EP0985629B1 - Kran - Google Patents
Kran Download PDFInfo
- Publication number
- EP0985629B1 EP0985629B1 EP98116951A EP98116951A EP0985629B1 EP 0985629 B1 EP0985629 B1 EP 0985629B1 EP 98116951 A EP98116951 A EP 98116951A EP 98116951 A EP98116951 A EP 98116951A EP 0985629 B1 EP0985629 B1 EP 0985629B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- crane
- cylinder
- pressure
- signal
- section
- 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.)
- Expired - Lifetime
Links
Images
Classifications
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
- E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
-
- 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
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/028—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the actuating force
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30505—Non-return valves, i.e. check valves
- F15B2211/30515—Load holding valves
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/305—Directional control characterised by the type of valves
- F15B2211/30525—Directional control valves, e.g. 4/3-directional control valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
- F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
- F15B2211/31576—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having a single pressure source and a single output member
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/32—Directional control characterised by the type of actuation
- F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/30—Directional control
- F15B2211/35—Directional control combined with flow control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/60—Circuit components or control therefor
- F15B2211/63—Electronic controllers
- F15B2211/6303—Electronic controllers using input signals
- F15B2211/6306—Electronic controllers using input signals representing a pressure
- F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
- F15B2211/7051—Linear output members
- F15B2211/7053—Double-acting output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/76—Control of force or torque of the output member
Definitions
- the invention relates to a crane with a hydraulically operated boom system, with at least one cylinder for actuating the boom system and one Device for monitoring the pressure in the crane indicating the load on the crane Cylinder, the flow of hydraulic fluid to the cylinder through change the cross section of a valve is controllable.
- vibrations can occur in the vertical direction, when a load is moved in the vertical direction, i.e. raised or lowered, and this movement is stopped. It is through such vibrations Load peaks in the support structure of the crane and / or too uncontrolled Movements of the load.
- the aim of the invention is a crane which is used to avoid dynamic overloading is provided with a real and at the same time quick-acting regulation.
- a control arrangement in which the time derivative of the measured in a cylinder Pressure is used is also described in DE 44 28 691. in the Contrary to the invention, however, this control arrangement does not relate to a controlled one Crane, but fully automatic machines, such as presses, Punching or nibbling machines. These work preprogrammed and shielded from unpredictable environmental influences and are just constantly recurring exposed to constant loads. The movement sequences with the crane, however are all controlled, with constantly changing load cases, which result from the controlling influence of the crane driver and the different result in manipulated loads.
- Fig. 1 shows a loading crane 1 of classic design for a truck.
- the crane 1 points a main arm 2 and a multi-telescopic articulated arm 5, at the tip a crane hook 4 is arranged for hanging loads.
- the main arm 2 of the crane 1 is pivoted relative to the column 6 of the crane 1 by means of a lifting cylinder 3.
- Fig. 2 shows the details of the device according to the invention, in particular on a cylinder is attached to said lifting cylinder 3.
- the control of the lifting cylinder 3 takes place via a commercially available remote control, which consists of a transmitter 9 and Receiver 10 exists.
- Control signals from the actuation of the control lever on the transmitter 9 originate, are transmitted by radio to the receiver 10, which in turn is a signal forwards to the slider 12.
- the slide 12 is a multiple proportional valve with volume control, the drives for adjusting the valve cross sections are integrated in the slide 12.
- Such a slide is for example under the designation PVG 32 available from Danfoss.
- the differentiating unit 8 supplies an output signal which the drive for adjustment of the valve cross section in the sense of a reduction in the pressure change detected operated.
- the output signal of the differentiating unit 8 can with a factor k (p) that of the measured pressure values depends, are multiplied, whereby the signal is achieved increases disproportionately at higher pressure values. This takes account of the fact borne that the risk of the support structures of the crane from dynamic loads is particularly large given a high static base load.
- the output signal of the differentiating unit 8 is used to determine the desired position of the valves Slider 12 defining signal, which is forwarded by the receiver 10, superimposed and then fed to the slider 12.
