EP4134489B1 - Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur - Google Patents

Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur

Info

Publication number
EP4134489B1
EP4134489B1 EP21191049.2A EP21191049A EP4134489B1 EP 4134489 B1 EP4134489 B1 EP 4134489B1 EP 21191049 A EP21191049 A EP 21191049A EP 4134489 B1 EP4134489 B1 EP 4134489B1
Authority
EP
European Patent Office
Prior art keywords
rope
grab
actuating
cable
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.)
Active
Application number
EP21191049.2A
Other languages
German (de)
English (en)
Other versions
EP4134489A1 (fr
EP4134489C0 (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

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 holding cable, at least two gripper blades which are pivotally mounted at a lower end of the gripper frame between a closed position and an open position, and an actuating device with an actuating cable for pivoting the gripper blades, wherein the actuating cable is guided from the carrier device to the actuating device, and the carrier device has a driven first cable winch for the holding cable and a driven second cable winch for the actuating cable, according to the preamble of claim 1.
  • the invention further relates to a method for operating a gripper device according to the preamble of claim 13.
  • Grab devices primarily comprise a grab with grab buckets, where the grab is suspended from a carrier device, typically a jib crane, via a holding cable. The grab can be lowered into the ground using the holding cable. By closing the grab buckets, soil material can be removed and collected in the grab. The grab is then retracted from the ground via the holding cable and transported with the carrier device to an emptying position. The grab buckets are opened to release the soil material. The grab is then pivoted back into its working position and inserted into the slot in the soil for another grab operation.
  • a carrier device typically a jib crane
  • a so-called hydraulic gripper for example, is EP 3 798 367 A1
  • the movement for opening and closing the grab buckets is generated by a hydraulic cylinder mounted on the grab frame.
  • rope grippers offer a much simpler design.
  • a rope gripper is, for example, GB 2 126 981 A known.
  • the actuating cable runs essentially parallel to the holding cable from the grab bucket actuating device to the carrier device.
  • the grab buckets can be opened or closed by unwinding or winding the actuating cable onto the winch.
  • the JP 2001 064993 shows a typical rope grab in which a visual and acoustic assistance system facilitates the operator's manual positioning and alignment for underwater use of the rope grab.
  • a machine operator can rotate the rope grab around its longitudinal axis by applying specific tensile forces to the holding rope and the actuating rope. This requires relatively sensitive operation of the corresponding rope winches. This requires a certain level of experience from the machine operator and also a high level of concentration during the process. Furthermore, rope winches are often operated using foot pedals, making sensitive operation of the rope winches for several hours very strenuous for a machine operator.
  • the invention is based on the object of specifying a gripper device and a method for operating the gripper device, in which a simple structure of the gripper device is provided and at the same time a simple operation is enabled.
  • the gripper device is characterized in that a first detection device for detecting a first cable force on the holding cable and a second detection device for detecting a second cable force on the actuating cable are provided 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 and is designed, depending on the detected first cable force on the holding cable and the detected second cable force to control the first cable winch and/or the second cable winch on the actuating cable according to a control program specification.
  • the invention is based on the finding that a torque on a rope gripper about its longitudinal axis depends on the rope forces in the holding rope and the actuating rope.
  • detection devices are therefore provided with which a rope force on the holding rope and a rope force on the actuating rope are detected.
  • the respectively detected force values can be fed to a control device, which controls a first rope winch for the holding rope and a second rope winch for the actuating rope according to inputs and specifications from the machine operator.
  • the control device can thus coordinate the forces in the holding rope and in the actuating rope by appropriately controlling the respective rope winch (rope winding/unwinding), so that for a given or desired rotational position of the rope gripper, in particular no torque about the longitudinal axis is generated by the holding rope and the actuating rope.
  • the control device can also be used to generate a defined (variable) torque for a desired twist by appropriately influencing the respective rope forces.
  • the invention is further based on the realization that, particularly in the conventional use of steel cables made of wound steel wires or strands, a so-called cable lay occurs, which, in the case of steel cables that are not rotation-resistant or rotation-free, leads to a torque about the cable's longitudinal axis when corresponding tensile forces are applied to the steel cable.
  • the holding cable and the actuating cable have an opposite lay direction, compensation of these torques generated by the cables can be achieved by coordinating the tensile forces in the holding cable and the actuating cable. This can preferably be achieved in a particularly simple manner if cables of the same or similar construction are used, but which have an opposite lay direction.
