EP4134489A1 - Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur - Google Patents

Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur Download PDF

Info

Publication number
EP4134489A1
EP4134489A1 EP21191049.2A EP21191049A EP4134489A1 EP 4134489 A1 EP4134489 A1 EP 4134489A1 EP 21191049 A EP21191049 A EP 21191049A EP 4134489 A1 EP4134489 A1 EP 4134489A1
Authority
EP
European Patent Office
Prior art keywords
cable
gripper
actuating
winch
force
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
EP21191049.2A
Other languages
German (de)
English (en)
Other versions
EP4134489C0 (fr
EP4134489B1 (fr
Inventor
Andreas SCHUELL
David Pfeiffer
Andreas HUGL
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.)
Bauer Maschinen GmbH
Original Assignee
Bauer Maschinen 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
Priority to EP21191049.2A priority Critical patent/EP4134489B1/fr
Application filed by Bauer Maschinen GmbH filed Critical Bauer Maschinen GmbH
Priority to ES21191049T priority patent/ES3056025T3/es
Priority to PCT/EP2022/071951 priority patent/WO2023016914A1/fr
Priority to CN202280055396.2A priority patent/CN117858990A/zh
Priority to JP2024508708A priority patent/JP7659697B2/ja
Priority to US18/294,276 priority patent/US20240337088A1/en
Publication of EP4134489A1 publication Critical patent/EP4134489A1/fr
Application granted granted Critical
Publication of EP4134489C0 publication Critical patent/EP4134489C0/fr
Publication of EP4134489B1 publication Critical patent/EP4134489B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E02F3/47—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/46—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor
    • E02F3/47—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets
    • E02F3/475—Dredgers; Soil-shifting machines mechanically-driven with reciprocating digging or scraping elements moved by cables or hoisting ropes ; Drives or control devices therefor with grab buckets for making foundation slots
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D17/00—Excavations; Bordering of excavations; Making embankments
    • E02D17/13—Foundation slots or slits; Implements for making these slots or slits

