EP3844092A1 - Dispositif de commande et de manipulation d'une charge de masse inconnue - Google Patents
Dispositif de commande et de manipulation d'une charge de masse inconnueInfo
- Publication number
- EP3844092A1 EP3844092A1 EP19772650.8A EP19772650A EP3844092A1 EP 3844092 A1 EP3844092 A1 EP 3844092A1 EP 19772650 A EP19772650 A EP 19772650A EP 3844092 A1 EP3844092 A1 EP 3844092A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- control
- load
- handling
- control interface
- detecting
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 claims description 24
- 230000007423 decrease Effects 0.000 claims description 9
- 230000003247 decreasing effect Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 230000002401 inhibitory effect Effects 0.000 claims description 7
- 230000005764 inhibitory process Effects 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 230000005355 Hall effect Effects 0.000 description 1
- 241000234435 Lilium Species 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002301 combined effect Effects 0.000 description 1
- 238000010835 comparative analysis Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000016507 interphase Effects 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000002829 reductive effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
- B66C13/44—Electrical transmitters
-
- 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
- B66C23/005—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 balanced jib, e.g. pantograph arrangement, the jib being moved manually
Definitions
- the present invention relates to the field of robotics and more particularly to assistance exoskeletons.
- Passive handling assistance devices use springs which are dimensioned to provide calibrated compensation forces with respect to a load of known mass. For active handling assistance devices, it is also necessary to know the mass of the load to be handled in order to control the correct assistance effort. There are many algorithms for controlling an exoskeleton actuator such as for example control in displacement, speed, acceleration or effort.
- An object of the invention is to reduce the operations of prior measurement of the mass of a load to be handled by a load handling assistance device.
- a control and handling device comprising a frame comprising first means of connection to a device for assisting in the load handling, the frame also comprising a control interface and second means for connecting to a load to be handled.
- 1 / control interface is arranged to be able to move relative to the frame from a first position to a second position.
- the control and manipulation device comprises first means for returning the control interface to the first position.
- the control and handling device is provided with first means for detecting the presence of the control interface in its second position.
- the first means of detecting the presence of the control interface in its second position are provided with connectors intended to be connected to a control unit of the load handling assistance device.
- Such a command and handling device makes it possible, when connected to a control unit of a load handling assistance device, to simply configure an assistance effort to be provided without the need to previously enter the value of the mass of the load to be handled.
- This makes it possible to use a load handling assistance device for handling several elements of different masses with a reduced time for the passage from one element to another, which improves the flexibility of the handling process.
- the control and handling device tion comprises second means for recalling the second means for connecting the load to the third position as well as second means for detecting the presence of the means for connecting the load to be manipulated to their fourth position.
- the second means of detecting the presence of the second load connection means in their fourth position are provided with connectors intended to be connected to a control unit of the load handling assistance device.
- the fineness of 1 / assistance is improved when the control interface is also arranged to be able to move relative to the frame from its first position to a fifth position, the second and fifth positions being located on either side of the first position.
- the control and manipulation device then comprises third means for detecting the presence of the control interface in its fifth position which are provided with connectors intended to be connected to a control unit of the load handling assistance device .
- the first position, the second position and the fifth position are aligned in a first direction.
- the handling assistance device makes it easy to carry out lifting operations when the first direction is vertical when the control and handling device is connected to the load handling assistance device and / or when the third position and the fourth position are aligned in the first direction.
- the presence of a charge is identified before The control and command interface does not change position when the second return means exert a return force less than that exerted by the first return means.
- first return means and / or the second return means comprise a spring.
- the invention also relates to a load handling assistance device connected to the above control and handling device.
- the first return means of the control and handling device exert a return force greater than the friction and inertia forces exerted by the handling assistance device against a coming of the control interface from its first position to its second or third position.
