EP3736244B1 - Procédé de fonctionnement d'un dispositif de mouvement des objets guidé à la main - Google Patents

Procédé de fonctionnement d'un dispositif de mouvement des objets guidé à la main Download PDF

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Publication number
EP3736244B1
EP3736244B1 EP20165600.6A EP20165600A EP3736244B1 EP 3736244 B1 EP3736244 B1 EP 3736244B1 EP 20165600 A EP20165600 A EP 20165600A EP 3736244 B1 EP3736244 B1 EP 3736244B1
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EP
European Patent Office
Prior art keywords
angle
transport
cord
strand
mode
Prior art date
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Active
Application number
EP20165600.6A
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German (de)
English (en)
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EP3736244A1 (fr
Inventor
Bernd Heinzmann
Dominik HEINZELMANN
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.)
J Schmalz GmbH
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J Schmalz GmbH
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Publication of EP3736244A1 publication Critical patent/EP3736244A1/fr
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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
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
    • B66C11/04—Underhung trolleys
    • 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
    • B66C13/22—Control systems or devices for electric drives
    • 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
    • B66C23/02—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 non-adjustable and non-inclinable jibs mounted solely for slewing movements
    • B66C23/027—Pivot axis separated from column axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D3/00—Portable or mobile lifting or hauling appliances
    • B66D3/18—Power-operated hoists

