EP3724121A1 - Dispositif de déclenchement indépendant de la force exercée par une charge - Google Patents

Dispositif de déclenchement indépendant de la force exercée par une charge

Info

Publication number
EP3724121A1
EP3724121A1 EP18839804.4A EP18839804A EP3724121A1 EP 3724121 A1 EP3724121 A1 EP 3724121A1 EP 18839804 A EP18839804 A EP 18839804A EP 3724121 A1 EP3724121 A1 EP 3724121A1
Authority
EP
European Patent Office
Prior art keywords
lever
triggering device
release
load
triggering
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
EP18839804.4A
Other languages
German (de)
English (en)
Other versions
EP3724121B1 (fr
Inventor
Johannes Lemburg
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.)
Alfred Wegener Insitut fuer Polar und Meeresforschung
Original Assignee
Alfred Wegener Insitut fuer Polar und Meeresforschung
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 Alfred Wegener Insitut fuer Polar und Meeresforschung filed Critical Alfred Wegener Insitut fuer Polar und Meeresforschung
Publication of EP3724121A1 publication Critical patent/EP3724121A1/fr
Application granted granted Critical
Publication of EP3724121B1 publication Critical patent/EP3724121B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
    • B66C1/34—Crane hooks
    • 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
    • B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
    • B66C1/34—Crane hooks
    • B66C1/36—Crane hooks with means, e.g. spring-biased detents, for preventing inadvertent disengagement of loads