  • a torque equilibrium When using two cables with an opposite cable lay that are attached to a body, a torque equilibrium, a left-turning or a right-turning torque, can be generated on the body with an appropriate tensile force distribution.
  • the holding cable can preferably be attached to a upper or lower area of the gripper frame or the actuating device.
  • a preferred embodiment of the invention consists in that a defined relationship between the first cable force in the holding cable and the second cable force in the actuating cable is specified and adjustable by the control program specification of the control device. Identical or different designs of holding cable and actuating cable can be taken into account in the control program specification. If the holding cable and actuating cable are preferably designed the same, but with opposite cable lay, torque compensation can be achieved by setting largely equal 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 in the control program specification.
  • a further preferred embodiment of the invention consists in that the control device is designed with a compensation mode in which the cable winches are controlled such that the first cable force on the holding cable and the second cable force on the actuating cable are equalized.
  • the cable winches can be controlled such that the torques in the actuating cable and the holding cable compensate and cancel each other out. This can stabilize the rotational position of the cable gripper about its longitudinal axis. Undesired rotation of the cable gripper about its longitudinal axis during operation can thus be largely avoided.
  • the control device is designed with a rotation mode in which the cable winches are controlled in such a way that a targeted rotation of the cable gripper about a vertical longitudinal axis can be generated.
  • a machine operator can then effect a desired change in the rotational position by actuating the cable winches accordingly, preferably via an input device such as a thumbwheel on a joystick.
  • the control device can also be designed in such a way that a value or a measure for a desired The rotation is specified by the machine operator via an input device, whereby the control device operates the winches according to the program logic so that the desired changed rotational position is achieved.
  • 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 achieved by an optical detection device, a rotary encoder, a gyroscope on the cable gripper, or in another suitable manner.
  • feedback regarding the rotational position or rotation of the gripper can be provided when controlled by the control device, so that the rotational position or rotation can be regulated. This enables particularly precise adjustment of the rotational position of the cable gripper.
  • a further improvement in operability is achieved according to a further embodiment of the invention in that at least one additional detection device is provided, in particular for detecting a vertical position of the cable gripper, a distance, and/or an angular position of the cable gripper relative to the carrier device.
  • the additional parameters thus detected can be directly displayed to a machine operator and/or processed by the control device for controlling the gripper.
  • a further advantageous embodiment of the invention consists in the provision of a control panel for manual control for actuating the rope gripper and/or the rope winches.
  • the control panel as an input device is designed in particular such that a machine operator can enter a desired rotation or movement of the rope gripper, for example as a numerical value or angular measurement, preferably using corresponding operating elements such as a cursor, a rotary wheel, switches or keys, in particular in combination with a display.
  • the machine operator therefore no longer has to directly enter the winches and a rotation of the winches.
  • the machine with the individual motors and actuators is controlled via the control device with the program logic in such a way that the desired position is achieved largely without undesired rotations.
  • control device is designed with an automatic program by which the cable grab can be automatically moved to an emptying position and/or to an excavation site.
  • An automatic program can be permanently stored or, for repetitive processes, can be individually defined and saved by a machine operator. In this way, larger movement sequences of the grab can be carried out automatically, in particular a movement to the emptying position and/or back to an excavation site.
  • Such travel paths of the cable grab occur with a high repetition frequency, particularly when creating deep slots in the ground.
  • the individual cables can be designed identically or differently.
  • the holding cable on the first cable winch has a first winding that is opposite to a second winding of the actuating cable on the second cable winch.
  • the holding cable and the actuating cable have an opposite lay direction, or what is known as a cable lay. When a tensile force is applied, opposing torques are thus produced on the cables. This facilitates compensation of the torques to stabilize the position of the cable gripper during operation.
  • the actuating cable can be directly linked to the grab buckets.
  • the actuating device it is advantageous for the actuating device to have an actuating carriage connected to the grab buckets via a linkage mechanism, and for the actuating carriage to be displaceable along the grab frame for pivoting the grab buckets.
  • the actuating carriage is preferably mounted on the grab frame so that it can be displaced in a longitudinal or vertical direction.
  • the linkage mechanism can comprise joints, linkage rods, or linkage cables.
  • An actuating carriage can, in particular, ensure the most uniform opening and closing movement of the grab buckets. This is advantageous for stabilizing the position of the rope grab.
