EP2636633A1 - Système hydraulique et grue - Google Patents

Système hydraulique et grue Download PDF

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Publication number
EP2636633A1
EP2636633A1 EP20120008080 EP12008080A EP2636633A1 EP 2636633 A1 EP2636633 A1 EP 2636633A1 EP 20120008080 EP20120008080 EP 20120008080 EP 12008080 A EP12008080 A EP 12008080A EP 2636633 A1 EP2636633 A1 EP 2636633A1
Authority
EP
European Patent Office
Prior art keywords
hydraulic
pressure
hydraulic circuit
crane
hydraulic system
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
EP20120008080
Other languages
German (de)
English (en)
Other versions
EP2636633B1 (fr
Inventor
Christof Gassner
Markus Schwarzhans
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.)
Liebherr Werk Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing GmbH
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 Liebherr Werk Nenzing GmbH filed Critical Liebherr Werk Nenzing GmbH
Publication of EP2636633A1 publication Critical patent/EP2636633A1/fr
Application granted granted Critical
Publication of EP2636633B1 publication Critical patent/EP2636633B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/10—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for preventing cable slack
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/08—Arrangement of ship-based loading or unloading equipment for cargo or passengers of winches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/28—Other constructional details
    • B66D1/40—Control devices
    • B66D1/48—Control devices automatic
    • B66D1/52—Control devices automatic for varying rope or cable tension, e.g. when recovering craft from water
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/005—With rotary or crank input
    • F15B7/006—Rotary pump input
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B7/00—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors
    • F15B7/008—Systems in which the movement produced is definitely related to the output of a volumetric pump; Telemotors with rotary output
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20546—Type of pump variable capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20561—Type of pump reversible
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20569—Type of pump capable of working as pump and motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/61—Secondary circuits
    • F15B2211/613—Feeding circuits
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/625—Accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7058—Rotary output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/76—Control of force or torque of the output member
    • F15B2211/761—Control of a negative load, i.e. of a load generating hydraulic energy
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/76—Control of force or torque of the output member
    • F15B2211/763—Control of torque of the output member by means of a variable capacity motor, i.e. by a secondary control on the motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/88—Control measures for saving energy