Definitions

  • the invention relates to a gripper device with a carrier device and a cable gripper arranged thereon, which has a gripper frame which is held on the carrier device via a retaining cable, at least two gripper shovels which are pivotably mounted at a lower end of the gripper frame between a closed position and an open position, and has an actuating device with an actuating cable for pivoting the grab buckets, the actuating cable being guided from the carrier device to the actuating device, and the carrier device having a driven first cable winch for the retaining cable and a driven second cable winch for the actuating cable, according to the preamble of claim 1.
  • the invention also relates to a method for operating a gripper device according to the preamble of claim 13.
  • a so-called hydraulic gripper is, for example, from the EP 3 798 367 A1 known.
  • the movement for opening and closing the grab buckets is generated by a hydraulic cylinder which is arranged on the grab frame.
  • Such hydraulic grippers can be operated and controlled relatively easily by the hydraulic system.
  • appropriate hydraulic lines are required for supplying and removing hydraulic fluid, which run parallel to the tether.
  • Appropriate cable drums for the hydraulic lines with appropriate winch drives and an appropriately designed hydraulic system are to be provided on the carrier device.
  • the gripper device is correspondingly enlarged and also more expensive.
  • the hydraulic system also requires additional maintenance.
  • rope grabs offer a significantly simplified structure.
  • a rope gripper is, for example, from GB 2 126 981 A known.
  • the actuating cable runs essentially parallel to the retaining cable from the actuating device of the grab shovels to the carrier device.
  • the gripper scoops can be opened or closed by unwinding or winding the actuating cable onto the winch.
  • a rotational position of the cable gripper about its longitudinal axis can be brought about by a machine operator by applying specific tensile forces to the retaining cable and the actuating cable. This requires a relatively sensitive operation of the corresponding cable winches. This requires a certain amount of experience from the machine operator and also a high level of concentration when carrying out the process. In addition, cable winches are often operated using foot pedals, so that sensitive operation of the cable winches over several hours is also very tiring for a machine operator.
  • the gripper device is characterized in that a first detection device is provided for detecting a first cable force on the retaining cable and a second detection device is provided for detecting a second cable force on the actuating cable and that a control device is provided which is connected to the first detection device, the second detection device, the first cable winch and the second cable winch is connected and is designed depending on the detected first cable force on the tether and the detected second cable force to control the first cable winch and/or the second cable winch on the actuating cable in accordance with a control program specification.
  • the invention is based on the knowledge that a torque on a cable gripper about its longitudinal axis depends on the cable forces in the retaining cable and the actuating cable.
  • detection devices are therefore provided with which a cable force on the retaining cable and a cable force on the actuating cable are detected.
  • the force values recorded in each case can be fed to a control device, which controls a first cable winch for the retaining cable and a second cable winch for the actuating cable in accordance with inputs and specifications from the machine operator.
  • the forces in the retaining cable and in the actuating cable can be matched to one another by means of a corresponding control of the respective cable winch (cable winding/unwinding), so that with a given or desired rotational position of the cable gripper, no torque about the longitudinal axis can be applied to it the tether and the actuating cable are generated.
  • the control device can also be used to generate a defined (variable) torque for a desired rotation by influencing the respective cable forces accordingly.
  • a torque balance, a left-hand rotation or a right-hand rotation torque can be generated on the body with a corresponding tensile force distribution.
  • the tether can preferably at one attached to the top or bottom of the gripper frame or actuator.
  • a preferred embodiment of the invention consists in that a defined ratio between the first cable force in the retaining cable and the second cable force in the actuating cable can be specified and adjusted by the control program specification of the control device.
  • the same or different configurations of retaining cable and actuating cable can be taken into account in the control program specification.
  • a torque compensation can be achieved by setting largely the same tensile forces in the cables. If the cables are designed differently with regard to a different cable structure, this can be taken into account and preset accordingly in the control program specification.
  • additional geometric conditions on the cable gripper for example with regard to different attachment points of the cables on the gripper frame, can also be preset and taken into account.
  • a further preferred embodiment of the invention is that the control device is designed with a compensation mode in which the cable winches are controlled in such a way that the first cable force on the retaining cable and the second cable force on the actuating cable are matched to one another.
  • the cable winches can be controlled in such a way that the torques in the actuating cable and the retaining cable compensate and cancel each other out. In this way, the rotational position of the cable gripper about its longitudinal axis can be stabilized. Undesirable rotation of the cable gripper about its longitudinal axis during operation can thus be largely avoided.
  • control device is designed with a twisting mode in which the cable winches are controlled in such a way that a targeted twisting of the cable gripper about a vertical longitudinal axis can be generated.
  • a machine operator can then activate the cable winches accordingly, preferably via an input device such as e.g. B. a thumbwheel on a joystick, a desired change in the rotational position can be effected.
  • the control device can also be designed in such a way that a value or a measure for a desired Twisting is specified by the machine operator via an input device, the winches being actuated by the control device according to the program logic in such a way that the desired changed rotational position is set.
  • At least one third detection device is provided for detecting a rotational position of the cable gripper and/or a change in the rotational position.
  • This can be done by an optical detection device, a rotary encoder, a gyroscope on the cable gripper or in any other suitable way.
  • feedback on the rotational position or the rotation of the gripper can take place when it is activated by the control device, so that the rotational position or the rotation can be regulated. This enables a particularly precise adjustment of the rotational position of the cable gripper.
  • a further advantageous embodiment of the invention consists in that a control panel for a manual control for actuating the cable gripper and/or the cable winch is provided.
  • the control panel as an input device is designed in particular in such a way that a machine operator enters a desired rotation or movement of the cable gripper, for example as a numerical value or angle, preferably using appropriate control elements such as a cursor, a rotary knob, switches or buttons, in particular in combination with a screen.
  • the machine operator therefore no longer has to enter the winches and a rotation of the winches directly. Rather, according to the operator input for the position of the gripper via the control device with the program logic, the machine with the individual motors and actuators is controlled in such a way that the desired position is set largely without undesired twisting.
  • a display screen is provided for the control device for operation.
  • the display screen can in particular be designed as a touch screen, on which at least some of the operating elements for a machine operator are implemented.
  • a position of the cable gripper can be displayed in different representations on the display screen in order to further facilitate operation for a machine operator.
  • the invention further includes a method for operating a gripper device, wherein the gripper device according to the invention described above is used, wherein a first cable force on the retaining cable is detected by a first detection device and a second cable force on the actuating cable is detected by a second detection device, and that the first detection device , the second detection device, the first cable winch and the second cable winch are connected to a control device, through which, depending on the detected first cable force on the retaining cable and the detected second cable force on the actuating cable, the first cable winch and/or the second cable winch according to a control program specification be controlled.
  • a gripper device 10 according to the invention 1 has a mobile carrier device 12 with a crawler chassis as an undercarriage 14 .
  • An upper carriage 16 with an operator's cabin 17 is rotatably mounted on the undercarriage 14 about a vertical axis of rotation.
  • a control device including an input device for a machine operator is located inside the operator's cab 17 .
  • a cantilever arm 18 is articulated on the superstructure 16 so as to be pivotable about a horizontal axis.
  • a tether 24 is guided on a head 20 of the cantilever arm 18 with deflection pulleys, at the end of which a cable gripper 30 with a gripper frame 32 and lower gripper blades 34 is attached.
  • the tether 24 for raising and lowering the cable gripper 30 can be actuated via a first cable winch 21 on the carrier device 12 .
  • a second cable winch 22 for an actuating cable 44, which is also guided over the head 20 to the cable gripper 30 for actuating the gripper scoops 34 at the lower end of the gripper frame 32.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Earth Drilling (AREA)
  • Control And Safety Of Cranes (AREA)
  • Load-Engaging Elements For Cranes (AREA)
EP21191049.2A 2021-08-12 2021-08-12 Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur Active EP4134489B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
ES21191049T ES3056025T3 (en) 2021-08-12 2021-08-12 Gripper device and method for operating a gripper device
EP21191049.2A EP4134489B1 (fr) 2021-08-12 2021-08-12 Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur
CN202280055396.2A CN117858990A (zh) 2021-08-12 2022-08-04 抓斗装置和用于运行抓斗装置的方法
JP2024508708A JP7659697B2 (ja) 2021-08-12 2022-08-04 グラブ装置及びグラブ装置の操作方法
PCT/EP2022/071951 WO2023016914A1 (fr) 2021-08-12 2022-08-04 Appareil de préhension et son procédé de fonctionnement
US18/294,276 US20240337088A1 (en) 2021-08-12 2022-08-04 Grab device and method for operating a grab device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP21191049.2A EP4134489B1 (fr) 2021-08-12 2021-08-12 Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur

