US3655232A - Gripper for handling heavy products and specifically horizontal-axis coils - Google Patents

Gripper for handling heavy products and specifically horizontal-axis coils Download PDF

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Publication number
US3655232A
US3655232A US833120A US3655232DA US3655232A US 3655232 A US3655232 A US 3655232A US 833120 A US833120 A US 833120A US 3655232D A US3655232D A US 3655232DA US 3655232 A US3655232 A US 3655232A
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United States
Prior art keywords
vertical
gripper
ram
telescopic
arms
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Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
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US833120A
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English (en)
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Ghislain Antoine Jean Martelee
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—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
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • 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
    • B66C1/28—Duplicate, e.g. pivoted, members engaging the loads from two sides
    • B66C1/30—Duplicate, e.g. pivoted, members engaging the loads from two sides and also arranged to grip the sides of the loads
    • B66C1/32—Duplicate, e.g. pivoted, members engaging the loads from two sides and also arranged to grip the sides of the loads of piled or stacked articles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/905—Wireless remote control device

Definitions

  • ABSTRACT [30] Foreign Application Priority Data
  • a handling gripper for rigid products and specially coils there is provided a framework in the form of a rigid casing June 20, 1968 Belgium ..l4,803 pivotany Suspended from a vertical suspension pivot attached to a lifting hook.
  • the casing houses horizontal telescopic arms "294/67 294/67 operated by a horizontal ram and from which are suspended hollow vertical telescopic grasping arms each housing a [58] Field of Search ..294/67, 88, 81, 86,85 cal hydraulic ram connected to a compressed on accumulator which supplies oil to said horizontal ram and to a rotating ram [56] References cued about the vertical suspension pivot, according to the position UNITED STATES PATENTS of a remotely controlled electromagnetic valve.
  • the present invention relates to a gripper intended for handling packages of metal plates and above all coils of sheet metal having their axis positioned horizontally.
  • grippers which comprise a strong framework supporting vertical grasping arms which may be opened or closed in manner to bring claws tipping these arms to grasp or release the product to be displaced.
  • the opening and closing of the arms are produced by a variety of devices, commonly by electrical actuation or by means of a motor-reduction gear.
  • the actuating means have given speeds imposed a priori, so that impacts occur at some instants, which are difficult to prevent even if the operative works with care and smoothly.
  • the present invention which has the object of eliminating the shortcomings cited, relates to a handling gripper for heavy products and specifically to sheet metal coils having their axes positioned horizontally, comprising a strong framework equipped with horizontal arms, which are displaceable and terminally carry vertical grasping arms, being characterised in that it comprises suspended in rotary manner from a vertical suspension pivot carried by an attachment for fastening to a lifting hook, a frame formed by a rigid case in which are housed horizontally telescopic arms from which are suspended vertical telescopic grasping arms in each of which is housed a hydraulic ram or jack in communication with a pressurised oil accumulator which, according to the position of remote control electromagnetic valves, feedsa ram for actuation of the horizontal telescopic arms and a ram for rotation of the gripper, the said rams both being connected to a reserve tank containing oil under pressure, connected to the rams of the vertical grasping arms in such manner as to accumulate a part of the potential energy of the load handled to induce operation of the
  • the rigid case is a hollow element of double T-shape in plan view whereof the branches contain the horizontal telescopic arms whereas the stem is secured in rotary manner to the vertical suspension pivot.
  • the horizontal telescopic arms are each formed by two elements, an internal element remaining close to the suspension spindle and an external one spaced apart from the said spindle in the extended position, and installed telescopically with respect to each other and to the rigid case.
  • the internal telescopic elements of each arm each carry, at one side, a rack meshing with a pinion arranged loose on the vertical pivot and, at the other side, a pinion meshing on the one hand with a rack arranged on the rigid case, and on the other hand with a rack arranged on the external telescopic elements.
  • FIG. 1 is a diagrammatical view in lateral elevation of a gripper wrought according to the invention.
  • FIG. 2 is a view in axial section along II-Il of FIG. 1.
  • FIG. 3 is a view in section along III-III of FIG. 1.
  • FIG. 4 is a view in section along IVIV of FIG. 1.
  • FIGS. 5 and 6 are respectively fragmentary side cross-sectional and plan views of the rotation ram structure according to the present invention.