Definitions

  • the invention relates to a method for operating a device for manually moving objects according to the preamble of claim 1.
  • Devices for manually moving objects are used in particular to support an operator when transporting objects, for example for transporting workpieces between different processing locations or for handling packages in logistics.
  • a device for the hand-guided movement of loads in which a carrying cable is slidably mounted on a carrying device via a trolley.
  • a deflection of the carrying cable from the vertical - for example, due to lateral force exerted by an operator - causes a displacement of the trolley to correct the carrying cable towards the vertical.
  • the support cable must therefore always be deflected in order to achieve a continuous displacement of the trolley. The operator must therefore always bring about a deflection and, if necessary, run along with the shifted load, using force.
  • the object of the invention is to further simplify the handling of objects and to make it comfortable for an operator.
  • the forces to be applied by an operator to move the objects should be small.
  • Such a device for moving objects can be, for example, a crane, for example a single-girder or multi-girder bridge crane, overhead crane, slewing crane, etc.
  • a device comprises a carrying device, which preferably has one or more carriers or cantilevers having.
  • the carrying device can be designed, for example, in the manner of a carrying frame.
  • the device also includes a holding device for holding an object on the carrying device. In this respect, the holding device is designed to grip or pick up and hold an object.
  • the holding device comprises a supporting strand, which engages at a strand articulation point on the carrying device, preferably on a carrier or cantilever of the carrying device.
  • the carrying line is arranged on the carrying device at the line articulation point in such a way that the carrying force absorbed by the carrying line (in particular the weight of the object) is absorbed by the holding device.
  • the device is designed in such a way that the strand articulation point on the carrying device can be displaced, in particular can be displaced by a motor driven by a corresponding drive.
  • the carrying line to act on a trolley that is movably mounted on the carrying device. Then the strand pivot point can be shifted by shifting the trolley.
  • a drive for moving the trolley is provided, for example a motor drive.
  • the holding device also includes a holding element for holding the object.
  • the holding element is designed in particular in such a way that the object can be fixed.
  • the holding element is designed as a gripper, in particular as a vacuum gripper.
  • the holding element is preferably arranged on the support strand, in particular on one end of the support strand.
  • the method according to the invention serves to operate such a device, in particular to control movement processes of such a device.
  • the method comprises the following steps, which in particular are carried out in the order given.
  • a strand angle of the support strand relative to the vertical is monitored.
  • the strand angle can be defined as the angle at which the support strand extends relative to the vertical.
  • it is checked, in particular continuously, whether the strand angle has a value other than 0°.
  • the device assumes a neutral state, with the strand attachment point in particular not shifting. If the strand angle assumes a value other than 0° - e.g. due to deflection of the supporting strand from the vertical due to a force acting on the holding element and/or on an object fixed to the holding element - the device is switched to a tracking mode and the strand pivot point is shifted in such a way that that the strand angle is adjusted to 0°. In this respect, the support strand is adjusted towards the vertical. A type of active tracking of the position of the strand articulation point is therefore provided.
  • the displacement speed of the linkage point of the strand is preferably set as a function of the strand angle, in particular proportionally to the strand angle.
  • an adjustment angle of a component of the holding device is also monitored in relation to a reference configuration to determine whether the adjustment angle exceeds a predefined, first transport angle threshold.
  • the first transport angle threshold is preferably a value of the setting angle, which is specified in particular as a parameter of the method, for example stored in a control device of the device. In this respect, in the course of monitoring the setting angle, in particular continuously, it is checked whether the setting angle is greater than the first transport angle threshold.
  • the first transport angle threshold is an angle greater than 0°, and in particular between 0° and 60°, more preferably in the range from greater than 0° up to and including 50°, more preferably in the range from greater than 0° up to and including 40°, more preferably in the range from greater than 0° up to and including 30°, more preferably in the range from greater than 0° up to and including 20°, more preferably in the range from greater than 0° up to and including 10°, more preferably between 0° and including 5°. It can also be advantageous for the transport angle threshold to be in the range from 5° to 30° preferably from 10° to 20°.
  • the first transport angle threshold can be selected as a function of an operating state of the device (for example the load present on the support strand, maximum displacement speed, etc.).