Definitions

  • the invention relates to a load-independent triggering device for a force exerting on it, which is held in an open position of the triggering device and released in an open position of the triggering device, with a housing and a trigger lever which is connected via a steering lever with a trigger pawl in which the release lever is rotatably mounted on a first housing axis, the release pawl on a second housing axis and the steering lever on a first steering lever axis on the release lever and on a second Lenkhebe- salmon on the release latch, as well as with an acting at least on the trigger lever spring means and a Verrieglungseinrich- device by which the triggering device is fixed in the CLOSED position.
  • a triggering device serves to separate a load from a device, for example a crane or a portal.
  • a load independent trigger disengages the load from the device independent of the force exerted by the load on the trip device prior to separation.
  • a heavy load blocks the trip device because the parts that are open to move do not move under the load force effect. Only a lifting of the load force then makes it possible to open the release device. But this is not possible or only with great effort, especially for very heavy loads.
  • load-independent tripping devices the load force is not applied to the opening components, so that They can also open safely under the action of the load on the triggering device.
  • load-independent triggering devices are known, for example, for gliders (so-called “tow-couplings").
  • load-independent triggering devices are also of great advantage, because often large loads have to be lowered under their output force in the water or have to be made up in the water under their buoyancy force.
  • the known load-independent triggering device comprises a housing on which a rotatable segment and a lever are arranged on a first housing axis. Segment and lever form a release lever.
  • the first housing axis is fixed in place in the housing.
  • a release latch is rotatably mounted on a second housing axis. The second housing axis is fixed in the housing stationary.
  • Release lever and release latch are hinged together by a steering lever.
  • the steering lever is rotatably mounted on the trigger lever on a first steering wheel axle and on the release pawl on a second steering lever axle.
  • the steering lever is formed in the form of a straight tab, the first and second steering lever axis is respectively arranged at one end of the steering lever. They are not fixed in the housing and move together with the steering lever.
  • the steering lever is guided only by the release lever and release pawl, which under extreme conditions can lead to undefined and unreliable positional positions of the steering lever in the housing.
  • the release lever (or the rotatable segment) and the steering lever together form a link. They are in their dead center, so they block each other and a self-holding is given. By means of the knuckle, the force acting on the load is redirected in the triggering device and no longer acts directly on the locking device.
  • a spring device is provided in the known triggering device, which acts on the release lever (or on the rotatable segment). By adjusting the spring force, the degree of interlocking or latching can be adjusted. This determines the triggering force.
  • the release latch is actuated simultaneously. Its rotation around the second axis of the housing releases the load.
  • the known triggering device has a Verrieglungs adopted in the form of a manually operated eccentric lever, by which the triggering device is fixed in the closed position (CLOSE).
  • the triggering of the known triggering device takes place either manually by actuating the release lever or automatically by force-induced shearing of a release pin made of plastic, which locks the release mechanism in the CLOSED position.
  • the plastic pin blocks a spring-loaded counter-pawl.
  • both triggering mechanisms are not suitable for triggering the triggering device reliably even remotely and under the disturbing influence of external irregular and sometimes very strong forces.
  • the object of the present invention is to further develop the generic load-independent triggering device described above so that the triggering device reliably and remotely under the irregular influence of external forces, but without additional external force application can be triggered, with undefined positions of the steering lever in the housing must be avoided. All advantages of a load-independent triggering device should be preserved. The solution to this problem can be found in the main claim. Advantageous developments of the invention are set forth in the subclaims and explained in more detail below in connection with the invention.
  • the steering lever is angled and, in the CLOSED position of the triggering device, bears against a first bearing surface in the housing and in the OPEN position of the triggering device against a second contact surface in the housing the two steering lever axes are positioned on the first contact surface of the steering lever immediately before a self-holding dead center to the first housing axis and on the second bearing surface of the steering lever out of dead center, and that the spring device is designed as a tension spring between the release lever and the tripping latch is arranged and in the CLOSED position of the tripping device exerts a force on the tripping lever in the direction of the OPEN position of the tripping device.
  • the steering lever is formed at an angle and is guided between two contact surfaces, wherein the steering lever rests in the CLOSED position on the first contact surface and in the ON position on the second contact surface.