- this overlay means that the adjustment speed of the valves in the slide 12 and thus the acceleration of the crane boom is reduced. Since only large accelerations are disadvantageous for the crane, low values of dp / dt the generation of a correction signal can be suppressed.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Fluid Mechanics (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Jib Cranes (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
- Fluid-Pressure Circuits (AREA)
Description
Claims (4)
- Kran (1) mit einem hydraulisch betätigten Auslegersystem (2,5), mit mindestens einem Zylinder (3) zur Betätigung des Auslegersystems (2,5)und einer Einrichtung zur Überwachung des die Belastung des Krans anzeigenden Druckes im Zylinder (3), wobei der Zufluß von Hydraulikflüssigkeit zum Zylinder (3) durch Veränderung des Querschnitts eines Ventils (12) steuerbar ist, dadurch gekennzeichnet, daß in Abhängigkeit von der im Zylinder (3) festgestellten zeitlichen Änderung des Druckes bzw. der zeitlichen Änderung der Belastung des im Zylinder (3) geführten Kolbens ein Signal erzeugt wird, welches den Antrieb zur Verstellung des Ventilquerschnitts im Sinne einer Verringerung der festgestellten Druck- bzw. Belastungsänderung betätigt.
- Kran nach Anspruch 1, dadurch gekennzeichnet, daß die Stärke des Signals bei höheren Werten des Druckes überproportional steigt.
- Kran nach Anspruch 1, dadurch gekennzeichnet, daß das Signal unabhängig von dem durch die Stellung eines Handhebels definierten Sollwert des Ventilquerschnitts ist.
- Kran nach einem der Ansprüche 1 - 3, dadurch gekennzeichnet, daß der Zylinder (3) der Hubzylinder für den Hauptarm (2) eines Ladekrans (1) für ein Lastfahrzeug ist.
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DK98116951T DK0985629T3 (da) | 1998-09-08 | 1998-09-08 | Kran |
DE59801090T DE59801090D1 (de) | 1998-09-08 | 1998-09-08 | Kran |
EP98116951A EP0985629B1 (de) | 1998-09-08 | 1998-09-08 | Kran |
AT98116951T ATE203488T1 (de) | 1998-09-08 | 1998-09-08 | Kran |
ES98116951T ES2158637T3 (es) | 1998-09-08 | 1998-09-08 | Grua. |
KR10-1999-0035086A KR100392333B1 (ko) | 1998-09-08 | 1999-08-24 | 크레인 |
US09/383,404 US6328173B1 (en) | 1998-09-08 | 1999-08-26 | Crane |
JP11244878A JP2000191285A (ja) | 1998-09-08 | 1999-08-31 | クレ―ン |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP98116951A EP0985629B1 (de) | 1998-09-08 | 1998-09-08 | Kran |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0985629A1 EP0985629A1 (de) | 2000-03-15 |
EP0985629B1 true EP0985629B1 (de) | 2001-07-25 |
Family
ID=8232594
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP98116951A Expired - Lifetime EP0985629B1 (de) | 1998-09-08 | 1998-09-08 | Kran |
Country Status (8)
Country | Link |
---|---|
US (1) | US6328173B1 (de) |
EP (1) | EP0985629B1 (de) |
JP (1) | JP2000191285A (de) |
KR (1) | KR100392333B1 (de) |
AT (1) | ATE203488T1 (de) |
DE (1) | DE59801090D1 (de) |
DK (1) | DK0985629T3 (de) |
ES (1) | ES2158637T3 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102942115A (zh) * | 2012-09-20 | 2013-02-27 | 宁波凯荣船用机械有限公司 | 船用液压回转吊变载控制装置及控制方法 |
Families Citing this family (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT4664U1 (de) * | 2000-10-25 | 2001-10-25 | Veitsch Radex Gmbh | Vorrichtung zur aufnahme und zum transport eines gegenstandes |