  • the transport mode is characterized in that the linkage point of the strand is shifted at a specified transport speed.
  • the transport speed can be specified as a parameter of the method, for example stored in the control device of the device.
  • the strand articulation point is constantly shifted with the transport speed.
  • the strand linkage point also continues to be displaced at the transport speed if the adjustment angle is changed within a predetermined transport angle range. After the transport angle threshold has been exceeded once, a change in the positioning angle of the component within the transport angle range does not lead to a change in the displacement speed of the strand articulation point. An operator therefore does not have to constantly follow the movement of the object and ensure that the setting angle is deflected. It is sufficient if the operator ensures that the adjustment angle remains within the transport angle range.
  • the transport angle range is preferably an angular range of the adjustment angle, which is specified in particular as a parameter of the method, for example stored in a control device of the device.
  • the transport angle range is preferably an angular range below the transport angle threshold or an angular range around the transport angle threshold.
  • the transport angle range can, for example, be the angular range from 0° to 60° inclusive, more preferably from 0° to 50° inclusive, more preferably from 0° to 40° inclusive, more preferably from 0° to 30° inclusive, more preferably from 0° inclusive to 20°, more preferably from 0 to 10° inclusive, more preferably from 0 to 5° inclusive.
  • the angle of the transport angle range with the greatest absolute value corresponds to the first transport angle threshold.
  • an operator only has to ensure once that the setting angle exceeds the first transport angle threshold. After that, the operator only has to ensure that the positioning angle of the component remains within the transport angle range in order to maintain the transport movement.
  • the step of monitoring the strand angle or the step of monitoring the setting angle includes a periodic or continuous measurement of the strand angle and / or the adjustment angle.
  • the device preferably has one or more sensors for detecting the strand angle or the setting angle.
  • a sensor can be, for example, a line sensor or a sensor with a laser measurement.
  • the phase angle or setting angle is then monitored in particular by the sensor measuring the phase angle or setting angle periodically at a specified frequency or continuously, and a measurement signal from the sensor is then sent to a control device, which checks whether the measured value is a specific value , exceeds or falls below the value stored in the control device.
  • the strand angle it is checked in particular whether the measured value of the strand angle is not equal to zero.
  • the setting angle it is checked in particular whether the measured value of the setting angle is greater than the first transport angle threshold and whether the measured value of the setting angle is within the transport angle range.
  • the strand angle of the support strand itself serves as an adjustment angle for the process.
  • the component of the holding device that is monitored for the control is the support strand itself and the reference configuration corresponds to the vertical.
  • an operator only has to deflect the carrying strand once beyond the first transport angle threshold in order to achieve a continuous displacement of the strand articulation point with a preferably constant transport speed. Then the operator has to To maintain a shift, just make sure that the support strand is not moved out of the transport angle range.
  • the forces to be applied by an operator can be reduced since the support strand does not have to be permanently deflected to a large extent in order to be able to continuously move an object held on the holding element.
  • the adjustment angle is an angle of inclination of the holding element relative to a rest configuration of the holding element.
  • the component corresponds to the holding element and the reference configuration corresponds to the rest configuration of the holding element. The device can then be transferred to the transport mode by tilting the holding element.
  • an inclination of the holding element leads to a deflection of the support strand from the vertical (e.g. if the holding element is firmly connected to the support strand). Then the inclination angle of the holding element can be monitored by monitoring the strand angle.
  • the monitoring of the angle of inclination includes the periodic or continuous reading of a sensor arranged on the holding element.
  • the sensor can be a 3D force sensor or a magnetic sensor.
  • the device is switched to the transport mode and/or the transport mode is present is displayed, whereby safety for an operator can be increased.
  • a display is preferably made visually, for example by lighting up a warning light or by displaying information on a display arranged on the holding element, for example.
  • an indication takes place acoustically, for example by outputting a sound signal (eg periodic beeping).
  • a display can also take place through a change in the haptics of the holding element, for example through vibration of the holding element.
  • the setting angle is also monitored to determine whether the setting angle exceeds a predetermined, second transport angle threshold.
  • the transport speed is then increased, ie the transport speed assumes an overdrive value.
  • the second transport angle threshold is a value of the setting angle, which is specified in particular as a parameter of the method, for example stored in a control device of the device.