  • the steering lever which does not occupy a fixed axle in the housing, but only hinged to the release lever and the release latch Thus, only firmly defined positions in the tripping device is assumed. This increases the reliability of the trip.
  • the defined position is still supported by the angularity of the steering lever, which rests advantageously at least in the CLOSED position on a corresponding angled contact surface. Vertical shifts are safely avoided.
  • the angularity of the steering lever is advantageous in order to bring the two steering lever axles on the steering lever in the CLOSED position of the triggering device with the first housing axis into a position immediately before its dead center position. Due to the angularity, the two steering lever axes can be positioned above and below the first housing axis.
  • the steering lever is intentionally brought very close to the dead center, so he always has the desire to get out of this position in the direction of the OPEN position. Nevertheless, by positioning the steering lever in relation to the housing in approximately dead center position, attacking load forces do not act on the steering lever and block it, if necessary, but are introduced into the housing around it.
  • the release movement of the steering lever is still supported by the provided tension spring between release lever and release latch, which is arranged slightly obliquely.
  • the premature or unintentional triggering is prevented by the locking device, by means of which the triggering device is reliably fixed in the CLOSED position.
  • the triggering device opens automatically and without further external force input, since the energy stored in the mainspring accelerates down the steering lever, which is located shortly before the dead center position and has the tendency to flip over. Due to the tendency of the steering lever to want to open automatically, in conjunction with the tension spring, any obstructions of the triggering device that may occur, such as rust, dirt, deposits (in particular underwater conditions) and friction, can be safely overcome.
  • the trigger device therefore provides a simple, but particularly reliable, load-independent trigger which reliably triggers even heavy loads under adverse environmental conditions and does not block in undefined positions.
  • the reliability of the triggering by the defined position of the steering lever is further improved in the invention, if preferred and advantageous, the two contact surfaces are formed for the steering lever of a closed contour in the housing. As a result, the contact surfaces also receive a precisely defined position and stability. Furthermore, such a contour can be produced relatively easily in a housing wall by milling.
  • the release lever A-shaped trapezoidal
  • the release latch may have in its lower part a hook in which, for example, a rope for the load can be hung.
  • the securing of the rope on the hook can take place, for example, via the housing as an abutment.
  • a counter-pawl is provided, which is rotatably mounted on a third housing axis and in the CLOSED position of the triggering device forms a closed eyelet with the triggering pawl and the housing, in which the Last is halterbar.
  • the suspended load then does not have to slip off a hook. Rather, the holding surface is completely dissolved when opening, so that the release of the load is safely guaranteed.
  • a heavy-duty version with a load capacity of up to 3 t can be preferably and advantageously provided.
  • the housing has a receptacle for a load rope. It is therefore preferred and advantageous if the housing has a one-sided open oblong hole to form the eyelet. The rope can then be inserted into this slot and is there without large Side play safely guided.
  • the counter pawl can assume a defined position in the CLOSED position of the triggering device, it is preferred and advantageous if the counter pawl has a nose, which is mounted in the CLOSED position of the triggering device on an end stop in the housing. Furthermore, the trip pawl and the counter pawl may preferably and advantageously have shoulders which are abutted against each other in the CLOSED position of the triggering device. All these measures are used to reliably secure the load rope in the CLOSE position of the tripping device.
  • the CLOSED position is held exclusively by the action of the locking device. This is of particular importance. It is therefore preferred and advantageous in the invention, when the VerrieglungsUNE comprises an electromagnetic release with an axially displaceable release pin, through which the release lever is fixed in the CLOSE position of the triggering device in the housing, wherein the axially displaceable trigger pin is arranged orthogonal to the release lever.
  • An electromagnetic actuator solenoid actuator
  • the trigger pin is held in the CLOSE position by the armature of the electromagnet and locked there by a spring.
  • the release pin engages through a hole in the release lever.
  • the solenoid When triggered, the solenoid is electrically actuated, causing the trigger pin to retract into the interior of the trigger, releasing the trigger.
  • the release lever Under the attacking spring force of the tension spring (especially in the formation of a spiral spring, ie spiral tension spring), the release lever is pulled down and takes the steering lever with it.
  • the electromagnetic release or the axially displaceable release pin is arranged orthogonally to the release lever. This avoids that accidental external forces acting on the triggering device can operate the trigger unintentionally. Unintended forces in the direction of the axially displaceable trigger pin can still occur because the trigger pin is quite light and held in place by a small spring.