Publications (3)

Publication Number Publication Date
EP4134489A1 true EP4134489A1 (fr) 2023-02-15
EP4134489C0 EP4134489C0 (fr) 2025-09-17
EP4134489B1 EP4134489B1 (fr) 2025-09-17

Family

ID=77316900

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21191049.2A Active EP4134489B1 (fr) 2021-08-12 2021-08-12 Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur

Country Status (6)

Country Link
US (1) US20240337088A1 (fr)
EP (1) EP4134489B1 (fr)
JP (1) JP7659697B2 (fr)
CN (1) CN117858990A (fr)
ES (1) ES3056025T3 (fr)
WO (1) WO2023016914A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4512962A1 (fr) 2023-08-24 2025-02-26 BAUER Maschinen GmbH Dispositif de génie civil et procédé de fonctionnement d'un dispositif de génie civil
WO2025098585A1 (fr) * 2023-11-06 2025-05-15 Bauer Maschinen Gmbh Appareil de préhension et procédé de fonctionnement d'un appareil de préhension
WO2025113766A1 (fr) 2023-11-27 2025-06-05 Bauer Maschinen Gmbh Dispositif de préhension et procédé de fonctionnement d'un dispositif de préhension
EP4675050A1 (fr) 2024-07-01 2026-01-07 BAUER Maschinen GmbH Pince à câble et procédé de fonctionnement d'une pince à câble
EP4675048A1 (fr) 2024-07-01 2026-01-07 BAUER Maschinen GmbH Pince à câble et procédé de fonctionnement d'une pince à câble
DE102024125138A1 (de) * 2024-09-03 2026-03-05 Liebherr-Werk Nenzing Gmbh Arbeitsgerät mit einem Greifer, insbesondere Schlitzwandgreifer

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4737646A1 (fr) * 2024-11-05 2026-05-06 BAUER Maschinen GmbH Engin de chantier et procédé de commande d'un engin de chantier