  • the gripper in question comprises a rigid framework formed by a hollow case 5 having a form of double T-shape in plan view.
  • This hollow case 5 is equipped with a ball thrust bearing 8 traversed by a vertical suspension pivot 7 which is guided in a bushing 9 integral with the said case.
  • the upper part of this vertical pivot -7 passes through a horizontal securing pivot 4 and is equipped with a retaining nut 7a.
  • the horizontal pivot 4 forms a lower spacer or cross-member of a fastening attachment which is formed by two flat elements 3 also stayed at the upper part by a removable securing bar, 1 equipped with a removable sleeve or socket 2 taken" by a lifting hook which is not shown. In this way, the sleeve 2 can be changed, so that the latter can thus be matched to the radius of curvature of the lifting hook, preventing accidental unhooking.
  • each of the said elements 10 possesses apparent from the following description of the accompanying drawings which relate to an example of embodiment given by way of illustration only.
  • lugs 17a in which are situated bearings 17 of a pivot 17b for support of a pinion 16 which meshes on the one hand with a rack 18 secured to the case 5, and on the other hand with a rack 19 secured to the external horizontal telescopic element 14.
  • each of the two vertical arms 6 consists of a fixed part 23 integral with an element 14 on these fixed parts 23 slide sleeves 24 each tenninating in a grasping claw 25 which is equipped with a removable bearer element 25a.
  • This element is removable to allow of easy replacement in case of wear, or of the application of longer elements penetrating more deeply into the coil, or of pivoting elements reducing the thickness of the sleeves 24 as much as possible.
  • a pressurized oil accumulator 31 and an oleopneumatic tank 32 in which the oil is subjected beforehand to an air pressure of the order of 6 kgs/c m.
  • a radio-electric signal transmitted to the receiver of the set 36 is then applied to actuate the electromagnetic valve 35 and cause the accumulator 31 to feed the ram 20 through the pipes 20a,20c to open the gripper and thus release the coil.
  • the ram 20 for the opening and closing of the gripper is actuated by the oil from the accumulator 31 and is connected at its two ends to the tank 32 through the electromagnetic valve 35 and the pipe 35a so that the oil expelled from the said ram reenters this tank 32.
  • an electromagnetic valve 37 is actuated which allows oil to pass through a pipe 37a from the accumulator 31 into a ram 34 for actuation of the rotation of the gripper around the vertical suspension pivot 7, the oil issuing from this ram re-entering the tank 32 through 34a.
  • the rotation ram 34 is carried by a bracket 42 on hollow case 5 and comprises a piston 40 whose rod is attached to a rack 41 which engages with a pinion 38 mounted on a shaft 39 carried by case 5.
  • the piston moves in one direction or the other and moves the rack 41 in one direction or the other so that the pinion 38 turns in one direction or the other, which in turn rotates the case 5 and the entire gripper in one direction or the other.
  • a gripper like that described is advantageous in several respects. First of all, it operates without an external source of energy, to open, close and rotate in both directions, which renders it possible to omit a winder with a supply cable. Its very structure ensures that its bulk is reduced in length as well as in height.
  • Handling gripper for rigid products such as coils having a horizontal axis, comprising a framework formed by a rigid hoilow casing of a double T-shaped form, a fastening attachment to a lifting hook, a vertical suspension pivot carried by said fastening attachment and passing through a ball thrust bearing carried by said rigid hollow casing, horizontally telescopic arms housed in said hollow casing having two elements telescopic relative one to the other and relative to said hollow casing, vertical telescopic grasping arms suspended from the ends of said horizontally telescopic arms, a vertical hydraulic ram housed in each said vertical telescopic grasping arm, an oil accumulator receiving compressed oil from said vertical hydraulic ram, each said vertical arm having parts movable relative to each other when a load is lifted by said gripper, said relatively movable parts actuating said rams to send oil to said accumulator so as to recover a part of the potential energy of the bandled load, a reserve tank containing oil under pressure, a horizontal hydraulic rarn acting between
  • each vertical telescopic grasping arm comprises a fixed part unitary with the horizontally telescopic arms and on which is located a sliding sleeve terminating in a grasping nose for a coil, a vertical hydraulic ram being connected to said fixed part and to said sliding sleeve.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
US833120A 1968-06-20 1969-06-13 Gripper for handling heavy products and specifically horizontal-axis coils Expired - Lifetime US3655232A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
BE6041803 1968-06-20

Publications (1)

Publication Number Publication Date
US3655232A true US3655232A (en) 1972-04-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
US833120A Expired - Lifetime US3655232A (en) 1968-06-20 1969-06-13 Gripper for handling heavy products and specifically horizontal-axis coils

Country Status (5)

Country Link
US (1) US3655232A (fi)
BE (1) BE716921A (fi)
DE (1) DE1930824C3 (fi)
FR (1) FR2011270A1 (fi)
GB (1) GB1242017A (fi)