  • the absolute value of the second transport angle threshold is greater than the first transport angle threshold. This makes a special intuitive operation of the device favors (greater deflection leads to higher speed).
  • a termination condition it is monitored in a further step whether a termination condition has been met.
  • This further step is carried out in particular when the transport mode is present, i.e. in particular after the method step of transferring to the transport mode. If the termination condition is met, then the device is transferred from the transport mode to a braking mode in which the transport speed is braked to zero.
  • the transport speed in the braking mode is slowed down as quickly as possible to a standstill of the strand articulation point within the physical possibilities and/or with regard to trouble-free and damage-free handling.
  • a braking deceleration is generated, which in turn can be specified as a parameter for the method (in particular stored in the control device).
  • the transport mode can be so on be terminated in different ways, which expands the operating options of the device.
  • a termination condition is met when the adjustment angle falls below or exceeds a predetermined termination angle threshold.
  • the break-off angle threshold is preferably a value of the adjustment angle, which is specified in particular as a parameter of the method, for example stored in a control device.
  • the break-off angle threshold is preferably the smallest angle of the transport angle range in terms of absolute value.
  • the break-off angle threshold is 0° and the break-off condition is met when the setting angle falls below the break-off angle threshold.
  • a deceleration of the transport speed is caused in particular by a deflection of the component of the holding device in a direction opposite to an initial deflection, which enables a particularly intuitive operation of the device.
  • a termination condition is met when the strand articulation point has reached a predetermined braking position.
  • the device can have a position sensor, in particular, which monitors a position of the strand articulation point, preferably relative to the carrying device.
  • the braking position can correspond to a specified target position (e.g. a known Storage position) correspond. It is also conceivable that the braking position is reached before a target position in a displacement direction of the strand articulation point. In this case, it is possible for the transport speed to be reduced when the braking position is reached, in particular in such a way that the strand articulation point is braked to a standstill when the predetermined target position is reached.
  • the braking positions are the outermost positions of a predetermined maneuvering area within which a shifting of the strand articulation point is permitted (e.g. a limited area of a production hall).
  • a termination condition is met when a force acting on the holding device exceeds a predetermined threshold value.
  • the threshold value is specified in particular as a parameter of the method, for example stored in a control device of the device. It is conceivable, for example, for a force sensor to be provided on the holding device, which is designed to measure forces exerted on the holding device.
  • a termination condition is met when an operating element is actuated.
  • an operating element can be the Control element can be a button or switch.
  • the operating element is preferably arranged on the holding element. An operator can then actuate the operating element without having to let go of the holding element.
  • the support strand can oscillate, that is, for example, vibrations caused by inertial forces during braking are damped before a renewed displacement of the strand articulation point is possible.
  • the risk of damage to the device can be reduced and at the same time the safety for an operator can be increased.
  • the Figures 1 and 2 12 show a device 10, which is used as an example to explain an embodiment of the method for operating a device for manually moving objects. It goes without saying that the method can also be used to operate corresponding devices, the design of which, however, differs in detail from that in FIGS Figures 1 and 2 shown configuration differs.
  • the device 10 shown as an example is used for the hand-guided movement of objects 12 and comprises a carrying device 14 and a holding device 16 for holding the object 12 on the carrying device 14.
  • the carrying device 14 has a carrying column 20 extending along a vertical axis 18 and a cantilever 22 extending essentially orthogonally to the carrying column 20 .
  • the boom 22 is articulated at its first end 24 to the upper end 26 of the support column 20 so as to be pivotable about the vertical axis 18 .
  • the holding device 16 includes a support strand 28, which is designed as a support cable in the present example.
  • the carrying strand is generally a device which introduces the weight of the object being held into the carrying device 14 .
  • a lifting tube of a tube lifter can be provided on the support strand (not shown).
  • the carrying strand 28 acts on the carrying device 14 at a strand articulation point 30 .
  • the line articulation point 30 is arranged on a trolley 32 which is slidably mounted on the boom 22 of the carrying device 14 . In this respect, the line articulation point 30 can be shifted by shifting the trolley 32 .
  • a drive device (not shown) is provided in a manner known per se for moving the trolley 32 on the boom 22 .