- Safety in use is improved when the device comprises means for inhibiting the first means for detecting the presence of the control interface in its second position and / or means for inhibiting the second means for detecting the presence of the means of the load to be handled in their fourth position and / or means for inhibiting the third means for detecting the presence of the control interface in its fifth position,
- 1 / invention also relates to a method for controlling a load handling assistance device connected to a control and handling device, the control and handling device comprising a frame comprising a control interface and means for connecting to a load to be handled and the control interface is designed to be able to move relative to the frame from a first position to a second position.
- the control and manipulation device comprises first means for returning the control interface to the first position and is provided with first means for detecting the presence of the control interface in its second position.
- the method comprises the steps of;
- a control method is then obtained which makes it possible to evaluate the weight to be borne by the handling assistance device and to configure the control law of this device during the load entry and lifting operations. These operations are transparent for the user and the handling assistance device can be used for handling elements of various masses without recourse to calibration operations.
- the accuracy of the determination of the assistance effort is improved when the method comprises the following additional steps situated between the preliminary phase and the piloting phase:
- a more precise estimate of the weight of the load to be handled is obtained when the control method takes an additional step of correcting the first estimate of a weight of the load to be handled using a force for engaging the first and / or second recall means.
- the load resting phase is more intuitive when the second means of connecting the load are arranged so as to be able to move relative to the frame between a third position and a fourth position and the control and handling device comprises second means of reminder of the second means of connecting the load to the third position and of the second means of detecting the presence of the second means of connecting the load in their fourth position.
- the control interface is then arranged to be able to move relative to the frame from its first position to a fifth position, the second and the fifth position being located on either side of the first position and the control and my manipulation includes third means of detecting the presence of the control interface in its fifth position.
- the method comprises the following additional steps situated in the piloting phase:
- the method comprises the additional step of setting the value of the estimate of the load-resisting force to zero when a presence of the second means for connecting to the load in their fourth position is no longer detected.
- the increasing command results from a non-zero speed setpoint and / or can comprise an increasing force command.
- the increasing force control can include a torque control.
- the invention also relates to a handling assembly comprising a load handling assistance device connected to a control and handling device and a control unit arranged to carry out the method as described above.
- FIG. 1 is a schematic view of a first embodiment of a handling assembly according to the invention
- FIG. 2 is a detailed view of a control and manipulation device according to a first embodiment of the invention
- FIG. 3 is a view of the control and manipulation device of FIG. 2 in a second state
- FIGS. 4 to 13 represent the handling assembly of FIG. 1 during the various stages of a first embodiment of the control method according to the invention
- FIG. 14 is a detailed view of a control and manipulation device according to a third embodiment of the invention.
- FIGS. 15 to 18 represent the handling assembly of FIG. 1 during the various stages of a third embodiment of the control method according to the invention
- the handling assembly generally designated 1 comprises a load manipulator 10 connected to a control unit 90,
- the manipulator 10 rests on a horizontal surface 2 and comprises a support 11 on which a chassis 12 is rotatably mounted on a bearing 13 around a vertical axis Oy.
- the rotation of the chassis 12 around the vertical axis Oy relative to the support 11 is controlled by a first geared motor 14 connected to the unit 90.
- a first segment 15 is articulated in its
- first end 15.1 on the chassis 12 along a horizontal axis Ox.
- the rotation of the first segment 15 relative to the chassis 12 is controlled by a second geared motor 16 connected to 11 control unit 90.
- a second segment 17 is articulated at its first end 17.1 on the second end 15.2 of the first segment 15.
- the rotation of the second segment 17 relative to the first segment 15 is controlled by a third geared motor 18 connected to the control unit 90.
- the second end 17.2 of the second segment 17 comprises means for connecting to a control and manipulation device 20, here in the form of a fixing plate 19 articulated on the second end 17.2.
- a control and manipulation device 20 here in the form of a fixing plate 19 articulated on the second end 17.2.
- An actuator 19.1 not shown ensures that the fixing plate 19 remains in its initial position whatever the position of the second segment 17.
- the first geared motor 14 is equipped with a first rotary encoder 14.1 with points, a first current sensor 14.2 supplying the first geared motor 14 and a first torque sensor 14.3 connected to the control unit 90.