Definitions

  • the invention relates to a hydraulic system for a crane with at least one hydraulic circuit comprising at least one hydraulic consumer, and a constant pressure network.
  • a corresponding feed pressure is required.
  • a hydraulic pump generates the appropriate feed pressure by sucking hydraulic fluid from the tank and provides at its output the feed pressure for operation of the hydraulic consumer.
  • Such an application is in the operation of a Seegangs say adopted, also referred to as Active Heave Compensation before.
  • the load should be held steady during the lifting work, despite the swell of the deep-sea hoist.
  • the compensation device is intervened for this purpose in the control of the hoist winch.
  • the object of the present invention is to further develop such a hydraulic system in order to optimize the energy balance of the system through targeted measures.
  • a hydraulic system for a crane with at least one hydraulic circuit and a constant pressure network is proposed. At least one hydraulic circuit has a hydraulic consumer. To optimize the energy balance of the entire system is provided according to the invention that the required feed pressure for the hydraulic consumer is not generated by a feed pump, but instead of at least one hydraulic circuit is coupled via at least one pressure reducer to the constant pressure network.
  • Such a pressure reducer expediently comprises at least one input and at least one output, it being possible to vary the pressure and / or volumetric flow present at the respective connection points by means of the pressure reducer.
  • a low volume flow at high pressure within the constant pressure network can be converted into a high volume flow at low pressure within the hydraulic circuit.
  • the use of a feed pump can be dispensed with, since the required high volume flow in the hydraulic circuit is only available through the pressure reducer.
  • the pressure reducer comprises at least two interconnected pistons with a suitable ratio of the piston surfaces.
  • the piston with a small piston surface is coupled to the constant pressure network, whereas the large piston surface of the second piston is in communication with the hydraulic circuit.
  • a power output to the constant pressure network is made possible. For example, if a volume flow is generated at the input of the pressure reducer on the side of the hydraulic circuit, the piston unit shifts in the direction of the constant pressure network and generates on this side a low volume flow with a high pressure level.
  • a reversal of the volume flow in the hydraulic circuit is made possible, for example, by storing part of the volume flow or pressure during normal operation.
  • at least one pressure accumulator can be arranged in the hydraulic circuit. If the memory stores the stored pressure energy, then the volume flow in the hydraulic circuit is reversed so that this pressure energy is released back to the constant pressure network via the pressure reducer.
  • At least one pressure storage medium may preferably be a fluid storage medium, gas storage medium or a storage medium for other media. If the storage form does not correspond to the hydraulic fluid used, a pressure medium converter can preferably be integrated in front of the storage.
  • the storage means is designed as an air pressure accumulator and the pressure energy of the hydraulic fluid can be converted by means of the pressure medium converter in the corresponding air pressure level.
  • a hydraulic consumer is suitably a hydraulic motor in question, which is preferably operable in both flow directions. This can be the Operating the hydraulic motor in a first direction of rotation by the volume flow generated via the pressure reducer and in an opposite direction of rotation via the stored energy of the storage means.
  • the present invention can be by means of at least one hydraulic circuit or the hydraulic motor, a crane winch, in particular a Tiefseehubseilwinde drive.
  • the hydraulic motor is operated to implement an Active Heave Compensation, which has the compensation of the sea state to the task.
  • the hydraulic fluid can be pushed back and forth between it and, if appropriate, an arranged memory, which is used in particular in the Active Heave Compensation mode or similar cyclic operating modes.
  • the tank circulation can be significantly reduced.
  • the system is characterized by a particularly efficient energy recovery.
  • the invention further relates to a crane having the hydraulic system according to the invention or an advantageous embodiment of the hydraulic system.
  • the advantages and properties of the crane obviously correspond to those of the hydraulic system, which is why a repeated description is omitted here.
  • the crane can have a Weghubseilwinde, which is supplied by a hydraulic drive.
  • a closed hydraulic circuit with at least one hydraulic motor serves to set the hoist winch in rotation for carrying out a take-off or winding-up movement.
  • the crane may comprise a constant pressure network which can be supplied by a central hydraulic pump and is used to supply one or more hydraulic consumers, in particular various crane components.
  • the crane has a hydraulic circuit according to the hydraulic system according to the invention.
  • the integrated hydraulic motor may preferably be part of a Seegangs merge Kunststoff.
  • the winch is here driven separately by the hydraulic motor to compensate for the sea state during the actual lifting work can.
  • FIGS. 1 . 2 show an embodiment of the hydraulic system according to the invention for operating an offshore crane.
  • the crane or hydraulic system is designed especially for deep-sea lifting.
  • a Seegangs merge reinforce is installed.
  • the construction of the in the FIGS. 1 . 2 shown hydraulic system comprises a constant pressure network 2 with a relatively high pressure level.
  • the hydraulic pump 1 is provided which sucks hydraulic oil from the tank and brings it to the corresponding pressure level of the constant pressure network 2.
  • FIG. 2 additionally drawn two hydraulic consumers 13 in the form of a hydraulic motor and a hydraulic cylinder, which are each fed via the hydraulic pump 1 with the pressure level of the constant pressure network 2.
  • Both consumers 13 should only be representative of a possible construction of the constant pressure network 2.
  • any number of identical or different hydraulic components can be arranged in the constant pressure network 2 or be in connection therewith.
  • the crane further comprises a drive motor 11 with euinem gear 12.
  • a drive motor 11 with euinem gear 12 In addition to the hydraulic pump 1 for feeding the constant pressure network 2 also sits the pump motor unit 9 of the closed circuit on the drive shaft 12th
  • the winch 7 is mainly by the closed circuit, d. H. the hydraulic motor 8 driven both in the up and in the unwinding to perform the required lifting work.
  • a sea-gear sequencing device which is known in principle is provided, which is intended to compensate for the swell of the sea via additional control of the winch 7.
  • the hydraulic circuit 4 To implement the Seegangs Grande Surprise, which is also referred to as Active Heave Compensation, is the hydraulic circuit 4. This includes a operable in both directions of flow hydraulic motor 5, whose torque also drives the winch 7 in both directions. At the same time, the motor 5 is designed as an adjustment.
  • the pressure reducer 3 consists of two pistons, which have a common piston rod with deviating piston surfaces on the rod end faces.
  • the smaller area of the piston is connected to the constant pressure network 2, whereas the relatively large piston area of the second cylinder communicates with the hydraulic circuit 4.
  • the selected area ratio of the two piston surfaces causes the small volume flow of high pressure from the constant pressure network 2 is converted into a high volume flow at low pressure within the hydraulic circuit 4.
  • the pressure reducer 3 takes over the hydraulic oil feed, which prevents dry running of the system.
  • the pressure reducer 3 is in communication with an input of the hydraulic motor 5.
  • a storage means 15 is connected via a directional control valve 10 and a pressure medium converter 6, via which the lifting work is done.
  • a pressure limiting valve 17 is additionally arranged, which releases excess hydraulic oil to the tank when a certain limit pressure level is reached.
  • an additional hydraulic pump 18 may be provided in the hydraulic circuit 4 in order to ensure a certain pressure level or a certain flow.
  • the hydraulic pump 18 is seated on a common drive shaft with the adjustable motor 12 of the constant pressure network 2.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Control And Safety Of Cranes (AREA)
EP12008080.9A 2012-03-08 2012-12-03 Système hydraulique et grue Active EP2636633B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102012004737A DE102012004737A1 (de) 2012-03-08 2012-03-08 Hydrauliksystem und Kran

Publications (2)

