EP0600792A1 - Method and device for driving and controlling the rotation of a pulley block look - Google Patents
Method and device for driving and controlling the rotation of a pulley block look Download PDFInfo
- Publication number
- EP0600792A1 EP0600792A1 EP93402911A EP93402911A EP0600792A1 EP 0600792 A1 EP0600792 A1 EP 0600792A1 EP 93402911 A EP93402911 A EP 93402911A EP 93402911 A EP93402911 A EP 93402911A EP 0600792 A1 EP0600792 A1 EP 0600792A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- motor
- rotation
- frequency
- control
- action
- 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.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
- B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/34—Crane hooks
Definitions
- the invention relates to a method and a device for driving and controlling the rotation of the hook of a mitten.
- a relative position sensor controls the relative angular positioning of the hook relative to the muffle body and a gyrometer controls the absolute positioning of the lift axis.
- a gyrometer controls the absolute positioning of the lift axis.
- gears each having a still too high inertia to be able to control, in a precise manner, the angular movement of the load; also, is it necessary to provide said device with a coupling and a force limiter.
- the object of the present invention is to remedy these drawbacks.
- This invention solves the problem of defining a method and creating a device making it possible to eliminate a reduction stage, as well as a coupling system of force limitation, and to obtain a variation of rotation speed of the load adjustable at will, allowing a progressive rotation and slowing down limiting the inertia effect of the load.
- the method of motorizing the hook of a lifting block block, by means of an electric motor and a reduction gear, according to the invention, is characterized, mainly, in that it consists in supplying the AC motor, at a nominal frequency of 50 or 60 Hz, and to vary this frequency from 20 to 50 Hz, or from 20 to 60 Hz, depending on the variation in speed of rotation of the load that the it is desired to obtain, and to control the force supplied to the hook by measuring the heating of the electric motor.
- Control of the variation in load rotation speed is obtained by pre-setting the frequency of the alternating current supplying the motor over several predetermined ranges.
- the motor operates according to different cycles of preset speed, each cycle comprising: an acceleration range, a rotation range and a deceleration range.
- the device for implementing the method according to the invention is characterized in that the frequency variation of the alternating current supplying the motor is obtained by means of an electronic frequency converter and an on-off switch.
- the temperature of the electric motor is controlled by means of a thermal probe, the control of which, incorporated in the control panel, interrupts the supply of said motor in the event of abnormal heating of the latter and restores it as soon as said temperature returns to normal, in that the cycles of speed of rotation of the motor are managed by a programmable automaton, and in that, for each cycle, the rotation of the motor, up to the preset speed, is obtained by action on a push button switch, the rotation being maintained as long as the action, on the said push button, is maintained, the deceleration range being triggered as soon as this action stops, the reverse rotation, according to the same cycle, being obtained by respecting the same ranges by action on an inverter.
- the figure shows a muffle 10 , comprising two sheaves 12 , each mounted between two reinforcing plates 11 kept apart by spacers 13 , between which are placed a support plate 15 , supporting the motor 14 and the reduction gear 16 , and a crosspiece with stop 17 , supporting the hook 18 by means of a nut 19 ; the assembly being obtained by means of tie rods 111 and nuts 112 .
- the motor 14 is connected to the terminal block 21 of the control panel 20 by means of a cable 22 with reel 23 , which supplies it with three-phase 220 V current, the said terminal block 21 being itself connected to the mains electrical network.
- control panel 20 being equipped with a programmable controller 24 , an electronic frequency converter 25 , relays 26 , transformers 27 , 28 .
- the motor 14 is equipped with a thermal probe 141 .
- the muffle thus constituted, is of reduced height and of modular width, thanks to the reduction in size of the motor-reducer assembly and the elimination of the force limiter, elastic coupling and motor brake. Disassembly of the motor 14 and reduction gear 16 assembly can be easily obtained by simply releasing the nuts 112 from the tie rods 111 and sliding side of the support plate 15 , which normally rests on strips 151 secured to the internal frame plates 11 ; disassembly into sub-assemblies which can be obtained by completely unscrewing the nuts 112 of the tie rods 111 .