- the second gearmotor 16 is equipped with a second rotary encoder 16.1 with points, a second current sensor 16.2 for supplying the second gearmotor 16 and a second torque sensor 16.3 connected to the control unit 90.
- the third geared motor 18 is equipped with a third rotary encoder 18.1 with points, a third current sensor 18.2 for supplying the third geared motor 18 and a third torque sensor 18.3 connected to the control unit 90.
- the control unit 90 comprises a first module
- the device 20 comprises a frame 21 comprising a plate 22 bolted to the fixing plate 19 of the manipulator 10.
- the frame 21 also includes a handle 23 slidably mounted along a vertical axis (according to the representation of fi - Figures 2 and 3) relative to the frame 21.
- the handle 23 can move from a first position A (shown in Figure 2) to a second position B (shown in Figure 3) which corresponds to a translation of the handle 23 towards the high (according to the representation of FIGS. 2 and 3) relative to the frame 21.
- a first helical coil spring 24 of stiffness k 2 4 recalls the handle 23 from its second position B towards its first position A.
- the stiffness .24 of the first spring 24 is such that the restoring (or latching) force which it exerts is greater than the strong friction and inertia forces exerted by the manipulator 10 to against a coming of the handle 23 from its first position A to its second position B.
- the device 20 also includes a first normally open switch 25 which changes from the state or green to the closed state when the handle 23 is in its second position B (figure 3)
- the frame 21 also includes a hook 26 slidably mounted along a vertical axis (according to the representations of Figures 2 and 3) relative to the frame 21.
- the hook 26 can move from a third position C (shown in Figure 2) to a fourth position D (shown in FIG. 3) which corresponds to a downward translation of the hook 26 (according to the representation of FIGS. 2 and 3) relative to the frame 21.
- a second helical spring 27 of stiffness k 27 recalls the hook
- the stiffness k 27 of the second spring 27 is preferably, but not necessarily born, such that the restoring force (or engagement) which it exerts is less than the restoring force (or engagement) of the first spring 24.
- the device 20 also includes a second normally open switch 28 which passes from the open state to the closed state when the hook 26 is in its fourth position D (FIG. 3).
- the second switch 28 goes from the closed state to the open state when the hook 26 leaves the fourth position D.
- the first switch 25 and the second switch 28 are respectively connected to a first connector 25.1 and a second connector 28.1 inserted in homologous connectors connected to the control unit 90.
- a user 100 grasps the handle 23 and moves the manipulator 10 in order to approach the hook 26 of a load 80 to be handled (FIG. 4), here provided with a lifting ring 81.
- the control unit 90 produces a force-controlled servo of the first geared motor 14, the second geared motor 16 and the third geared motor 18 using the second module 92 of so as to balance the manipulator 10 (vacuum balancing ⁇ .
- the first torque sensor 14.3, the second torque sensor 16.3 and the third torque sensor 18.3 measure in particular the variations in torques produced by the forces applied by the user 100 to the manipulator 10 via the handle 23 and the second module 92 controls the first geared motor 14, the second geared motor 16 and the third geared motor 18 so as to reduce the force applied to the manipulator 10.
- the first mier switch 25 and the second switch 28 are in the open state (FIGS. 2 and 4).
- the control unit 90 controls the manipulator 10 so as to cause movement of the end 17.2 of the second segment 17 vertically upwards.
- This displacement successively causes the hook 26 to come from its third position C to its fourth position D -and therefore the closing of the second switch 28 (FIG. 6) - then the coming of the handle 23 from its first position A to its second position and therefore the closing of the first switch 25 (FIG. 7).
- the second module 92 detects the presence of the handle 23 in its second position B by closing the first switch 25.
- the control unit 90 sets a first setpoint 30 of upward translation speed of 0.5 meters per second in a direction to move the frame 21 relative to the handle 23 so as to bring the handle 23 into its first position.