Cited By (39)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3727965A (en) * 1971-07-12 1973-04-17 Cranston Machiner Co Inc Lifting tool for bound packages
US3734556A (en) * 1971-07-07 1973-05-22 Komatsu Seisakusko Kk Gripper device for industrial robots or the like
US3897099A (en) * 1972-12-20 1975-07-29 Saipem Spa Tong apparatus operated oleopneumatically for lifting a submerged pipeline
US3905632A (en) * 1972-05-01 1975-09-16 Transcinor Inc Pallet head loader
US4051966A (en) * 1975-10-23 1977-10-04 Iowa Mold Tooling Co., Inc. Tire manipulating apparatus
DE2747799A1 (de) * 1976-10-29 1978-05-03 Rima Enterprises Ausgleichsstapler fuer das senkrechte stapeln mehrerer signaturen
US4123020A (en) * 1976-02-23 1978-10-31 Kazimierz Korsak VTOL launching and retrieval systems
US4252358A (en) * 1979-08-08 1981-02-24 Klebs James P Horizontal grapple
DE3024112A1 (de) * 1980-06-27 1982-02-04 Pfaff Industriemaschinen Gmbh, 6750 Kaiserslautern Einrichtung zum handhaben von stapeln flexibler gegenstaende, z.b. zeitschriften
FR2508095A1 (fr) * 1981-06-22 1982-12-24 Bj Hughes Inc Elevateur de tour de forage commande a distance
EP0113155A1 (en) * 1983-01-04 1984-07-11 Selectiebedrijf Kooi Beheer B.V. Device for moving a pile of objects such as boxes or bags
EP0154159A1 (de) * 1984-02-10 1985-09-11 Hermann Kruse Kranladegeschirr
US4553719A (en) * 1983-11-04 1985-11-19 David Ott Vehicle lifting system and method
US4594041A (en) * 1985-01-22 1986-06-10 Deweze Manufacturing, Inc. Truck bed bale lift
GB2212475A (en) * 1987-11-16 1989-07-26 Heerema Engineering Handling tubular articles
US4976484A (en) * 1987-12-10 1990-12-11 Nissan Motor Co., Ltd Work positioning device for assembly line
US5163729A (en) * 1991-08-22 1992-11-17 Nicky Borcea Parallel gripper assembly
US5205599A (en) * 1992-08-12 1993-04-27 Drafto Corporation Auxiliary protective coil lifter saddle
US5259719A (en) * 1991-12-30 1993-11-09 Intelmatec Corporation Apparatus for transferring disks between a cassette and a pallet
US5562394A (en) * 1995-04-26 1996-10-08 Brown Paper Converting Machine Works, Inc. Apparatus and method for inserting and retaining core plugs in paper rolls
US5569165A (en) * 1991-05-29 1996-10-29 Origin Medsystems, Inc. Apparatus for mechanical abdominal wall retraction
US6082080A (en) * 1998-10-15 2000-07-04 Abb Flexible Automation, Inc. Device for mechanically grasping and palletizing rectangular objects
US6099227A (en) * 1998-12-08 2000-08-08 Harper Industries, Inc. Telescoping flat bed gripping and lift assembly
US6474047B1 (en) * 1999-03-15 2002-11-05 Abb Automation, Inc. Robotic end effector with counter-rotating fingers
US20040258513A1 (en) * 2003-06-06 2004-12-23 Kenneth Cooke Five axis production line handler
US20070069539A1 (en) * 2005-09-28 2007-03-29 Mark Turbish Remote controlled pick-up device
US20090065093A1 (en) * 2006-02-08 2009-03-12 Boutte Tierson K Hydraulic Crane-Mounted Remotely-Controlled Lifting Device
US20120074724A1 (en) * 2010-09-24 2012-03-29 Kabushiki Kaisha Yaskawa Denki Hand and robot
US20120133165A1 (en) * 2006-05-31 2012-05-31 Ibiden Co., Ltd. Holding apparatus
US20120153654A1 (en) * 2010-12-16 2012-06-21 Jerry Alan Cole Forklift adapter
US20130097836A1 (en) * 2011-10-20 2013-04-25 Cameron International Corporation Ram packer extraction tool
US8925987B1 (en) 2014-03-18 2015-01-06 Steve Cody Ring lift device
US10099384B1 (en) * 2017-09-30 2018-10-16 Quartet Medtronics Inc Industrial wedge-type gripper mechanism
CN109205462A (zh) * 2018-11-29 2019-01-15 卓弢机器人盐城有限公司 一种插线行吊机构
CN109436718A (zh) * 2018-12-29 2019-03-08 中车长江车辆有限公司 集装箱转运防坠装置
CN112520558A (zh) * 2020-12-11 2021-03-19 朱文甫 一种吊车用吊具
US11352237B2 (en) 2020-01-29 2022-06-07 Anders Ragnarsson Self-powered grappler assembly
US11427443B2 (en) * 2017-07-10 2022-08-30 Portocel—Terminal Especializado De Barra Do Riacho S.A. Load-moving equipment
WO2024020698A1 (en) * 2022-07-28 2024-02-01 Carego Tek Inc. Lifting apparatus