- the control of the rotation of the muffle is obtained, as explained above, by action on one of the switching push-buttons 31 , 32 or 33 (in the case of a device with three speed cycles), controlled by the programmable controller 24 and the electronic frequency converter 25 .
- the motorized hook block according to the invention is intended, primarily, to equip overhead traveling cranes, but nothing would prevent its use in other areas of lifting and handling, subject to minor adaptations.
Abstract
Description
L'invention concerne un procédé et un dispositif d'entraîne- ment et de contrôle de la rotation du crochet d'une moufle.The invention relates to a method and a device for driving and controlling the rotation of the hook of a mitten.
Afin de pouvoir orienter une charge avant sa dépose, il était connu de monter la tige du crochet sur butée à billes ; cette orientation s'effectuant manuellement, avec les risques que cela suppose en cas de délestage accidentel de la charge. Le problème se compliquait encore lorsque cette charge devait être orientée par rapport aux bords d'une écoutille desservant une cale de navire par exemple, car, en effet, l'action manuelle directe sur la charge ne pouvait se faire qu'en acceptant un certain déséquilibre de l'opérateur, susceptible de provoquer sa chute dans la cale.In order to be able to orient a load before its removal, it was known to mount the hook rod on a ball stop; this orientation is carried out manually, with the risks that this implies in the event of accidental load shedding. The problem was further complicated when this load had to be oriented relative to the edges of a hatch serving a ship's hold, for example, because, in fact, direct manual action on the load could only be done by accepting a certain operator imbalance, likely to cause him to fall into the hold.
Pour remédier à ce problème, il a été imaginé de motoriser le crochet en rotation par l'intermédiaire d'un moto-réducteur électrique, commandé à distance depuis le poste de conduite de l'engin de levage. Un tel dispositif est décrit, par exemple, dans la demande de brevet français n° 2 649 966, ayant pour objet un dispositif motorisé de rotation de charge, auto-alimenté en énergie, pour appareils de levage à câble. La motorisation du crochet est constituée d'un moteur électrique à courant continu à aimants permanents, fonctionnant sous une tension de 24 V, d'un réducteur de vitesse planétaire à un seul train d'engrenages juste dimensionné pour le couple à transmettre, afin d'avoir l'inertie minimum, et d'un réducteur de vitesse à trains d'engrenages droits, assurant la rotation de l'axe du crochet. Un capteur de position relative, à codeur absolu ou incrémental, contrôle le positionnement angulaire relatif du crochet par rapport au corps de moufle et un gyromètre contrôle le positionnement absolu de l'axe de sustentation. Toutefois, un tel dispositif fait appel à un nombre assez important d'engrenages, présentant chacun une inertie encore trop élevée pour pouvoir contrôler, de façon précise, le débattement angulaire de la charge ; aussi, est-il nécessaire de doter le dit dispositif d'un accouplement et d'un limiteur d'efforts.To remedy this problem, it has been imagined to motorize the rotating hook by means of an electric gear motor, remotely controlled from the driving position of the lifting machine. Such a device is described, for example, in French patent application No. 2,649,966, having as its object a motorized load rotation device, self-supplied with energy, for cable lifting devices. The motorization of the hook consists of an electric DC motor with permanent magnets, operating at a voltage of 24 V, a planetary speed reducer with a single gear train just sized for the torque to be transmitted, in order to '' have minimum inertia, and a speed reducer with spur gear trains, ensuring the rotation of the hook axis. A relative position sensor, with absolute or incremental encoder, controls the relative angular positioning of the hook relative to the muffle body and a gyrometer controls the absolute positioning of the lift axis. However, such a device uses a fairly large number of gears, each having a still too high inertia to be able to control, in a precise manner, the angular movement of the load; also, is it necessary to provide said device with a coupling and a force limiter.