  • the locking device comprises an additional safeguard, by means of which the release lever in the CLOSE position Position of the triggering device is fixed in the housing.
  • the additional assurance can preferably and advantageously be designed as a spring connector. This is a transport lock that must be removed manually. A remote release is not intended.
  • a gripping tab for manual positioning of the tripping lever in the UP position of the tripping device is arranged on the tripping lever. This improves the manual handling of the triggering device. No tools are needed to move the system to the CLOSED position.
  • a suspension is arranged at the upper end. This may be, for example, a rod connected to a portal or a shackle connected to a rope.
  • the tripping device claimed by the invention is particularly resistant to accidental load impacts from the outside. Such effects can occur if the triggering device is used in the underwater area. Here it can be exposed to strong waves or currents or ship movements.
  • the claimed tripping device can be used in particular on a research vessel and serve there to deploy a measuring apparatus. It is also possible to deploy self-propelled underwater vehicles (lander) weighing more than 2 t. It is imperative to ensure that no triggering takes place above the water level in order to prevent damage to the measuring apparatus upon impact with the water surface. The release must first take place in the water body (the measuring apparatus then continues to sink) or only after the measuring device has been set up on the water bottom. Especially in deep-sea operations, it is therefore preferable and advantageous if a seawater-resistant material design is provided for the load-independent triggering device. In particular, stainless steels and plastics are used here.
  • the electromagnetic release is to be protected.
  • it can be easily integrated into a pressure-resistant housing.
  • it is preferable and advantageous to form the electromagnetic release in a pressure-neutral manner.
  • it is filled into a transparent plastic cylinder which can be closed with two lids and completely filled with a pressure fluid, usually pressurized oil.
  • a flexible pressure compensation element communicating with the ambient pressure (thus also with the surrounding medium of water) is inserted into the plastic cylinder.
  • This may preferably and advantageously be a pressure-resistant PVC hose bag, as used in the medical sector for fluid collection.
  • the tubular bag has an integrated supply hose, through which the seawater can penetrate into its interior, and is easily adaptable to any volume. Further details on the use of such bags and their advantages are the older German applications
  • Fig. 3 the triggering device from the rear with the Verriegelungsein- direction.
  • the triggering device 01 is in the CLOSED position, in which a load, for example an OFOS (Ocean Floor Observation System), is held in a skid frame, for example on a crane on a research ship.
  • OFOS and Absetzrahmen have a weight of several hundred kilograms, which act on the triggering device 01 as a whole in the hanging state, but not on the immediate release area. Rather, the force is passed past by the triggering device 01.
  • the triggering device 01 can be triggered independently of the acting load force by applying a low triggering force.
  • the triggering device 01 comprises a housing 02, which in the embodiment shown is screwed together from two structured steel sheets 03, 04 (see FIG. 3). This has the advantage that the further, in particular movable, components can be arranged between the two steel sheets 03, 04 and thus protected against external influences.
  • the tripping device 01 further comprises a tripping lever 05, which is rotatably mounted on a stationary first housing axis 06.
  • the release lever 05 is formed A-shaped, wherein it has a flattened top edge 07th having.
  • the triggering device 01 comprises a triggering pawl 08, which is rotatably mounted on a stationary second housing axis 09.
  • release lever 05 and release pawl 08 are articulated to one another via a steering lever 10.
  • the housing 02 essentially consists of the two steel sheets 03, 04 arranged parallel to one another.
  • the release lever 05 and the release pawl 08 operate between the two steel sheets 03, 04.
  • this consists of two parallel parts, of which one part in the steel sheet 03 and the other part in the steel sheet 04 in the contour 21 (see below) is guided. If we speak below of the "steering lever 10", this is the illustrated steering lever 10 of two parts.
  • a one-piece design is also readily possible.
  • the steering lever 10 is rotatably connected via a location-variable first steering lever axis 11 with the release lever 05 and a movable second steering lever shaft 12 with the release pawl 08.
  • the two steering lever axles 11, 12 and the first housing axis 06 are arranged directly in front of their dead center position 41 (dashed line in FIG. 1), which shows that the second steering lever axis 12 is slightly offset from the linear connection between GE. housing axis 06 and first steering lever axis 11 deviates).
  • the steering lever 10 is not fixed at the dead center, but has a tendency to want to move in the direction of the UP position.
  • This is supported by a spring device 13 in the form of a tension spring 14, which is arranged between the upper edge 07 of the release lever 05 and the release pawl 08.
  • the tension spring 14 is positioned slightly obliquely, ie that an upper stop point 15 of the tension spring 14 is vertically offset slightly to a lower stop point 16.