- 1 / control unit 90 calculates the vertical speed of the load 80 from the angular speed measurements of the second geared motor 16 and the third geared motor 18 respectively made by the second encoder 16.1 and the third encoder 18.1, as well as from the Ions - feeders of segments 15 and 17.
- 1 / control unit 90 then terminates an error between 1 vertical speed of the load 80 and the first setpoint 30 and consequently adjusts the value of the torque command COM 16 sent to the second geared motor 16 and to the third geared motor 18.
- the control and command unit 5 sends an increasing torque command to the second geared motor 16 and to the third geared motor 18.
- the torque Ci 6 applied by the second geared motor 16 to the first segment 15 exceeds the value of its threshold torque C si6 and that the torque Ci 8 applied by the third word oré duée 18 au segment 17 exceeds the value of its threshold torque C if e, the segments 15 and 17 rotate so that the speed of the load 800 is vertical upwards (FIG. 9).
- the value of the vertical force is estimated by the module 91 from the couples Cis and (3 ⁇ 4, from the information provided by the coders 16.1 and 18.1, and the length of the segments 15 and 17 which make it possible to determine the distances L I6 e t Lia separating the second geared motor 16 and the third geared motor 18 of the load 80.
- the torques Cig and Cia can either correspond to the torque commands COM 16 and C0M IB or the torques measured by the torque sensors 16.3 and 18.3, or even torques estimated by the setpoints or current measurements I 16 and lily sent to gearmotors 16 and 18 and a curve linking these intensities to their torques.
- the control unit 90 then makes a correction to this first estimate of the value of the vertical force which takes into account the latching forces exerted by the return spells 24 and 27 and which is supplied by the operator as well as the friction in the whole of the handling assistance device including in the geared motors 16 and 18.
- This correction can take the form, here, of a summation of the maximum of the latching forces exerted by the springs of reminder 24 and 27 with the first estimate of vertical force.
- the corrected value of the vertical force which corresponds to an estimate of the weight therefore of the mass Mao esi of the load 80, is used by the second module 92 to configure a law of servo-control in force which establishes the commands to be applied to the second gearmotor 16, to the third gearmotor 18 and possibly to the first gearmotor 14 to control the manipulator 10 when handling the load 80, and this until the load rests.
- the vertical force control law passes the value of the force applied to the device 20 to zero and establishes the commands to be applied to the second geared motor 16, to the third geared motor 18 and possibly to the first geared motor 14 accordingly.
- a control method is thus obtained making it possible to estimate the mass of a load 80 to be handled by a manipulator 10 and then to control this manipulator 10 using the first estimate Mso esi of the mass of the load 80.
- the preliminary phase comprises additional steps for determining a second estimate Mgo es 2 of the mass of the load 80.
- the first module 91 sets a second setpoint 31 of negative speed of fifteen degrees per second to the second gearmotor 16 in a direction aimed at moving the frame 21 relative to the handle 23 so as to return the handle 23 to its second position B (here a downward rotation in a vertical plane according to the representation of Figures 1 and 2).
- the first module 91 also fixes a setpoint of zero displacement at the third gearmotor 18.
- the first module 91 stores the second value COM I6-2 reached by the command COMie sent to the second gearmotor 16, here the second value Ii 6-2 reached by the supply current intensity of the second geared motor 16. This second value is measured using the sensor 16.3. Alternatively, or jointly, the module 91 can record the second torque Ci 6 -2 applied by the second gearmotor 16. The first module 91 uses the second value I 16-.2 to refine the first estimate M 8 oesi load 80 and result in a second estimate Mso es 2 - This second estimate M 8 o es 2 can be determined by taking into account the stiffness k 24 of the first spring 24 and / or by averaging the first couple C si6 and of the second couple Cig-2 ⁇
- This second estimate M 8 o eS 2 is recorded by the second module 92 and is then used by the second module 92 to configure a force control law which establishes the commands to be applied to the second geared motor 16, to the third geared motor 18 and possibly to the first geared motor 14 for controlling the manipulator 10 when handling the load 80.
- a third helical spring 29 of stiffness k 2g recalls the handle 23 towards its first position A.