  • Particularly high closing forces can preferably be achieved by providing a pulley arrangement on the actuating carriage, with which An increase in force can be generated to close and/or open the grab buckets.
  • a pulley system can be used to multiply the force on the actuating cable for opening and closing the grab buckets depending on the number of pulls.
  • the pulley system is positioned, in particular, between the actuating carriage and the lower end of the grab frame.
  • the pulleys of the pulley system which are mounted on the actuating carriage on the one hand and on the grab frame on the other, can be wrapped by the actuating cable, the lower end of which is attached to the grab frame. This results in a corresponding extension of the cable's travel distance for actuating the actuating carriage, with the desired increase in force.
  • a display screen is provided for the control device for operation.
  • the display screen can be designed, in particular, as a touchscreen on which at least some of the operating elements for a machine operator are implemented.
  • the position of the rope gripper can be displayed in various representations on the display screen to further facilitate operation for a machine operator.
  • the invention further comprises 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 holding cable is detected by means of a first detection device and a second cable force on the actuating cable is detected by means of 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 by which the first cable winch and/or the second cable winch are controlled according to a control program specification as a function of the detected first cable force on the holding cable and the detected second cable force on the actuating cable.
  • the method enables the previously described advantages to be achieved in the gripper device according to the invention.
  • the gripper device can be used for a variety of tasks.
  • a preferred method variant is that the The rope grab is used to remove soil and, in particular, to create a slit in the ground.
  • the rope grab can be designed, in particular, as a so-called diaphragm wall grab, with which a slit can be created in the ground for a sealing and/or retaining wall, for example, to enclose an excavation pit.
  • a gripper device 10 according to the invention according to Fig. 1 has a mobile carrier 12 with a crawler track as the undercarriage 14.
  • a superstructure 16 with an operator's cabin 17 is mounted on the undercarriage 14, rotatable about a vertical axis of rotation.
  • Within the operator's cabin 17 is a control device including an input device for a machine operator.
  • a boom arm 18 is pivotally mounted on the superstructure 16 about a horizontal axis.
  • a holding cable 24 is guided on a head 20 of the boom arm 18 with deflection pulleys, to the end of which a rope grab 30 with a grab frame 32 and lower grab buckets 34 is attached.
  • the holding cable 24 can be actuated to raise and lower the rope grab 30 via a first cable winch 21 on the carrier device 12.
  • a second cable winch 22 for an actuating cable 44 is located on the carrier device 12, which is also guided via the head 20 to the rope grab 30 for actuating the grab buckets 34 at the lower end of the grab frame 32.
  • an actuating carriage 42 of an actuating device 40 for actuating the gripper blades 34 is mounted so as to be displaceable in a vertical longitudinal direction.
  • the end of the holding cable 24 is attached to the upper end of the actuating carriage 42, so that the cable gripper 30 is held by the actuating carriage 42.
  • a linkage mechanism 46 with linkage rods 47 is arranged at a lower end of the actuating carriage 42.
  • the linkage rods 47 are connected in an articulated manner to the actuating carriage 42 on the one hand and to one of the gripper blades 34 on the other.
  • the gripper blades 34 are themselves pivotally mounted on the lower end of the gripper frame 32 via pivot bearings 35.
  • the gripper blades 34 can be opened and closed.
  • the linkage rods 47 are pulled upwards, whereby the gripper blades 34 are pivoted about their pivot axes 35 into their opening position, which is clearly shown in Fig. 3 is shown.
  • the pulley assembly 50 has an upper roller 52, which is rotatably mounted on the actuating carriage 42, and a lower roller 54, which is rotatably mounted on a lower region of the gripper frame 32.
  • the actuating cable 44 fed from above, wraps around the rollers 52, 54 several times, forming loops 56 or pulleys, with the lower end of the actuating cable 44 being firmly connected to the gripper frame 32.
  • the actuating carriage 42 is thus adjustably connected or coupled to the gripper frame 32 via the actuating cable 44.
  • soil material When used in a slot in the ground, soil material can be gripped and enclosed between the grab buckets 34 with a closing force that is higher than the tensile force on the actuating cable 44.
  • forces in the holding cable 24 and the actuating cable 44 are detected via corresponding detection devices, which can be arranged, for example, on the cable winches 21, 22 or on the deflection pulleys on the head 20 of the boom arm 18.
  • a control device which is preferably arranged in the operator's cabin 17 on the carrier device 12, can control the winches 21, 22 depending on the detected cable forces in such a way that either a stabilization of the rotational position of the cable gripper 30 about its longitudinal axis or a targeted rotation desired by the machine operator is achieved.
  • the machine operator only needs to provide appropriate inputs regarding a possibly desired compensation mode for position stabilization or inputs regarding a desired rotational position of the vertical gripper 30. Based on this, the control device can control the cable winches 21, 22 accordingly to achieve the desired rotational position of the cable gripper 30.