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2126981A (en) 1982-09-13 1984-04-04 Frankignoul Pieux Armes Improvements in or relating to grab bucket apparatus
JPH03241118A (ja) * 1990-02-19 1991-10-28 Fujita Corp 地中連続壁用溝の自動掘削装置
JPH09158254A (ja) * 1995-12-05 1997-06-17 Sumitomo Constr Mach Co Ltd 掘削機の掘削制御装置
DE19933771A1 (de) * 1999-07-19 2001-01-25 Liebherr Werk Nenzing Kran
JP2001064993A (ja) * 1999-08-25 2001-03-13 Konoike Constr Ltd 掘削揚土作業支援システム
EP3798367A1 (fr) 2019-09-25 2021-03-31 BAUER Maschinen GmbH Élément d'ancrage sur une tranchée, son procédé de fonctionnement et procédé de construction souterraine

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3303590A (en) * 1963-07-29 1967-02-14 Grospas Pierre Gravity-closing scoop
JP3301549B2 (ja) * 1992-07-20 2002-07-15 コベルコ建機株式会社 クラムシェルバケット
JP3031410U (ja) * 1996-05-20 1996-11-29 株式会社光栄鉄工所 グラブバケット
JP2000255973A (ja) * 1999-03-04 2000-09-19 Kobelco Contstruction Machinery Ltd バケット作業機械の運転制御装置
FR2825393B1 (fr) * 2001-06-01 2003-11-07 Cie Du Sol Benne de forage a systeme de commande de verticalite amelioree
JP3866962B2 (ja) * 2001-11-12 2007-01-10 コベルコ建機株式会社 深穴作業機
JP3929792B2 (ja) * 2002-02-26 2007-06-13 安藤建設株式会社 飛散防止機構を有するクラムシェル
JP2004293069A (ja) * 2003-03-26 2004-10-21 Minotsu Tekko Kk 掘削バケット
DE20310240U1 (de) * 2003-07-03 2003-09-11 Wolfgang Rohr GmbH & Co. KG, 67165 Waldsee Motorgreifer, insbesondere Motorunterwassergreifer
DE102005031076B4 (de) * 2005-06-27 2007-11-29 Kässbohrer Geländefahrzeug AG Pistenpflegefahrzeug mit Seilzugmoment-Kompensation
JP5978525B2 (ja) * 2012-12-12 2016-08-24 住友重機械搬送システム株式会社 グラブバケットの昇降制御装置、これを備えるアンローダ、及びグラブバケットの昇降制御方法
JP5746409B1 (ja) * 2014-10-08 2015-07-08 久保建株式会社 バケットの旋回姿勢調整装置、およびバケットの旋回姿勢調整方法
AT516981B1 (de) * 2015-04-08 2017-02-15 Hans Künz GmbH Transporteinrichtung
CN111741920B (zh) * 2018-02-28 2022-06-21 株式会社多田野 起重机及挂环工具的长度取得方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2126981A (en) 1982-09-13 1984-04-04 Frankignoul Pieux Armes Improvements in or relating to grab bucket apparatus
JPH03241118A (ja) * 1990-02-19 1991-10-28 Fujita Corp 地中連続壁用溝の自動掘削装置
JPH09158254A (ja) * 1995-12-05 1997-06-17 Sumitomo Constr Mach Co Ltd 掘削機の掘削制御装置
DE19933771A1 (de) * 1999-07-19 2001-01-25 Liebherr Werk Nenzing Kran
JP2001064993A (ja) * 1999-08-25 2001-03-13 Konoike Constr Ltd 掘削揚土作業支援システム
EP3798367A1 (fr) 2019-09-25 2021-03-31 BAUER Maschinen GmbH Élément d'ancrage sur une tranchée, son procédé de fonctionnement et procédé de construction souterraine