  • the tension spring 14 (in the embodiment shown is a simple standardized, commercially available coil spring) is strained in the CLOSE position and has the tendency pull the release lever 05 downwards.
  • the steering lever 10 is formed at an angle. In the illustrated embodiment, it is bent in its center at an obtuse angle of about 120 °. In the CLOSED position, it bears against a first contact surface 19 in the housing 02. His position is thus precisely defined. In this case, the first abutment surface 19 is also formed with an obtuse angle. In the ON position, however, the steering lever 10 is mounted on a second contact surface 20 in the housing 02 (see FIG. 2). This position is also precisely defined. The second contact surface 20 is also designed with an obtuse angle.
  • Fig. 1 is further good to see that the two contact surfaces 19, 20 are formed by a contour 21 in the housing 02. This is introduced into both steel sheets 03, 04 (cf. FIG. 3) and has the closed shape of a wall.
  • the first steering lever 11 abuts on the first contact surface 19 in the upper region of the contour 21.
  • the second steering lever axle 12 rests against the second contact surface 20 in the lower region of the contour 21 (see FIG. 2).
  • a counter-latch 22, which is rotatably mounted on a stationary third housing axis 23, is shown in the lower region of the triggering device 01.
  • the counter-pawl 22 forms in the CLOSE position with the release latch 08 and the housing 01 a closed eyelet 24 in which a load is halterbar (for example via a rope).
  • a load is halterbar (for example via a rope).
  • the housing 02 or the two steel sheets 03, 04 has an oblong hole 25 open on one side.
  • this has a nose 26 which presses against an end stop 27 in the housing 02.
  • the end stop 27 can be in the form of a small shaft 28 between the two steel sheets 03, 04 be formed.
  • the release pawl 08 and the counter pawl 22 also have paragraphs 29, with which they are safe to each other.
  • the locking device 17 can be seen only in the region of the trigger pin 18, further details shows the Fig. 3 with insert.
  • the locking device 17 is arranged on the back of the triggering device 01 and orthogonal thereto (the trigger pin 18 is arranged orthogonal to the release lever 05).
  • the locking device 17 comprises an electromagnetic trigger 30 (for example solenoid actuator lntertec ® ITS-LS-4035-D-12V) at the inside half by a magnetic field, an actuator (anchor or only release pin 18) of a solenoid coil linear, ie in the direction the axis is moved back and forth.
  • an electromagnetic trigger 30 for example solenoid actuator lntertec ® ITS-LS-4035-D-12V
  • an actuator anchor or only release pin 18 of a solenoid coil linear, ie in the direction the axis is moved back and forth.
  • the release pin 18 engages through the housing 02 or the rear steel sheet 04 into a hole in the release lever 05 and fixes it.
  • a spring on the trigger 30 keeps the armature locked in the CLOSED position.
  • the release pin 18 In the UP position, the release pin 18 is retracted and the release lever 05 is released.
  • the locking device 17 is pressure-neutral.
  • the electromagnetic release 30 is arranged in a transparent plastic cylinder 31 (polycarbonate), which is sealed pressure-tight by two covers 32.
  • Plastic cylinder 31 and trigger are filled by a pressure oil (for example, white oil or silicone). Due to the transparency of the plastic cylinder 31, it is easier to check in its interior.
  • a pressure compensation element 33 is further arranged, which is pressure-dependent variable in its volume. This is in the selected embodiment to a simple tubular bag 34 (PVC), as it is known from the medical sector (infusion bag, urine bag, secretion bag).
  • the interior of the tubular bag 34 is filled with the environment, that is to say with underwater use with water from the hydrostatic pressure column, so that pressure equalization takes place between inside and outside and pressure neutrality prevails.
  • the anchor of the trigger 30 protrudes to the rear out of the lid 32, so that the pressure oil volume remains constant when actuated and to the trigger 30 if necessary by hand biasing (anchor insert) or correct locking (no anchor is available) to check.
  • an electrical supply line 36 for the actuation of the trigger 30 is shown in FIG.
  • FIG. 1 Another part of the locking device is shown in FIG. This is an additional safeguard 37, in the embodiment shown in the form of a spring connector 38, by means of which the release lever 05 is securely fixed in the TO 02 position of the triggering device 01 in the housing 02.
  • a gripping tab 39 is shown on the release lever 05, which serves to transfer the release lever from the OPEN position, see FIG. 2, again in the CLOSED position.
  • the OPEN position of the triggering device 01 is shown. Most of the components have already been explained in connection with FIG. Well to recognize the greatly changed positions of the trigger lever 05 and the steering lever 10 and the tension spring 14.
  • the release latch 08 has moved only slightly, but the counter pawl 22 released.
  • the triggering device 01 is open, the cable could slide out of the slot 25.
  • the counter-pawl 22 rests again on the end stop 27 and does not obstruct the slot 25.
  • a suspension 40 is shown, on which a coupling rod or a hook (not shown) for attachment / suspension of the triggering device can be arranged on a gantry or a crane.
  • the triggering device 01 provides a simple, but particularly reliable and easy-to-use device, with which even under particularly difficult environmental conditions, especially in the underwater area, very large loads of up to 3 t are reliable can be kept and reliably released.
  • first contact surface for 10 in 02 second contact surface for 10 in 02 contour with 19, 20