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4305692A (en) * 1975-06-24 1981-12-15 Brauer Edwin H Mold handler
DE3517460A1 (de) * 1985-05-14 1986-11-20 Mannesmann AG, 4000 Düsseldorf Greifer
FR2759071B1 (fr) * 1997-01-31 1999-03-19 Lebre Charles J P Pince a geometrie variable pour la prise d'une bobine en position horizontale ou verticale et son basculement sur 90°
DE10031224A1 (de) * 2000-06-27 2002-01-17 Pps Personal Produktions Und S Coilzange zur Aufnahme eines Stahl-Coils

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2390293A (en) * 1942-12-19 1945-12-04 Aluminum Co Of America Work handling unit
US2781136A (en) * 1955-12-27 1957-02-12 Press Automation Systems Inc Material handling apparatus
US3076673A (en) * 1962-01-16 1963-02-05 Cullen Friestedt Company Lifter mechanism with horizontally extensible jaw-supporting arms
US3247974A (en) * 1964-05-11 1966-04-26 Harnischfeger Corp Grab stabilizer for cranes
US3433366A (en) * 1965-10-22 1969-03-18 Southern Iron & Equipment Co I Gantry cranes

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2390293A (en) * 1942-12-19 1945-12-04 Aluminum Co Of America Work handling unit
US2781136A (en) * 1955-12-27 1957-02-12 Press Automation Systems Inc Material handling apparatus
US3076673A (en) * 1962-01-16 1963-02-05 Cullen Friestedt Company Lifter mechanism with horizontally extensible jaw-supporting arms
US3247974A (en) * 1964-05-11 1966-04-26 Harnischfeger Corp Grab stabilizer for cranes
US3433366A (en) * 1965-10-22 1969-03-18 Southern Iron & Equipment Co I Gantry cranes