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)

Claims (14)

  1. Dispositif de préhension avec un appareil de support (12) et un préhenseur à câble (30) agencé sur celui-ci, qui présente
    - un cadre de préhension (32), qui est maintenu sur l'appareil de support (12) par l'intermédiaire d'un câble de maintien (24),
    - au moins deux pales de préhension (34), qui sont montées à une extrémité inférieure du cadre de préhension (32) de manière à pouvoir pivoter entre une position de fermeture et une position d'ouverture, et
    - un dispositif d'actionnement (40) avec un câble d'actionnement (44) pour faire pivoter les pales de préhension (34),
    - un câble d'actionnement (44) étant guidé de l'appareil de support (12) vers le dispositif d'actionnement (40) et
    - l'appareil de support (12) présentant un premier treuil à câble (21) entraîné pour le câble de maintien (24) et un deuxième treuil à câble (22) entraîné pour le câble d'actionnement (44),
    - un premier dispositif de détection étant prévu pour détecter une première force de câble sur le câble de maintien (24) et un deuxième dispositif de détection étant prévu pour détecter une deuxième force de câble sur le câble d'actionnement (44),
    caractérisé en ce qu'
    - il est prévu un dispositif de commande qui est en liaison avec premier dispositif de détection, le deuxième dispositif de détection, le premier treuil à câble (21) et le deuxième treuil à câble (22) et est réalisé pour commander le premier treuil à câble (21) et/ou le deuxième treuil à câble (22) en fonction de la première force de câble détectée sur le câble de maintien (24) et de la deuxième force de câble détectée sur le câble d'actionnement (44) selon une consigne de programme de commande.
  2. Dispositif de préhension selon la revendication 1,
    caractérisé en ce que qu'
    un rapport défini entre la première force de câble dans le câble de maintien (24) et la deuxième force de câble dans le câble d'actionnement (44) est prédéfini et réglable par la consigne de programme de commande du dispositif de commande.
  3. Dispositif de préhension selon la revendication 1 ou 2,
    caractérisé en ce que
    le dispositif de commande est réalisé avec un mode de compensation, dans lequel les treuils à câble (21, 22) sont commandés de telle sorte que la première force de câble sur le câble de maintien (24) et la deuxième force de câble sur le câble d'actionnement (44) sont équilibrées l'une par rapport à l'autre.
  4. Dispositif de préhension selon l'une quelconque des revendications 1 à 3, caractérisé en ce que
    le dispositif de commande est réalisé avec un mode de torsion dans lequel les treuils à câble (21, 22) sont commandés de telle sorte qu'une torsion ciblée du préhenseur à câble (30) peut être générée autour d'un axe longitudinal vertical.
  5. Dispositif de préhension selon l'une quelconque des revendications 1 à 4, caractérisé en ce qu'
    il est prévu au moins un troisième dispositif de détection pour détecter une position de rotation du préhenseur à câble (30) et/ou une modification de la position de rotation.
  6. Dispositif de préhension selon l'une quelconque des revendications 1 à 5, caractérisé en ce qu'