  • the device 10 also includes a strand winding device 34 arranged in the region of the first end 24 of the boom 22, by means of which the support strand 28 can be wound up for lifting objects and unwound for depositing objects.
  • the holding device 16 also includes a holding element 36 which is arranged on the free end 38 of the support strand 28 .
  • the holding element 36 is designed as a vacuum gripper, to which negative pressure can be applied via a negative pressure line 40 .
  • the holding element is designed as a gripper arm, hook, or the like.
  • the device 10 also has a sensor 42 for measuring a strand angle ⁇ of the support strand 28 relative to the vertical (in Figs Figures 1 and 2 represented by a dashed line denoted by reference numeral 44).
  • Device 10 also includes a control device (not shown), which is designed to cause the drive device (not shown) to move trolley 32 along boom 22 as a function of a measurement signal from sensor 42 (described in more detail below).
  • a control device (not shown), which is designed to cause the drive device (not shown) to move trolley 32 along boom 22 as a function of a measurement signal from sensor 42 (described in more detail below).
  • the support strand 28 extends, following gravity, along the vertical 44 (reference configuration 50, cf. Figures 1 and 2 ).
  • the support strand 28 is deflected from its reference configuration 50 by a strand angle ⁇ with respect to the vertical 44.
  • a strand angle ⁇ with respect to the vertical 44.
  • different deflection states of the support strand 28 are possible.
  • the Figures 1 and 2 each show an example of such a deflection state.
  • the strand angle ⁇ of the support strand 28 relative to the vertical 44 is monitored, in particular continuously. Monitoring includes measuring the strand angle ⁇ , in particular continuously, by means of the sensor 42 (step 100 in figure 4 ). A corresponding measurement signal from sensor 42 is then forwarded to the control device, which checks whether the strand angle ⁇ has a value other than 0° (step 102 in figure 4 ). If the strand angle ⁇ assumes a value other than 0°, it is also checked in particular whether the strand angle exceeds a first transport angle threshold 54 (cf. figure 1 ) exceeds (step 104 in figure 4 ).
  • the first transport angle threshold 54 is, in particular, a predetermined value of the adjustment angle a, which is used as a parameter of the method in FIG Control device is stored and the amount is greater than 0 °.
  • the trolley 32 and thus the line articulation point 30 are shifted in such a way that the line angle ⁇ is adjusted to 0° (step 106 in figure 4 ).
  • the trolley 32 is moved along the jib 22 until the line articulation point 30 is located in particular vertically above the holding element 36 and the support line 28 assumes its reference configuration 50 again, i.e. it extends along the vertical 44 .
  • An operating mode 46 of the device 10 comprising the method steps 100 to 106 can be referred to as a tracking mode 56 (cf. figure 3 , Phase I) .
  • a displacement speed 48 of the strand articulation point 30 can be selected in the tracking mode 56, in particular proportionally to the measured strand angle ⁇ , in particular proportionally to a deflection of the supporting strand 28 with respect to the vertical 44 (cf. figure 3 , diagrams a and c, phase I there).
  • the device is transferred from the tracking mode 56 to a transport mode 58 (Step 108 in figure 4 ).
  • the transport mode 58 the strand articulation point 30 is displaced at a predefined, in particular constantly predefined, transport speed 60 (cf. figure 3 , phase II).
  • a displacement of the strand articulation point 30 takes place in the transport mode 58 over a certain strand angle range independently of changes in the strand angle.
  • the strand pivot point 30 continues to be displaced at the transport speed 60 when the strand angle ⁇ is changed but still remains within a specified transport angle range ⁇ (cf. figure 3 , phase II).
  • a change in the strand angle ⁇ within the transport angle range ⁇ does not lead to a change in the transport speed 60.
  • the transport angle range ⁇ corresponds by way of example and preferably to the angle range from 0° to the first Transport angle threshold 54 (cf. figure 1 and figure 3 , Diagram a).
  • a second transport angle threshold 61 (cf. figure 1 ) is provided, when it is exceeded, the transport speed 60 is increased ("overdrive mode").
  • a termination condition is monitored (step 110 in figure 4 ) and checked whether this is fulfilled (step 112 in figure 4 ).
  • the device 10 is transferred to a braking mode 64 in a next step, in which the transport speed is braked, in particular abruptly, to zero (step 114 in figure 4 , Phase III in figure 3 ). This takes place in particular in that a defined braking acceleration acts on the strand articulation point 30 .
  • the termination condition is met when the strand angle ⁇ falls below a termination angle threshold 62 .
  • the break-off angle threshold 62 corresponds to zero degrees, i.e. it corresponds to the lower limit of the transport angle range ⁇ (cf. figure 1 and figure 3 , Diagram a).
  • an operator 52 In order to transfer the device 10 from the transport mode 58 to the braking mode 64, an operator 52 must move the support strand 28 in a direction opposite to the initial deflection direction (in figure 1 clockwise beyond the vertical). This favors intuitive operation.
  • the device 10 is only transferred from the braking mode 64 to the tracking mode 56 again after the waiting time t min has been awaited.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Claims (10)