- the stiffness k ⁇ 9 of the third spring 29 exerts a return force greater than the friction and inertia forces exerted by the manipulator 10 against an arrival of the handle 23 from its first position A to its fifth position E.
- the device 20 also includes a third Normally Open switch 40 which passes from the open state to the closed state when the handle 23 is in its fifth position E (FIG. 14).
- the third switch 40 goes from the closed state to the open state when the handle 23 leaves the fifth position E.
- the third switch 40 is connected to a third connector 40.1 inserted in a homologous connector connected to the control unit 90 .
- the user By maintaining the application of a downward force, the user causes the passage of the handle 23 from its first position A to its fifth position E.
- the third switch 40 changes from the open state to the closed state (figure 16).
- the presence of the handle 23 in its fifth position is then detected and the second module 92 controls a decrease in the assistance force exerted by the manipulator 10.
- This decrease is implemented here by decreasing an applied gain to the assistance effort generated by the manipulator 10.
- the manipulator 10 under the combined effect of the downward effort applied to the handle 23 by the user 100 and the decrease in the assistance effort exerted by the manipulator 10, moves in a downward movement according to the representation of FIG. 16.
- the hook 26 leaves its fourth position D.
- the second switch 28 then goes to the open state.
- the second module 92 no longer detects the presence of the hook 26 in its fourth position D (FIG.
- This situation corresponds substantially to a situation of return to the balancing of the manipulator 10 when empty and may be accompanied by a reset to zero of the value of the first estimate M80 esi (or the second estimate M80 eS2) of the mass of the load 80.
- the user 100 then guides the manipulator 10 using the handle 23 so as to release the hook 26 (FIG. 18).
- connection of the load to the manipulator is ensured by a hook intended to collaborate with a ring of the load
- the invention also applies to other types of second means of connection to a load such as for example a gripper, forks, a vacuum cup or a magnetic gripper;
- manipulator comprises geared motors
- the invention also applies to other types of actuators such as, for example, cable actuators, linear hydraulic, pneumatic or electric actuators;
- gearmotors are provided with a rotary dot encoder
- the invention also applies to other means of detecting a movement of G actuator such as a cable encoder, a resistive track, an inertial unit;
- the invention applies to other values of the speed setpoint such as for example any non-zero value
- exoskeleton includes a handle
- the invention also applies to other types of control interface such as a joystick or a steering wheel;
- the invention also applies to other types of increasing vertical force control such as for example an increasing force control;
- the invention also applies to other types of decreasing vertical force control such as for example a decreasing force control;
- control and handling device comprises a hook mounted movable between a third and a fourth position as well as a second switch for detecting the presence of the hook in its fourth position
- the invention also applies to a hook mounted fixed,
- the placing of the load on its support in order to unhook it may, for example, be detected by a comparative analysis of the supply currents of the manipulator gearmotors and of the movements of the elements of the manipulator or using a push button located on the handle;
- the invention also applies to a detection of the fact that the handle has left its second position by detecting the presence of the handle in its fifth position (closing of the third switch);
- the load manipulator comprises two motorized segments mounted on a base which is also motorized
- the invention also applies to other types of handling assistance devices such as for example a handling assistance device deformable parallelogram handling comprising means for assisting handling with no load separate or confused with means for assisting with handling of the load, an overhead crane, a handling assistance device comprising a different number of segments as a single segment or more than two, a manipulator comprising a different number of lifting and / or slewing actuators;
- the invention also applies to other configurations of the handling assistance device, such as for example a fixed chassis or whose rotation is free, the chassis which can be mounted for example on a ball bearing or a fluid bearing;
- the invention also applies to other configurations of the device assistance in handling the load, such as for example a motorized rotation of the control and handling device on the handling assistance device;
- the output force of the gearmotor is measured using a torque sensor, such a sensor is not essential because the force provided by the gearmotor can be measured in other ways such as for example by measuring the supply current, reading a strain or elongation gauge positioned on the segment;
- control and handling device comprises a connection plate to the manipulator
- the invention also applies to other types of first means of connection to a device for assisting with the handling of load such as for example a bonded, welded, screwed or snapped connection;
- first spring recalls the handle from its second to its first position and a third spring recalls the handle from its fifth towards its first position
- the invention also applies to a single spring recalling the handle towards its first position.