On connaît déjà un dispositif de motorisation du crochet d'une moufle d'engin de levage correspondant au préambule de la revendication 1 (brevet US-A-5 125 707). La motorisation du crochet est assurée par un moto-réducteur électrique associé à une transmission à pignons et chaîne. La vitesse et le sens de rotation du moto-réducteur sont contrôlés par l'intermédiaire d'un convertisseur de fréquence. Avec un tel dispositif de transmission, le débattement angulaire de la charge est assez imprécis, du fait de l'accumulation des jeux existants au niveau des maillons de la chaîne et entre les maillons et les dents des pignons, ce qui provoque des à-coups générant des oscillations amplifiées par l'inertie de la charge, s'opposant à un contrôle précis de la rotation de celle-ci et, par conséquent , de son orientation.There is already known a device for motorizing the hook of a lifting machine block corresponding to the preamble of claim 1 (US-A-5,125,707). The motorization of the hook is ensured by an electric motor-reducer associated with a transmission with pinions and chain. The speed and direction of rotation of the gear motor are controlled by means of a frequency converter. With such a transmission device, the angular movement of the load is quite imprecise, due to the accumulation of play existing at the links of the chain and between the links and the teeth of the sprockets, which causes jolts. generating oscillations amplified by the inertia of the load, opposing precise control of the rotation of the latter and, consequently, of its orientation.
La présente invention a pour but de remédier à ces inconvénients. Cette invention, telle qu'elle se caractérise, résout le problème consistant à définir un procédé et à créer un dispositif permettant de supprimer un étage de réduction, ainsi qu'un système d'accouplement de limitation d'efforts, et d'obtenir une variation de vitesse de rotation de la charge réglable à volonté, permettant une mise en rotation et un ralentissement progressifs limitant l'effet d'inertie de la charge.The object of the present invention is to remedy these drawbacks. This invention, as it stands, solves the problem of defining a method and creating a device making it possible to eliminate a reduction stage, as well as a coupling system of force limitation, and to obtain a variation of rotation speed of the load adjustable at will, allowing a progressive rotation and slowing down limiting the inertia effect of the load.
Le procédé de motorisation du crochet d'une moufle d'engin de levage, par l'intermédiaire d'un moteur électrique et d'un réducteur, selon l'invention, se caractérise, principalement, en ce qu'il consiste à alimenter le moteur en courant alternatif, à une fréquence nominale de 50 ou de 60 Hz, et à faire varier cette fréquence de 20 à 50 Hz, ou de 20 à 60 Hz, en fonction de la variation de vitesse de rotation de la charge que l'on désire obtenir, et à contrôler l'effort fourni au crochet par mesure de l'échauffement du moteur électrique.The method of motorizing the hook of a lifting block block, by means of an electric motor and a reduction gear, according to the invention, is characterized, mainly, in that it consists in supplying the AC motor, at a nominal frequency of 50 or 60 Hz, and to vary this frequency from 20 to 50 Hz, or from 20 to 60 Hz, depending on the variation in speed of rotation of the load that the it is desired to obtain, and to control the force supplied to the hook by measuring the heating of the electric motor.
Le contrôle de la variation de vitesse de rotation de la charge s'obtient par pré-réglage de la fréquence du courant alternatif d'alimentation du moteur sur plusieurs plages prédéterminées.Control of the variation in load rotation speed is obtained by pre-setting the frequency of the alternating current supplying the motor over several predetermined ranges.
Le moteur fonctionne selon différents cycles de vitesse de rotation pré-réglée, chaque cycle comprenant : une plage d'accélération, une plage de rotation et une plage de décélération.The motor operates according to different cycles of preset speed, each cycle comprising: an acceleration range, a rotation range and a deceleration range.