US6705079B1 (en) * | 2002-09-25 | 2004-03-16 | Husco International, Inc. | Apparatus for controlling bounce of hydraulically powered equipment |
US7386377B2 (en) * | 2005-04-07 | 2008-06-10 | Sorensen David I | Vehicle and equipment monitoring apparatus |
EP1964756B1 (de) * | 2007-01-24 | 2009-04-29 | Klemm Bohrtechnik GmbH | Pendelfahrwerk, insbesondere für ein Bohrgerät |
US8286652B2 (en) * | 2009-09-22 | 2012-10-16 | Eaton Corporation | Configurable active jerk control |
CN101746675B (zh) * | 2009-12-31 | 2012-05-02 | 三一汽车制造有限公司 | 起重机超起装置及其控制***和控制方法 |
DE102010010386B4 (de) * | 2010-03-05 | 2014-11-20 | Liebherr-Werk Nenzing Gmbh | Vorrichtung und Verfahren zur Überwachung eines Kranwippwerkes und Kran |
DE102010038218B4 (de) | 2010-10-15 | 2014-02-13 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Kran mit einer Struktur, mit mindestens einem an der Struktur angreifenden Aktuator und einer den Aktuator zur Unterdrückung von Schwingungen der Struktur ansteuernden Steuerung |
US9004842B2 (en) | 2011-10-10 | 2015-04-14 | Wastequip, Llc | Hoist apparatus |
CN102797787B (zh) * | 2012-08-17 | 2013-11-20 | 中联重科股份有限公司 | 混凝土布料设备及其臂架振动抑制的方法、控制器和装置 |
CN105593438B (zh) | 2013-05-31 | 2019-07-05 | 伊顿智能动力有限公司 | 用于通过平衡保护来降低动臂跳动的液压***及方法 |
WO2015031821A1 (en) | 2013-08-30 | 2015-03-05 | Eaton Corporation | Control method and system for using a pair of independent hydraulic metering valves to reduce boom oscillations |
WO2015073329A1 (en) | 2013-11-14 | 2015-05-21 | Eaton Corporation | Pilot control mechanism for boom bounce reduction |
US10316929B2 (en) * | 2013-11-14 | 2019-06-11 | Eaton Intelligent Power Limited | Control strategy for reducing boom oscillation |
WO2016011193A1 (en) | 2014-07-15 | 2016-01-21 | Eaton Corporation | Methods and apparatus to enable boom bounce reduction and prevent un-commanded motion in hydraulic systems |
JP6595198B2 (ja) * | 2015-04-08 | 2019-10-23 | 古河ユニック株式会社 | 増速弁装置 |
CN111542703B (zh) | 2017-04-28 | 2022-12-06 | 丹佛斯动力***Ii技术有限公司 | 具有用于抑制机器中的质量感应振动的运动传感器的*** |
EP3615814A4 (de) | 2017-04-28 | 2021-01-27 | Eaton Intelligent Power Limited | System zur dämpfung von masseninduzierten schwingungen in maschinen mit hydraulisch gesteuerten auslegern oder länglichen elementen |
EP3653562A1 (de) * | 2018-11-19 | 2020-05-20 | B&R Industrial Automation GmbH | Verfahren und schwingungsregler zum ausregeln von schwingungen eines schwingfähigen technischen systems |
WO2021142826A1 (zh) * | 2020-01-19 | 2021-07-22 | 徐工集团工程机械股份有限公司 | 臂架振动控制方法、装置及工程机械 |
Family Cites Families (25)
Publication number | Priority date | Publication date | Assignee | Title |
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FR2268177A1 (en) * | 1974-04-22 | 1975-11-14 | Bennes Marrel | Hydraulic lorry hoist ram control system - has circuit by-passing variable quantity from pump outlet back to tank |
FI862627A0 (fi) * | 1986-06-19 | 1986-06-19 | Fiskars Ab Oy | System foer reglerande av en krans hastighet. |
EP0378129B1 (de) * | 1989-01-13 | 1994-11-30 | Hitachi Construction Machinery Co., Ltd. | Hydraulisches System für den Auslegerzylinder einer Konstruktionsmaschine |
JP2600009B2 (ja) * | 1990-04-25 | 1997-04-16 | 株式会社神戸製鋼所 | クレーンの旋回制御装置 |
JP2788134B2 (ja) * | 1990-07-05 | 1998-08-20 | ハイルマイア ウント バインライン ファブリク フュル オエル − ハイドロリク ゲ−エムベ−ハー ウント コンパニー,カーゲー | 液圧式制御装置 |