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Air Bags (AREA)
  • Lock And Its Accessories (AREA)
  • Mechanical Control Devices (AREA)

Abstract

Des dispositifs de déclenchement dans lesquels la force exercée par une charge accrochée n'agit pas sur le mécanisme de déclenchement fonctionnent indépendamment de la force exercée par la charge avec une force de déclenchement avantageusement faible. Des dispositifs de déclenchement connus (crochets de remorquage) fonctionnent avec un levier de déclenchement, un levier articulé et un crochet de déclenchement, qui peuvent toutefois adopter des états indéfinis les uns par rapport aux autres, de sorte que le déclenchement peut être mis en péril. C'est pour cette raison que, dans le dispositif de déclenchement (01) selon l'invention, le levier articulé (10) est coudé et ledit levier fait contact avec une première surface d'appui (19) dans le boîtier (02), lorsque le dispositif de déclenchement (01) est en position de fermeture, et avec une deuxième surface d'appui (20) dans le boîtier (02), lorsque le dispositif de déclenchement (01) est en position d'ouverture. Le levier articulé (10) n'adopte à cet effet que des positions définies dans le boîtier (02), ledit levier étant positionné, dans la position fermée, juste avant la position de point mort (41) par rapport au levier de déclenchement (05) et s'ouvrira automatiquement. Après le déverrouillage presque sans force du levier de déclenchement (05), un ressort de traction (14) tire le levier de déclenchement (05) dans la position d'ouverture définie. Le dispositif de déclenchement (01) selon l'invention peut ainsi fonctionner de manière fiable même dans des conditions ambiantes très défavorables. En version résistante à l'eau de mer, ledit dispositif est particulièrement adapté à des applications sous-marines à de grandes profondeurs, par exemple pour la mise à l'eau d'appareils de mesure autonomes.
EP18839804.4A 2017-12-15 2018-12-07 Dispositif de déclenchement indépendant de la force exercée par une charge Active EP3724121B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017130067.8A DE102017130067B4 (de) 2017-12-15 2017-12-15 Lastkraftunabhängige Auslöseeinrichtung
PCT/DE2018/101001 WO2019114876A1 (fr) 2017-12-15 2018-12-07 Dispositif de déclenchement indépendant de la force exercée par une charge

Publications (2)

Publication Number Publication Date
EP3724121A1 true EP3724121A1 (fr) 2020-10-21
EP3724121B1 EP3724121B1 (fr) 2021-04-14

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ID=65234336

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Application Number Title Priority Date Filing Date
EP18839804.4A Active EP3724121B1 (fr) 2017-12-15 2018-12-07 Dispositif de déclenchement indépendant de la force exercée par une charge

Country Status (6)

Country Link
US (1) US11027947B2 (fr)
EP (1) EP3724121B1 (fr)
CN (1) CN111727165B (fr)
DE (1) DE102017130067B4 (fr)
ES (1) ES2876172T3 (fr)
WO (1) WO2019114876A1 (fr)

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CN110722291B (zh) * 2019-10-11 2021-05-18 安徽巨一科技股份有限公司 一种安全防脱结构
CH717076A2 (de) * 2020-01-28 2021-07-30 Marenco Ag Lasthaken für Helikopter und Kräne.
CN115893184B (zh) * 2023-03-10 2023-05-09 济宁四通工程机械有限公司 一种吊挂装置

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Also Published As

Publication number Publication date
ES2876172T3 (es) 2021-11-12
US20200377343A1 (en) 2020-12-03
DE102017130067A1 (de) 2019-06-19
DE102017130067B4 (de) 2020-04-16
WO2019114876A1 (fr) 2019-06-20
EP3724121B1 (fr) 2021-04-14
CN111727165A (zh) 2020-09-29
CN111727165B (zh) 2022-05-13
US11027947B2 (en) 2021-06-08

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