Le dispositif de mise en oeuvre du procédé selon l'invention se caractérise en ce que la variation de fréquence du courant alternatif d'alimentation du moteur est obtenue par l'intermédiaire d'un variateur électronique de fréquence et d'un interrupteur marche-arrêt, placé sur le boîtier de commande générale de l'engin de levage, en ce que la température du moteur électrique est contrôlée par l'intermédiaire d'une sonde thermique, dont la commande, incorporée au tableau de commande, interrompt l'alimentation du dit moteur en cas d'échauffement anormal de celui-ci et la rétablit dès que la dite température est redevenue normale, en ce que les cycles de vitesse de rotation du moteur sont gérés par un automate programmable, et en ce que, pour chaque cycle, la mise en rotation du moteur, jusqu'à la vitesse pré-réglée, s'obtient par action sur un commutateur à boutons poussoirs, la rotation étant entretenue tout le temps que l'action, sur le dit bouton poussoir, est maintenue, la plage de décélération étant déclenchée dès que cette action cesse, la rotation inverse, selon le même cycle, étant obtenue en respectant les mêmes plages par action sur un inverseur.The device for implementing the method according to the invention is characterized in that the frequency variation of the alternating current supplying the motor is obtained by means of an electronic frequency converter and an on-off switch. , placed on the general control box of the lifting machine, in that the temperature of the electric motor is controlled by means of a thermal probe, the control of which, incorporated in the control panel, interrupts the supply of said motor in the event of abnormal heating of the latter and restores it as soon as said temperature returns to normal, in that the cycles of speed of rotation of the motor are managed by a programmable automaton, and in that, for each cycle, the rotation of the motor, up to the preset speed, is obtained by action on a push button switch, the rotation being maintained as long as the action, on the said push button, is maintained, the deceleration range being triggered as soon as this action stops, the reverse rotation, according to the same cycle, being obtained by respecting the same ranges by action on an inverter.
Les avantages obtenus, grâce à cette invention, consistent essentiellement en ceci que le prix de revient de la moufle à crochet motorisé est notablement réduit, du fait de la suppression d'un étage de réduction, que le même moto-réducteur peut couvrir toute une gamme de moufles, proposée jusqu'alors pour le même usage, que le recours à l'électronique permet de supprimer le limiteur d'efforts, l'accouplement élastique et le frein du moteur, et que la structure de construction de la moufle permet de la réaliser à 2, 4... réas.The advantages obtained, thanks to this invention, consist essentially in that the cost price of the motorized hook block is significantly reduced, due to the elimination of a reduction stage, that the same geared motor can cover a whole range of mittens, hitherto offered for the same use, that the use of electronics eliminates the force limiter, the elastic coupling and the motor brake, and that the construction structure of the muffle allows do it with 2, 4 ... sheaves.
D'autres caractéristiques et avantages apparaîtront dans la description qui va suivre d'un mode de réalisation de l'invention, donné à titre d'exemple non limitatif, au regard du dessin annexé représentant la vue de face d'une moufle à crochet motorisé à deux réas, reliée à son dispositif d'alimentation et de commande.Other characteristics and advantages will appear in the following description of an embodiment of the invention, given by way of nonlimiting example, with regard to the drawing annexed showing the front view of a motorized hook block with two sheaves, connected to its supply and control device.