Cited By (51)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3734556A (en) * 1971-07-07 1973-05-22 Komatsu Seisakusko Kk Gripper device for industrial robots or the like
US3727965A (en) * 1971-07-12 1973-04-17 Cranston Machiner Co Inc Lifting tool for bound packages
US3905632A (en) * 1972-05-01 1975-09-16 Transcinor Inc Pallet head loader
US3897099A (en) * 1972-12-20 1975-07-29 Saipem Spa Tong apparatus operated oleopneumatically for lifting a submerged pipeline
US4051966A (en) * 1975-10-23 1977-10-04 Iowa Mold Tooling Co., Inc. Tire manipulating apparatus
US4123020A (en) * 1976-02-23 1978-10-31 Kazimierz Korsak VTOL launching and retrieval systems
DE2747799A1 (de) * 1976-10-29 1978-05-03 Rima Enterprises Ausgleichsstapler fuer das senkrechte stapeln mehrerer signaturen
US4252358A (en) * 1979-08-08 1981-02-24 Klebs James P Horizontal grapple
DE3024112A1 (de) * 1980-06-27 1982-02-04 Pfaff Industriemaschinen Gmbh, 6750 Kaiserslautern Einrichtung zum handhaben von stapeln flexibler gegenstaende, z.b. zeitschriften
US4400124A (en) * 1980-06-27 1983-08-23 Pfaff Industriemaschinen Gmbh Device for handling stacks of flexible objects
FR2508095A1 (fr) * 1981-06-22 1982-12-24 Bj Hughes Inc Elevateur de tour de forage commande a distance
EP0113155A1 (en) * 1983-01-04 1984-07-11 Selectiebedrijf Kooi Beheer B.V. Device for moving a pile of objects such as boxes or bags
US4553719A (en) * 1983-11-04 1985-11-19 David Ott Vehicle lifting system and method
EP0154159A1 (de) * 1984-02-10 1985-09-11 Hermann Kruse Kranladegeschirr
US4594041A (en) * 1985-01-22 1986-06-10 Deweze Manufacturing, Inc. Truck bed bale lift
GB2212475A (en) * 1987-11-16 1989-07-26 Heerema Engineering Handling tubular articles
US4976484A (en) * 1987-12-10 1990-12-11 Nissan Motor Co., Ltd Work positioning device for assembly line
USRE35605E (en) * 1987-12-10 1997-09-16 Nissan Motor Co., Ltd. Work positioning device for assembly line
US5569165A (en) * 1991-05-29 1996-10-29 Origin Medsystems, Inc. Apparatus for mechanical abdominal wall retraction
US5690607A (en) * 1991-05-29 1997-11-25 Origin Medsystems, Inc. Method for mechanical abdominal wall retraction
US5163729A (en) * 1991-08-22 1992-11-17 Nicky Borcea Parallel gripper assembly
US5259719A (en) * 1991-12-30 1993-11-09 Intelmatec Corporation Apparatus for transferring disks between a cassette and a pallet
US5205599A (en) * 1992-08-12 1993-04-27 Drafto Corporation Auxiliary protective coil lifter saddle
US5562394A (en) * 1995-04-26 1996-10-08 Brown Paper Converting Machine Works, Inc. Apparatus and method for inserting and retaining core plugs in paper rolls
US6082080A (en) * 1998-10-15 2000-07-04 Abb Flexible Automation, Inc. Device for mechanically grasping and palletizing rectangular objects
US6305728B1 (en) * 1998-10-15 2001-10-23 Abb Flexible Automation Inc. Device for mechanically grasping and palletizing rectangular objects
US6099227A (en) * 1998-12-08 2000-08-08 Harper Industries, Inc. Telescoping flat bed gripping and lift assembly
US6474047B1 (en) * 1999-03-15 2002-11-05 Abb Automation, Inc. Robotic end effector with counter-rotating fingers
US6560949B2 (en) 1999-03-15 2003-05-13 Abb Automation, Inc. Robotic end effector with counter-rotating fingers
US20040258513A1 (en) * 2003-06-06 2004-12-23 Kenneth Cooke Five axis production line handler
US6994510B2 (en) * 2003-06-06 2006-02-07 Kenneth Cooke Five axis production line handler
US20070069539A1 (en) * 2005-09-28 2007-03-29 Mark Turbish Remote controlled pick-up device
US7600797B2 (en) * 2005-09-28 2009-10-13 Mark Turbish Remote controlled pick-up device
US20090065093A1 (en) * 2006-02-08 2009-03-12 Boutte Tierson K Hydraulic Crane-Mounted Remotely-Controlled Lifting Device
US7934757B2 (en) * 2006-02-08 2011-05-03 Boutte Tierson K Hydraulic crane-mounted remotely-controlled lifting device
US20120133165A1 (en) * 2006-05-31 2012-05-31 Ibiden Co., Ltd. Holding apparatus
US20120074724A1 (en) * 2010-09-24 2012-03-29 Kabushiki Kaisha Yaskawa Denki Hand and robot
US8757691B2 (en) * 2010-09-24 2014-06-24 Kabushiki Kaisha Yaskawa Denki Hand and robot
US20120153654A1 (en) * 2010-12-16 2012-06-21 Jerry Alan Cole Forklift adapter
US8444366B2 (en) * 2010-12-16 2013-05-21 Jerry Allen Cole Forklift adapter
US20130097836A1 (en) * 2011-10-20 2013-04-25 Cameron International Corporation Ram packer extraction tool
US9777546B2 (en) * 2011-10-20 2017-10-03 Cameron International Corporation Ram packer extraction tool
US8925987B1 (en) 2014-03-18 2015-01-06 Steve Cody Ring lift device
US11427443B2 (en) * 2017-07-10 2022-08-30 Portocel—Terminal Especializado De Barra Do Riacho S.A. Load-moving equipment
US10099384B1 (en) * 2017-09-30 2018-10-16 Quartet Medtronics Inc Industrial wedge-type gripper mechanism
CN109205462A (zh) * 2018-11-29 2019-01-15 卓弢机器人盐城有限公司 一种插线行吊机构
CN109205462B (zh) * 2018-11-29 2024-04-16 卓弢机器人盐城有限公司 一种插线行吊机构
CN109436718A (zh) * 2018-12-29 2019-03-08 中车长江车辆有限公司 集装箱转运防坠装置
US11352237B2 (en) 2020-01-29 2022-06-07 Anders Ragnarsson Self-powered grappler assembly
CN112520558A (zh) * 2020-12-11 2021-03-19 朱文甫 一种吊车用吊具
WO2024020698A1 (en) * 2022-07-28 2024-02-01 Carego Tek Inc. Lifting apparatus

Also Published As

Publication number Publication date
BE716921A (fi) 1968-12-02
DE1930824C3 (de) 1974-07-25
DE1930824A1 (de) 1970-01-15
GB1242017A (en) 1971-08-11
FR2011270A1 (fi) 1970-02-27
DE1930824B2 (de) 1974-01-03

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