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4512962A1 (fr) 2023-08-24 2025-02-26 BAUER Maschinen GmbH Dispositif de génie civil et procédé de fonctionnement d'un dispositif de génie civil
JP2025037817A (ja) * 2023-08-24 2025-03-18 バウアー マシーネン ゲーエムベーハー 土木機械および土木機械を操作するための方法
WO2025098585A1 (fr) * 2023-11-06 2025-05-15 Bauer Maschinen Gmbh Appareil de préhension et procédé de fonctionnement d'un appareil de préhension
WO2025113766A1 (fr) 2023-11-27 2025-06-05 Bauer Maschinen Gmbh Dispositif de préhension et procédé de fonctionnement d'un dispositif de préhension
EP4675050A1 (fr) 2024-07-01 2026-01-07 BAUER Maschinen GmbH Pince à câble et procédé de fonctionnement d'une pince à câble
EP4675048A1 (fr) 2024-07-01 2026-01-07 BAUER Maschinen GmbH Pince à câble et procédé de fonctionnement d'une pince à câble
DE102024125138A1 (de) * 2024-09-03 2026-03-05 Liebherr-Werk Nenzing Gmbh Arbeitsgerät mit einem Greifer, insbesondere Schlitzwandgreifer

Also Published As

Publication number Publication date
WO2023016914A1 (fr) 2023-02-16
EP4134489C0 (fr) 2025-09-17
JP7659697B2 (ja) 2025-04-09
EP4134489B1 (fr) 2025-09-17
CN117858990A (zh) 2024-04-09
US20240337088A1 (en) 2024-10-10
ES3056025T3 (en) 2026-02-17
JP2024530957A (ja) 2024-08-27

Similar Documents

Publication Publication Date Title
EP4134489B1 (fr) Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur
EP4134490B1 (fr) Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur
EP3798367B1 (fr) Élément d'ancrage sur une tranchée, son procédé de fonctionnement et procédé de construction souterraine
DE10343079B3 (de) Winde für eine Baumaschine
DE19931301A1 (de) Verfahren und Vorrichtung zum Führen eines Kranlasthakens
EP4339379A1 (fr) Outil de travail doté d'une pince mécanique pour parois moulées et procédé de réalisation d'une étape de travail d'un tel outil
EP1630301B1 (fr) Procédé et dispositif pour le travail du sol
EP2889431B1 (fr) Machine de travail pour le fonctionnement de benne racleuse
EP4215717B1 (fr) Machine de construction et procédé de fonctionnement d'une machine de construction
WO2021228329A1 (fr) Dispositif de préhension doté d'un système de commande de fermeture par multiplication de force démultipliée
EP4512962A1 (fr) Dispositif de génie civil et procédé de fonctionnement d'un dispositif de génie civil
EP2402281B1 (fr) Procédé destiné au fonctionnement d'une grue à tour
DE102013006307B4 (de) Baumaschine und verfahren zum betreiben der baumaschine
EP4105389A1 (fr) Procédé de fonctionnement d'une machine de construction et machine de construction
WO2025098585A1 (fr) Appareil de préhension et procédé de fonctionnement d'un appareil de préhension
DE2929463C2 (de) Hydraulisch betätigter Bagger
EP4059879A1 (fr) Grue mobile dotée d'un dispositif permettant d'aider ou de mettre en uvre de manière automatique un processus de montage et/ou d'enlèvement d'une flèche derrick, ainsi que procédé correspondant
WO2025113766A1 (fr) Dispositif de préhension et procédé de fonctionnement d'un dispositif de préhension
DE2212876A1 (de) Teleskopstange fuer Maschine fuer Gruendungsarbeiten
DE2806615B2 (de) Antriebssystem fur einen Schürfkübelbagger
WO2012045444A1 (fr) Machine de travail à fonction de burinage
EP4711524A1 (fr) Outil de travail doté d'une pince, en particulier pince pour parois moulées
DE19933771A1 (de) Kran
DE2501177A1 (de) Verfahren zum umsetzen einer fuehrerkabine einer baumaschine, sowie baumaschine zur durchfuehrung dieses verfahrens
CH687999A5 (de) Tagebauloeffelbagger.

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20220318

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20240716

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20250520

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502021008704

Country of ref document: DE

U01 Request for unitary effect filed

Effective date: 20250918

U07 Unitary effect registered

Designated state(s): AT BE BG DE DK EE FI FR IT LT LU LV MT NL PT RO SE SI

Effective date: 20250925

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251217

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250917

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251218

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20251217

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 3056025

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20260217

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250917

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20260117

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250917

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250917

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20250917