La figure représente une moufle 10, comportant deux réas 12, montés chacun entre deux plaques d'armature 11 maintenues écartées par des entretoises 13, entre lesquels sont disposées une plaque support 15, supportant le moteur 14 et le réducteur 16, et une traverse avec butée 17, supportant le crochet 18 par l'intermédiaire d'un écrou 19 ; l'assemblage étant obtenu par l'intermédiaire de tirants 111 et d'écrous 112. Le moteur 14 est relié au bornier 21 du tableau de commande 20 par l'intermédiaire d'un câble 22 à enrouleur 23, qui l'alimente en courant 220 V triphasé, le dit bornier 21 étant lui-même relié au réseau électrique du secteur et au boîtier de commande générale 30 à boutons poussoirs de commutation 31, 32, 33 et à interrupteur marche-arrêt 34 le tableau de commande 20 étant équipé d'un automate programmable 24, d'un variateur électronique de fréquence 25, de relais 26, de transformateurs 27,28. Le moteur 14 est équipé d'une sonde thermique 141.The figure shows a
En examinant la figure plus en détail,on remarque que la moufle, ainsi constituée, est de hauteur réduite et de largeur modulable, grâce à la réduction d'encombrement de l'ensemble moto-réducteur et à la suppression du limiteur d'efforts, de l'accouplement élastique et du frein de moteur. Le démontage de l'ensemble moteur 14 et réducteur 16 peut être aisément obtenu par simple déblocage des écrous 112 des tirants 111 et coulissement latéral de la plaque support 15, qui repose, normalement, sur des réglettes 151 solidaires des plaques d'armature 11 internes ; le démontage en sous-ensembles pouvant être obtenu par dévissage total des écrous 112 des tirants 111. La commande de la rotation de la moufle est obtenue, comme cela a été exposé plus haut, par action sur l'un des boutons poussoirs de commutation 31, 32 ou 33 (dans le cas d'un dispositif à trois cycles de vitesse), contrôlé par l'automate programmable 24 et le variateur électronique de fréquence 25.By examining the figure in more detail, it is noted that the muffle, thus constituted, is of reduced height and of modular width, thanks to the reduction in size of the motor-reducer assembly and the elimination of the force limiter, elastic coupling and motor brake. Disassembly of the motor 14 and
A souligner que l'utilisation d' un variateur électronique se prête au pilotage à distance par l'intermédiaire d'une commande immatérielle de type hertzien (radiocommande) ou optique (infrarouge). La simplicité de conception de ce dispositif permet d'ailleurs sa mise en oeuvre par l'intermédiaire d'une télécommande existante.Note that the use of an electronic variator lends itself to remote control by means of an immaterial control of the radio type (radio control) or optical (infrared). The simplicity of design of this device also allows its implementation via an existing remote control.
La moufle à crochet motorisé selon l'invention est destinée, principalement, à équiper les ponts roulants, mais rien ne s'opposerait à son utilisation dans d'autres domaines du levage et de la manutention, sous réserve d'adaptations mineures.The motorized hook block according to the invention is intended, primarily, to equip overhead traveling cranes, but nothing would prevent its use in other areas of lifting and handling, subject to minor adaptations.
Claims (4)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR9214582 | 1992-12-03 | ||
| FR9214582A FR2698858B1 (en) | 1992-12-03 | 1992-12-03 | Method and device for driving and controlling the rotation of the hook of a mitten. |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP0600792A1 true EP0600792A1 (en) | 1994-06-08 |
Family
ID=9436197
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP93402911A Withdrawn EP0600792A1 (en) | 1992-12-03 | 1993-12-01 | Method and device for driving and controlling the rotation of a pulley block look |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP0600792A1 (en) |