    il est prévu au moins un autre dispositif de détection, notamment pour détecter une position verticale du préhenseur à câble (30), une distance et/ou une position angulaire du préhenseur à câble (30) par rapport à l'appareil de support (12).
  7. Dispositif de préhension selon l'une quelconque des revendications 1 à 6, caractérisé en ce que
    le dispositif de commande est réalisé avec un programme automatique par lequel le préhenseur à câble (30) peut être déplacé automatiquement vers une position de vidage et/ou vers un emplacement d'enlèvement.
  8. Dispositif de préhension selon l'une quelconque des revendications 1 à 7, caractérisé en ce que
    le câble de maintien (24) sur le premier treuil à câble (21) présente un premier enroulement qui est opposé à un deuxième enroulement du câble d'actionnement (44) sur le deuxième treuil à câble (22).
  9. Dispositif de préhension selon l'une quelconque des revendications 1 à 8, caractérisé en ce que
    le dispositif d'actionnement présente un chariot d'actionnement (42) relié aux pales de préhension (34) par l'intermédiaire d'un mécanisme d'articulation (46), et
    en ce que le chariot d'actionnement (42) est mobile en translation le long du cadre de préhension (32) pour faire pivoter les pales de préhension (34).
  10. Dispositif de préhension selon la revendication 9,
    caractérisé en ce qu'
    un agencement de palan (50) est prévu sur le chariot d'actionnement (42), avec lequel une augmentation de force peut être générée pour la fermeture et/ou l'ouverture des pales de préhension (34).
  11. Dispositif de préhension selon l'une quelconque des revendications 1 à 10, caractérisé en ce qu'
    il est prévu un pupitre de manœuvre pour une commande manuelle pour actionner le préhenseur à câble (30) et/ou les treuils à câble (21, 22).
  12. Dispositif de préhension selon l'une quelconque des revendications 1 à 11, caractérisé en ce qu'
    un écran d'affichage pour le dispositif de commande est prévu pour la manœuvre.
  13. Procédé d'exploitation d'un dispositif de préhension,
    caractérisé en ce qu'
    un dispositif de préhension (10) selon l'une quelconque des revendications 1 à 12 est utilisé, une première force de câble sur le câble de maintien (24) étant détectée au moyen d'un premier dispositif de détection et une deuxième force de câble sur le câble d'actionnement (44) au moyen d'un deuxième dispositif de détection, et
    en ce que le premier dispositif de détection, le deuxième dispositif de détection, le premier treuil à câble (21) et le deuxième treuil à câble (22) sont en liaison avec un dispositif de commande par lequel, en fonction de la première force de câble détectée sur le câble de maintien (24) et de la deuxième force de câble détectée sur le câble d'actionnement (44), le premier treuil à câble (21) et/ou le deuxième treuil à câble (22) sont commandés selon une consigne de programme de commande.
  14. Procédé selon la revendication 13,
    caractérisé en ce que
    du sol est enlevé au moyen du préhenseur à câble (30) et notamment une fente est réalisée dans le sol.
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 EP4134489A1 (fr) 2023-02-15
EP4134489C0 EP4134489C0 (fr) 2025-09-17
EP4134489B1 true 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)

