair of lifting points, allowing the release of two lifting clutches simultaneously.
  • the invention would also function for just a single lifting point or, with additional chains, cables and possibly rollers or pulleys, could release additional clutches from additional lifting points if required. At least three or four lifting points could be accommodated without significant modification.
  • the spreader beam 238 of the third embodiment could be replaced with a frame or a pair of crossed beams if required.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Conveying And Assembling Of Building Elements In Situ (AREA)
EP18178830.8A 2017-07-03 2018-06-20 Auslösemechanismus Active EP3424864B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB1710659.2A GB2564114B (en) 2017-07-03 2017-07-03 Release mechanism

Publications (2)

Publication Number Publication Date
EP3424864A1 true EP3424864A1 (de) 2019-01-09
EP3424864B1 EP3424864B1 (de) 2020-02-19

Family

ID=59592641

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18178830.8A Active EP3424864B1 (de) 2017-07-03 2018-06-20 Auslösemechanismus

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EP (1) EP3424864B1 (de)
GB (1) GB2564114B (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113148833A (zh) * 2021-03-19 2021-07-23 山东省公路桥梁建设有限公司 吊点自动拾取装置及拾取方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022130929A1 (ja) * 2020-12-15 2022-06-23 株式会社キトー 吊り金具

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2998277A (en) * 1958-06-11 1961-08-29 Jr Edmond E Himel Chain hoist
JPS50143277U (de) * 1974-05-16 1975-11-26
DE2552387A1 (de) * 1975-11-22 1977-05-26 Haeussler Ernst Vorrichtung zum manipulieren von betonfertigteilen
JPS5647879U (de) * 1979-09-14 1981-04-28
WO2005040032A1 (en) * 2003-10-28 2005-05-06 Ole Molaug A tool for connection and disconnection of cargo

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2431987A1 (fr) * 1978-07-27 1980-02-22 Prat Joel Palonnier
SU922034A1 (ru) * 1979-10-26 1982-04-23 Управление Механизации И Производства Погрузочно-Разгрузочных Работ Главного Управления Автомобильного Транспорта Мосгорисполкома Захватное устройство дл контейнеров
SU1754624A1 (ru) * 1990-11-20 1992-08-15 В.А. Трапезников Грузозахватное устройство

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2998277A (en) * 1958-06-11 1961-08-29 Jr Edmond E Himel Chain hoist
JPS50143277U (de) * 1974-05-16 1975-11-26
DE2552387A1 (de) * 1975-11-22 1977-05-26 Haeussler Ernst Vorrichtung zum manipulieren von betonfertigteilen
JPS5647879U (de) * 1979-09-14 1981-04-28
WO2005040032A1 (en) * 2003-10-28 2005-05-06 Ole Molaug A tool for connection and disconnection of cargo

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113148833A (zh) * 2021-03-19 2021-07-23 山东省公路桥梁建设有限公司 吊点自动拾取装置及拾取方法
CN113148833B (zh) * 2021-03-19 2022-06-10 山东省公路桥梁建设集团有限公司 吊点自动拾取装置及拾取方法

Also Published As

Publication number Publication date
GB201710659D0 (en) 2017-08-16
EP3424864B1 (de) 2020-02-19
GB2564114A (en) 2019-01-09
GB2564114B (en) 2022-03-02

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