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EP0345105B1 - Automatic levelling device for a suspension device of a load - Google Patents

Automatic levelling device for a suspension device of a load Download PDF

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Publication number
EP0345105B1
EP0345105B1 EP19890401237 EP89401237A EP0345105B1 EP 0345105 B1 EP0345105 B1 EP 0345105B1 EP 19890401237 EP19890401237 EP 19890401237 EP 89401237 A EP89401237 A EP 89401237A EP 0345105 B1 EP0345105 B1 EP 0345105B1
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EP
European Patent Office
Prior art keywords
load
cables
drums
shaft
rotation
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
Application number
EP19890401237
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German (de)
French (fr)
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EP0345105A1 (en
Inventor
Claude Noe
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
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Commissariat a lEnergie Atomique CEA
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Publication of EP0345105A1 publication Critical patent/EP0345105A1/en
Application granted granted Critical
Publication of EP0345105B1 publication Critical patent/EP0345105B1/en
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Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/26—Rope, cable, or chain winding mechanisms; Capstans having several drums or barrels
    • 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

Definitions

  • the invention relates to the field of maintaining loads in suspension, during handling, and in particular when these are moved vertically by means of flexible connecting members, such as cables, chains, ropes, ribbons. , etc. It relates in particular to the correction of the basis of such suspended loads.
  • the suspension of a load is done using two cables or two slings fixed on the one hand to the load, and on the other hand to a hooking head connected to a lifting device.
  • the two strands of the cable can be separated and preferably of the same length. They can also be connected to each other and constitute a single cable passing through the attachment head.
  • This second version is used when the load to be kept in suspension does not have a uniformly distributed weight and places imposed for the anchoring of cables on the load. This has the consequence, when the two strands are of equal length, that the load is not positioned horizontally.
  • the length of these two strands is adjustable by displacement of the cable in the attachment head.
  • the object of the invention is to allow the correction of the attitude of a suspended load during handling, and preferably to carry out this correction automatically.
  • the invention applies to load suspension devices comprising two lifting cables moored to the load to be suspended, and wound around two lifting drums, driven in rotation by a worm gear system.
  • the main object of the invention is an automatic attitude correction device for a load suspension device which comprises at least one lifting group consisting of two lifting cables to be fixed to a load and wound up. respectively around two drums integral in rotation with two toothed wheels each meshing with an endless screw, the two endless screws being integral in rotation with a single shaft of rotation.
  • the invention is characterized in that the two cables are wound in opposite directions on their respective drums, that the meshes of the toothed wheels on the worms are in opposite directions and that the device comprises means for translational movement of the 'shaft to rotate the drums in the same direction and thus reveal a relative elongation of a first cable and a relative shortening of the second cable, in order to vary the attitude of the load.
  • Automation of the system according to the invention is carried out using a level sensor placed on the suspended load and associated with a pulse generator controlling the means for translational movement of the shaft. In this way, any variation in the position of the load is detected by the position sensor which acts on the means for translational movement of the shaft.
  • a motor means is provided to rotate the shaft, independently of the device, so as to carry out the movements of raising and lowering of the load.
  • the translational movement of the shaft can be achieved by means of a hydraulic cylinder controlled by the pulse generator.
  • This correction effect can very well be amplified so as to be able to obtain a determined inclination of the moving load, and this at a given time.
  • the invention applies to lifting devices, vertical load movement, and more generally to load suspension devices, such as handling devices.
  • load suspension devices such as handling devices.
  • these devices must ensure the suspension of the load by means of two cables wound around two drums, the latter being driven in rotation by motor means.
  • This training must be carried out by means of a gear system of the worm-gear type.
  • a charge 2 is held suspended by two cables 4A and 4B each wound around two lifting drums 6A and 6B. These two drums 6A and 6B are mounted on the lifting group by means of their respective rotation shafts 10A and 10B mounted free in rotation in bearings 12A and 12B.
  • Each of the two shafts 10A and 10B is integral with a toothed wheel 8A and 8B.
  • Each of these two toothed wheels 8A and 8B is meshed with worms 14A and 14B both mounted on a single drive shaft 16. This is mounted to rotate freely on the lifting device by means of bearings 18. Motor means not shown drive the shaft 16 in rotation to ensure the movements of raising and lowering of the load 2.
  • the meshes of the worms 14A and 14B on the toothed wheels 8A and 8B, and the windings of the cables 4A and 4B around the drums 6A and 6B are carried out so that the rotation of the shaft 16 simultaneously causes the descent of the two cables 4A and 4B or the ascent of these two same cables.
  • the cables 4A and 4B have been shown wound around the drums 6A and 6B in opposite directions. This implies that the meshes of the toothed wheels 8A and 8B on the worms 14a and 14B are also reversed, as indicated by the arrows shown on the two toothed wheels 8A and 8B.
  • the main characteristic of the invention consists in mounting the free shaft 16 in translation along its axis of symmetry X, X ′.
  • a translational movement along this axis X, X ′ of the shaft 16 causes simultaneous rotations and in the same direction of the toothed wheels 8A and 8B.
  • the drums also rotate in the same direction, the cables 4A and 4B being wound up.
  • said displacement in translation of the shaft 16 causes one of the two cables to rise and the other to descend.
  • the drums 6A and 6B must have the same diameters, and that it is the same for the toothed wheels 8A and 8B and the worms 14A and 14B.
  • the pitch of the gears of the toothed wheels on the worms must be the same. If it is desired to very precisely correct the position of the load 2, it is necessary for the toothed wheels 8A and 8B to have a large diameter relative to that of the drums 6A and 6B.
  • a level sensor 24 is placed on the load in a position allowing it to measure or detect an inclination along the straight line passing through the two anchoring points of the two cables 4A and 4B.
  • This level sensor 24 is associated with a pulse generator 20, itself controlling means for translational movement 22 of the shaft 16.
  • These translational displacement means 22 can be constituted by a device such as a hydraulic cylinder controlled by the pulse generator 20, this assembly constituting a hydraulic servo.
  • Other servomotor devices can also be provided to produce the translational movement of the shaft 16.
  • the only figure represents a lifting group made up of two cables 4A and 4B.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
  • Transmission Devices (AREA)