| FR (1) | FR2698858B1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103010938A (en) * | 2012-11-13 | 2013-04-03 | 大连钛鼎重工有限公司 | Automatic hanging hook |
| CN103224197A (en) * | 2013-04-11 | 2013-07-31 | 河南华北起重吊钩有限公司 | Electromagnetic positioning apparatus of rotation lifting hook |
| US8616427B2 (en) | 2002-10-04 | 2013-12-31 | Covidien Lp | Tool assembly for surgical stapling device |
| CN104444785A (en) * | 2014-11-17 | 2015-03-25 | 常熟市永固起重设备安装工程有限公司 | European type rotating safety hook |
| RU173839U1 (en) * | 2017-04-13 | 2017-09-13 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Белгородский государственный аграрный университет имени В.Я. Горина" | Lifting device |
| CN107352389A (en) * | 2017-09-19 | 2017-11-17 | 安徽骏达起重机械有限公司 | The anti-falling protection suspension hook of crane |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107651564B (en) * | 2017-11-03 | 2019-04-02 | 南京工业大学 | A kind of craning weight of same device for adjusting posture |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1481824A1 (en) * | 1966-01-21 | 1969-04-17 | Scholten Geb | Bottom block for hoists |
| DE2612246A1 (en) * | 1976-03-23 | 1977-10-06 | R Stahl 7000 Stuttgart Fa | Lifting gear with main current control - has several sensitive resistors in flip flop which when operated locks mains switch in off position |
| EP0266254A1 (en) * | 1986-10-15 | 1988-05-04 | POMPES SALMSON Société Anonyme à directoire dite: | Electric motor monitoring device |
| US5027049A (en) * | 1989-01-31 | 1991-06-25 | Harnischfeger Corporation | Method for increasing the speed of an alternating current motor |
| DE4038981A1 (en) * | 1990-12-06 | 1992-06-11 | Man Ghh Logistics | Frequency changer for AC crane motors - uses equivalent circuit data to compute torque and to avoid approaching pull=out torque |
| US5125707A (en) * | 1989-05-17 | 1992-06-30 | Sankyu Inc. | Rotary load lifting hook device |
-
1992
- 1992-12-03 FR FR9214582A patent/FR2698858B1/en not_active Expired - Fee Related
-
1993
- 1993-12-01 EP EP93402911A patent/EP0600792A1/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE1481824A1 (en) * | 1966-01-21 | 1969-04-17 | Scholten Geb | Bottom block for hoists |
| DE2612246A1 (en) * | 1976-03-23 | 1977-10-06 | R Stahl 7000 Stuttgart Fa | Lifting gear with main current control - has several sensitive resistors in flip flop which when operated locks mains switch in off position |
| EP0266254A1 (en) * | 1986-10-15 | 1988-05-04 | POMPES SALMSON Société Anonyme à directoire dite: | Electric motor monitoring device |
| US5027049A (en) * | 1989-01-31 | 1991-06-25 | Harnischfeger Corporation | Method for increasing the speed of an alternating current motor |
| US5125707A (en) * | 1989-05-17 | 1992-06-30 | Sankyu Inc. | Rotary load lifting hook device |
| DE4038981A1 (en) * | 1990-12-06 | 1992-06-11 | Man Ghh Logistics | Frequency changer for AC crane motors - uses equivalent circuit data to compute torque and to avoid approaching pull=out torque |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8616427B2 (en) | 2002-10-04 | 2013-12-31 | Covidien Lp | Tool assembly for surgical stapling device |
| CN103010938A (en) * | 2012-11-13 | 2013-04-03 | 大连钛鼎重工有限公司 | Automatic hanging hook |
| CN103010938B (en) * | 2012-11-13 | 2014-10-29 | 大连钛鼎重工有限公司 | Automatic hanging hook |
| CN103224197A (en) * | 2013-04-11 | 2013-07-31 | 河南华北起重吊钩有限公司 | Electromagnetic positioning apparatus of rotation lifting hook |
| CN104444785A (en) * | 2014-11-17 | 2015-03-25 | 常熟市永固起重设备安装工程有限公司 | European type rotating safety hook |
| RU173839U1 (en) * | 2017-04-13 | 2017-09-13 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Белгородский государственный аграрный университет имени В.Я. Горина" | Lifting device |
| CN107352389A (en) * | 2017-09-19 | 2017-11-17 | 安徽骏达起重机械有限公司 | The anti-falling protection suspension hook of crane |
Also Published As
| Publication number | Publication date |
|---|---|
| FR2698858B1 (en) | 1995-02-03 |
| FR2698858A1 (en) | 1994-06-10 |
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