DE4030954C2 (de) * | 1990-09-29 | 1994-08-04 | Danfoss As | Verfahren zur Steuerung der Bewegung eines hydraulisch bewegbaren Arbeitsgeräts und Bahnsteuereinrichtung zur Durchführung des Verfahrens |
US5307631A (en) * | 1991-01-28 | 1994-05-03 | Hitachi Construction Machinery Co., Ltd. | Hydraulic control apparatus for hydraulic construction machine |
JPH0756314Y2 (ja) * | 1991-02-05 | 1995-12-25 | 三菱重工業株式会社 | フォークリフトの制御装置 |
JPH05256303A (ja) * | 1992-01-15 | 1993-10-05 | Caterpillar Inc | 油圧回路制御装置 |
JP3139767B2 (ja) * | 1992-08-25 | 2001-03-05 | 日立建機株式会社 | 油圧作業機の油圧駆動装置 |
KR940703973A (ko) * | 1992-10-29 | 1994-12-12 | 오까다 하지메 | 유압제어밸브장치 및 유압구동장치 |
KR950700493A (ko) * | 1992-12-04 | 1995-01-16 | 오까다 하지메 | 유압재생장치 |
AU664517B2 (en) * | 1993-05-28 | 1995-11-16 | Kubota Corporation | Hydraulic control system |
US5383390A (en) * | 1993-06-28 | 1995-01-24 | Caterpillar Inc. | Multi-variable control of multi-degree of freedom linkages |
JPH07234727A (ja) * | 1994-02-21 | 1995-09-05 | Komatsu Ltd | 作業機の振動抑制装置およびその方法 |
SE505698C2 (sv) * | 1994-04-22 | 1997-09-29 | Hiab Ab | Anordning för dämpning av icke önskvärda oscillationsrörelser i en krandel |
DE4425455A1 (de) * | 1994-07-19 | 1996-01-25 | Bosch Gmbh Robert | Hydraulische Steuereinrichtung |
DE4428691A1 (de) * | 1994-08-12 | 1996-02-15 | Rexroth Mannesmann Gmbh | Regelanordnung für hydraulische Antriebe |
US5666806A (en) * | 1995-07-05 | 1997-09-16 | Caterpillar Inc. | Control system for a hydraulic cylinder and method |
US5622226A (en) * | 1996-01-29 | 1997-04-22 | Caterpillar Inc. | Method for controlling bounce of a work implement |
US5737993A (en) * | 1996-06-24 | 1998-04-14 | Caterpillar Inc. | Method and apparatus for controlling an implement of a work machine |
US5897287A (en) * | 1996-09-25 | 1999-04-27 | Case Corporation | Electronic ride control system for off-road vehicles |
JP3425844B2 (ja) * | 1996-09-30 | 2003-07-14 | コベルコ建機株式会社 | 油圧ショベル |
US5784945A (en) * | 1997-05-14 | 1998-07-28 | Caterpillar Inc. | Method and apparatus for determining a valve transform |
JPH11343095A (ja) * | 1998-06-04 | 1999-12-14 | Kobe Steel Ltd | ブーム式作業機械 |
-
1998
- 1998-09-08 ES ES98116951T patent/ES2158637T3/es not_active Expired - Lifetime
- 1998-09-08 AT AT98116951T patent/ATE203488T1/de active
- 1998-09-08 EP EP98116951A patent/EP0985629B1/de not_active Expired - Lifetime
- 1998-09-08 DK DK98116951T patent/DK0985629T3/da active
- 1998-09-08 DE DE59801090T patent/DE59801090D1/de not_active Expired - Lifetime
-
1999
- 1999-08-24 KR KR10-1999-0035086A patent/KR100392333B1/ko active IP Right Grant
- 1999-08-26 US US09/383,404 patent/US6328173B1/en not_active Expired - Lifetime
- 1999-08-31 JP JP11244878A patent/JP2000191285A/ja active Pending
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102942115A (zh) * | 2012-09-20 | 2013-02-27 | 宁波凯荣船用机械有限公司 | 船用液压回转吊变载控制装置及控制方法 |
CN102942115B (zh) * | 2012-09-20 | 2014-07-23 | 宁波凯荣船用机械有限公司 | 船用液压回转吊变载控制装置及控制方法 |
Also Published As
Publication number | Publication date |
---|---|
DK0985629T3 (da) | 2001-09-24 |
KR20000022752A (ko) | 2000-04-25 |
ES2158637T3 (es) | 2001-09-01 |
JP2000191285A (ja) | 2000-07-11 |
DE59801090D1 (de) | 2001-08-30 |
ATE203488T1 (de) | 2001-08-15 |
KR100392333B1 (ko) | 2003-07-22 |
US6328173B1 (en) | 2001-12-11 |
EP0985629A1 (de) | 2000-03-15 |
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