Families Citing this family (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
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
EP4737646A1 (fr) * 2024-11-05 2026-05-06 BAUER Maschinen GmbH Engin de chantier et procédé de commande d'un engin de chantier

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100236107A1 (en) * 2005-06-27 2010-09-23 Helmut Kanzler Piste Grooming Vehicle With Cable Torque Compensation
US20180029849A1 (en) * 2015-04-08 2018-02-01 Hans Kunz GmbH Transport unit

Family Cites Families (18)

* 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
ZA836216B (en) 1982-09-13 1984-04-25 Frankignoul Pieux Armes Device for the suspension of a grab or grab bucket and grab or grab bucket apparatus incorporating said device
JPH07119473B2 (ja) * 1990-02-19 1995-12-20 株式会社フジタ 地中連続壁用溝の自動掘削装置
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
JPH09158254A (ja) * 1995-12-05 1997-06-17 Sumitomo Constr Mach Co Ltd 掘削機の掘削制御装置
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
DE19933771B4 (de) * 1999-07-19 2007-12-06 Liebherr-Werk Nenzing Gmbh, Nenzing Kran
JP4318807B2 (ja) * 1999-08-25 2009-08-26 株式会社鴻池組 掘削揚土作業支援システム
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
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
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
EP3798367B1 (fr) 2019-09-25 2022-03-09 BAUER Maschinen GmbH Élément d'ancrage sur une tranchée, son procédé de fonctionnement et procédé de construction souterraine

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100236107A1 (en) * 2005-06-27 2010-09-23 Helmut Kanzler Piste Grooming Vehicle With Cable Torque Compensation
US20180029849A1 (en) * 2015-04-08 2018-02-01 Hans Kunz GmbH Transport unit

Also Published As

Publication number Publication date
WO2023016914A1 (fr) 2023-02-16
EP4134489A1 (fr) 2023-02-15
EP4134489C0 (fr) 2025-09-17
JP7659697B2 (ja) 2025-04-09
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
EP4134489A1 (fr) Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur
EP4134490B1 (fr) Dispositif préhenseur et procédé de fonctionnement d'un dispositif préhenseur
EP1950353B1 (fr) Dispositif d'excavation du sol
EP3798367B1 (fr) Élément d'ancrage sur une tranchée, son procédé de fonctionnement et procédé de construction souterraine
DE2430319A1 (de) Hebevorrichtung, insbesondere hydraulischer kran
DE3339495A1 (de) Verfahren und vorrichtung zum horizontalen vergiessen von beton
DE2227451A1 (de) Schaufelbagger mit ausleger
DE2342942A1 (de) Hydraulisch betaetigter frontladerbagger
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
DE20201897U1 (de) Kran
EP2889431B1 (fr) Machine de travail pour le fonctionnement de benne racleuse
DE1634733C3 (de) Hochlöffelbagger
EP4215717B1 (fr) Machine de construction et procédé de fonctionnement d'une machine de construction
DE2212876A1 (de) Teleskopstange fuer Maschine fuer Gruendungsarbeiten
DE102013006307B4 (de) Baumaschine und verfahren zum betreiben der baumaschine
EP4105389A1 (fr) Procédé de fonctionnement d'une machine de construction et machine de construction
EP2402281B1 (fr) Procédé destiné au fonctionnement d'une grue à tour
WO2025113766A1 (fr) Dispositif de préhension et procédé de fonctionnement d'un dispositif de préhension
WO2025098585A1 (fr) Appareil de préhension et procédé de fonctionnement d'un appareil de préhension
EP4512962A1 (fr) Dispositif de génie civil et procédé de fonctionnement d'un dispositif de génie civil
DE2929463C2 (de) Hydraulisch betätigter Bagger
DE2806615B2 (de) Antriebssystem fur einen Schürfkübelbagger
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
EP4711524A1 (fr) Outil de travail doté d'une pince, en particulier pince pour parois moulées

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