  1. Procédé de gestion, notamment de commande de mouvement d'un dispositif (10) pour déplacer des objets (12) en les guidant à la main, comprenant:
    - une installation de support (14);
    - une installation de maintien (16) pour tenir un objet (12) à l'installation de support (14), l'installation de maintien (16) comprenant un câble porteur (28) qui est relié à l'installation de support (14) en un point d'articulation (30) de câble porteur ainsi qu'un élément de maintien (36) sur le câble porteur (28) pour tenir l'objet (12),
    le dispositif (10) étant réalisé de façon que le point d'articulation (30) du câble porteur soit mobile par rapport à l'installation de support (14),
    procédé comprenant les étapes suivantes consistant à:
    - surveiller l'angle (α) du câble de support (28) par rapport à la direction verticale (44);
    - lorsque l'angle de câble (α) est différent de zéro:
    faire passer le dispositif en mode d'asservissement (56) dans lequel le point d'articulation (30) du câble est déplacé pour compenser l'angle de câble (α) à zéro
    degré;
    procédé caractérisé en ce qu'il comprend les étapes suivantes consistant à:
    - surveiller l'angle de positionnement (α) dans le composant de l'installation de maintien (16) par rapport à une configuration de référence, pour savoir si l'angle de positionnement (α) dépasse un premier seuil prédéfini (54) de l'angle de transport;
    - si le premier seuil d'angle de transport (54) est dépassé au moins une fois : faire passer le dispositif (10) de son mode d'asservissement (56) en un mode de transport (58) dans lequel le point d'articulation (30) du câble est déplacé à une vitesse de transport (60) prédéfinie,
    le déplacement continuant à la vitesse de transport (60) si l'angle de positionnement (α) varie à l'intérieur d'une plage angulaire (β), prédéfinie, de transport.
  2. Procédé selon la revendication 1, selon lequel la surveillance de l'angle de câble (α) et/ou l'angle de réglage (α) consiste à mesurer périodiquement ou à mesurer en continu l'angle de câble (α) ou angle de réglage (α).
  3. Procédé selon l'une des revendications 1 ou 2, selon lequel l'angle de réglage (α) du câble de support (28) est l'angle par rapport à la direction verticale.
  4. Procédé selon l'une des revendications 1 ou 2, selon lequel l'angle de réglage est l'angle d'inclinaison de l'élément de maintien (36) par rapport à une configuration de repos de l'élément de maintien (36).
  5. Procédé selon la revendication 4, selon lequel la surveillance de l'angle d'inclinaison comprend la lecture périodique ou la lecture en continu d'un capteur prévu sur l'élément de maintien, notamment d'un capteur de force 3D ou d'un capteur magnétique.
  6. Procédé selon l'une des revendications précédentes, selon lequel faire passer le dispositif (10) en un mode de transport (58) et/ou l'existence du mode de transport (58) sont affichés visuellement et/ou de manière acoustique et/ou de manière haptique.
  7. Procédé selon l'une des revendications précédentes, selon lequel le procédé comprend les autres étapes suivantes consistant à:
    - surveiller l'angle de réglage (α) pour savoir si l'angle de réglage (α) dépasse un second seuil d'angle de transport (61) prédéfini;
    - en cas de dépassement du second seuil d'angle de transport (61): augmenter la vitesse de transport.
  8. Procédé selon l'une des revendications précédentes, selon lequel le procédé comprend les autres étapes suivantes consistant à:
    - surveiller si une condition d'arrêt est remplie;
    - si la condition d'arrêt est remplie: faire passer le dispositif du mode de transport (58) en un mode de freinage (64) dans lequel on freine la vitesse de transport à la vitesse nulle.
  9. Procédé selon la revendication 8, selon lequel la condition d'arrêt est une ou plusieurs des conditions suivantes:
    a) l'angle de réglage (α) passe en dessous ou au-dessus d'un seuil prédéfini d'angle d'arrêt (62);
    b) le point d'articulation (30) du câble atteint une position de freinage prédéfinie;
    c) une force agissant sur l'installation de maintien (16) dépasse un seuil prédéfini;
    d) on actionne un élément de manœuvre installé de préférence sur l'installation de maintien (16).
  10. Procédé selon la revendication 8 ou 9, selon lequel le mode de freinage (64) est maintenu au moins pour une durée minimale prédéfinie de freinage tBRK,min et/ou après le freinage à zéro, on attend un temps d'attente prédéfini tmin en un mode de repos.
EP20165600.6A 2019-05-07 2020-03-25 Procédé de fonctionnement d'un dispositif de mouvement des objets guidé à la main Active EP3736244B1 (fr)

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DE102019111850.6A DE102019111850A1 (de) 2019-05-07 2019-05-07 Verfahren zum Betreiben einer Vorrichtung zum handgeführten Bewegen von Gegenständen

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EP3736244A1 EP3736244A1 (fr) 2020-11-11
EP3736244B1 true EP3736244B1 (fr) 2022-04-13

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US20250002303A1 (en) * 2023-06-27 2025-01-02 Kundel Industries, Inc. Movement assist system for crane operations and method of using the same

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DE29712462U1 (de) * 1997-07-15 1997-09-11 Münnekehoff, Gerd, 42857 Remscheid System zum Steuern der Bewegungen einer Lasthebevorrichtung
ATE414670T1 (de) * 2002-05-08 2008-12-15 Stanley Works Methode und vorrichtung zur lasthandhabung mit einem intelligenten hilfssystem
EP2989042B1 (fr) 2013-04-26 2020-12-09 J. Schmalz GmbH Dispositif permettant le déplacement manuel de charges

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EP3736244A1 (fr) 2020-11-11

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