Publication Number Publication Date
EP2636633A1 true EP2636633A1 (fr) 2013-09-11
EP2636633B1 EP2636633B1 (fr) 2015-07-22

Family

ID=47429508

Family Applications (1)

Application Number Title Priority Date Filing Date
EP12008080.9A Active EP2636633B1 (fr) 2012-03-08 2012-12-03 Système hydraulique et grue

Country Status (4)

Country Link
US (1) US9248997B2 (fr)
EP (1) EP2636633B1 (fr)
CN (1) CN103307045A (fr)
DE (1) DE102012004737A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012004802A1 (de) * 2012-03-09 2013-09-12 Liebherr-Werk Nenzing Gmbh Kransteuerung mit Aufteilung einer kinematisch beschränkten Größe des Hubwerks
CN108679040A (zh) * 2018-08-01 2018-10-19 江苏恒立液压股份有限公司 减压油缸
NO344544B1 (en) 2018-11-22 2020-01-27 Kongsberg Maritime CM AS Multi ratio accumulator system.
DE102021207464A1 (de) 2021-07-14 2023-01-19 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Betrieb einer hydraulischen Winde

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8806159U1 (de) * 1988-05-09 1988-09-15 H.M.B Hydraulik & Maschinenbau Buxtehude GmbH, 21614 Buxtehude Kranwinde
US5209302A (en) * 1991-10-04 1993-05-11 Retsco, Inc. Semi-active heave compensation system for marine vessels
EP1025922A1 (fr) * 1999-02-05 2000-08-09 Strömsholmen AB Dispositif hydraulique pour la mise en oeuvre d'une opération additionelle dans un outil de presse pour le formage de tôles
US20050179021A1 (en) * 2004-02-18 2005-08-18 Toby Selcer Active-over-passive coordinated motion winch

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DE1144900B (de) * 1960-05-14 1963-03-07 Krupp Ardelt Gmbh Hydraulisch angetriebene Winde mit einer Seegangfolgeeinrichtung
DE1528583A1 (de) * 1965-05-20 1970-01-29 Stahl U Appbau Hans Leffer Gmb Hydraulisch oder pneumatisch kontinuierlich betaetigter Kolbenantrieb mit hin- und hergehender Bewegung,insbesondere doppeltwirkender Druckuebersetzer
US3381939A (en) * 1966-01-24 1968-05-07 Brown Oil Tools Hydraulic draw works with automatic power output control
US3828683A (en) * 1972-12-04 1974-08-13 A Lehrer Marine load transfer system
NO770299L (no) * 1977-01-28 1978-07-31 Stroemmen Staal A S System for aktiv kompensering av uoenskede relativbevegelser, fortrinnsvis under forflytning av last
DD137088A1 (de) * 1978-06-14 1979-08-15 Gerd Marschall Steuersystem mit pneumo-hydraulischem druckuebersetzer
DE3418026C2 (de) * 1984-05-15 1987-04-02 Mannesmann Rexroth GmbH, 8770 Lohr Winde zum Aufnehmen von schwimmenden Lasten bei Seegang
DE3643114C2 (de) * 1986-01-13 1995-06-01 Rexroth Mannesmann Gmbh Windensteuerung mit Seegangsfolgeeinrichtung
US20080169131A1 (en) * 2005-03-15 2008-07-17 Shu Takeda Device And Method For Measuring Load Weight On Working Machine
DE102007046696A1 (de) * 2007-09-28 2009-04-09 Liebherr-Werk Nenzing Gmbh Hydraulisches Antriebssystem
WO2009120062A2 (fr) * 2008-03-26 2009-10-01 Itrec B.V. Système et procédé de compensation de pilonnement
US8181460B2 (en) * 2009-02-20 2012-05-22 e Nova, Inc. Thermoacoustic driven compressor
DE102009029840A1 (de) * 2009-06-22 2011-01-27 Liebherr-Werk Nenzing Gmbh Hydrauliksystem
CN201925250U (zh) * 2010-12-15 2011-08-10 浙江浦大液压机械有限公司 一种超高压压力流量放大器

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE8806159U1 (de) * 1988-05-09 1988-09-15 H.M.B Hydraulik & Maschinenbau Buxtehude GmbH, 21614 Buxtehude Kranwinde
US5209302A (en) * 1991-10-04 1993-05-11 Retsco, Inc. Semi-active heave compensation system for marine vessels
EP1025922A1 (fr) * 1999-02-05 2000-08-09 Strömsholmen AB Dispositif hydraulique pour la mise en oeuvre d'une opération additionelle dans un outil de presse pour le formage de tôles
US20050179021A1 (en) * 2004-02-18 2005-08-18 Toby Selcer Active-over-passive coordinated motion winch

Also Published As

Publication number Publication date
US9248997B2 (en) 2016-02-02
US20130236272A1 (en) 2013-09-12
EP2636633B1 (fr) 2015-07-22
DE102012004737A1 (de) 2013-09-12
CN103307045A (zh) 2013-09-18

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