- return means such as for example an elastomer block, Belleville washers or a magnet
- control and handling device comprises a first switch
- the invention also applies to other means of detecting the presence of the handle in its second position such as for example a photoelectric cell, a sensor in ductive, a Hall effect sensor, an ultrasonic sensor or a pressure sensor
- a photoelectric cell for example a photoelectric cell, a sensor in ductive, a Hall effect sensor, an ultrasonic sensor or a pressure sensor
- these same means can also be used to detect the presence of the handle in its fifth position and / or the presence of the hook in its fourth position;
- the invention also applies to other modes of piloting the gearmotors of the manipulator as by example a simultaneous application of speed instructions to the two geared motors;
- the decrease in the assistance effort generated by the manipulator is implemented by decreasing a gain applied to the assistance effort
- the invention also applies to other means of decreasing the assistance effort, for example by gradually decreasing the value of the estimate of the mass of the load to be handled;
- the invention also applies to other means of controlling the process as servicing, for example an inhibition of the first and third switches in the piling or when no load is detected;
- control and ani- pulation also includes a third switch which contributes to triggering the phase of reduction of the assistance effort
- the invention also applies to other means of controlling a decrease in the assistance effort such as for example a switch trigger type placed on the control interface;
- control interface plate is held in its initial position using an actuator
- the invention also applies to other means for balancing the control interface such as for example a deformable parallelogram
- the control of the handling assistance device is done using a force control law
- the invention also applies to other types of vertical force control law aimed to supply or apply a vertical force opposite to the weight of the load to be handled, such as, for example, open-loop, closed-loop regulation or torque control
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Jib Cranes (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1857828A FR3085368B1 (fr) | 2018-08-30 | 2018-08-30 | Dispositif de commande et de manipulation d`une charge de masse inconnue |
PCT/EP2019/073141 WO2020043850A1 (fr) | 2018-08-30 | 2019-08-29 | Dispositif de commande et de manipulation d'une charge de masse inconnue |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3844092A1 true EP3844092A1 (fr) | 2021-07-07 |
Family
ID=66218127
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP19772650.8A Pending EP3844092A1 (fr) | 2018-08-30 | 2019-08-29 | Dispositif de commande et de manipulation d'une charge de masse inconnue |
Country Status (3)
Country | Link |
---|---|
EP (1) | EP3844092A1 (fr) |
FR (1) | FR3085368B1 (fr) |
WO (1) | WO2020043850A1 (fr) |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5632240B2 (fr) * | 1973-12-05 | 1981-07-27 | ||
JPH0223200A (ja) * | 1988-07-12 | 1990-01-25 | Komatsu Ltd | 平衡荷役装置のリミット制御方法 |
JPH04365800A (ja) * | 1991-06-14 | 1992-12-17 | Toshiba Corp | 負荷平衡装置の制御方法 |
JPH0687599A (ja) * | 1992-09-09 | 1994-03-29 | Toshiba Corp | 負荷昇降装置 |
JPH10182100A (ja) * | 1996-12-25 | 1998-07-07 | Aikoku Alpha Kk | エアー式荷役物運搬機の電気制御方法 |
-
2018
- 2018-08-30 FR FR1857828A patent/FR3085368B1/fr active Active
-
2019
- 2019-08-29 WO PCT/EP2019/073141 patent/WO2020043850A1/fr unknown
- 2019-08-29 EP EP19772650.8A patent/EP3844092A1/fr active Pending
Also Published As
Publication number | Publication date |
---|---|
WO2020043850A1 (fr) | 2020-03-05 |
FR3085368B1 (fr) | 2021-04-23 |
FR3085368A1 (fr) | 2020-03-06 |
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