Description

L'invention concerne le domaine du maintien des charges en suspension, en cours de manutention, et en particulier lorsque celles-ci sont déplacées verticalement au moyen d'organes de liaison souple, tels que des câbles, des chaînes, des cordages, des rubans, etc. Elle concerne en particulier la correction de l'assiette de telles charges en suspension.The invention relates to the field of maintaining loads in suspension, during handling, and in particular when these are moved vertically by means of flexible connecting members, such as cables, chains, ropes, ribbons. , etc. It relates in particular to the correction of the basis of such suspended loads.

On est souvent amené dans la pratique à maintenir dans une position déterminée une charge en cours de manutention, et en particulier à respecter l'horizontalité d'une telle charge. De manière générale, la suspension d'une charge se fait à l'aide de deux câbles ou deux élingues fixés d'une part à la charge, et d'autre part à une tête d'accrochage reliée à un dispositif de levage. Les deux brins du câble peuvent être séparés et de préférence de même longueur. Ils peuvent être également reliés l'un à l'autre et constituer un seul câble passant par la tête d'accrochage. Cette deuxième version est utilisée lorsque la charge à maintenir en suspension n'a pas un poids réparti uniformément et des endroits imposés pour l'ancrage des câbles sur la charge. Ceci a pour conséquence, lorsque les deux brins sont de longueurs égales, que la charge n'est pas positionnée horizontalement. Dans le cas de l'utilisation d'un seul câble constituant les deux brins, la longueur de ces deux brins est réglable par déplacement du câble dans la tête d'accrochage.It is often necessary in practice to maintain in a determined position a load during handling, and in particular to respect the horizontality of such a load. In general, the suspension of a load is done using two cables or two slings fixed on the one hand to the load, and on the other hand to a hooking head connected to a lifting device. The two strands of the cable can be separated and preferably of the same length. They can also be connected to each other and constitute a single cable passing through the attachment head. This second version is used when the load to be kept in suspension does not have a uniformly distributed weight and places imposed for the anchoring of cables on the load. This has the consequence, when the two strands are of equal length, that the load is not positioned horizontally. In the case of the use of a single cable constituting the two strands, the length of these two strands is adjustable by displacement of the cable in the attachment head.

Par contre, il demeure très difficile de corriger in situ et en cours de manutention un défaut susceptible d'apparaître, en ce qui concerne la position de la charge. En effet, des allongements différentiels des deux brins du câble peuvent apparaître ainsi qu'un changement de position d'un moyen d'accrochage.However, it remains very difficult to correct a defect in situ and during handling. likely to appear, with regard to the position of the load. Indeed, differential elongations of the two strands of the cable can appear as well as a change of position of a hooking means.

Le but de l'invention est de permettre la correction de l'assiette d'une charge suspendue en cours de manipulation, et de préférence, de réaliser cette correction de façon automatique.The object of the invention is to allow the correction of the attitude of a suspended load during handling, and preferably to carry out this correction automatically.

L'invention s'applique aux appareils de suspension de charge comprenant deux câbles de levage amarrés à la charge à suspendre, et enroulés autour de deux tambours de levage, entraînés en rotation par un système roue dentée vis sans fin.The invention applies to load suspension devices comprising two lifting cables moored to the load to be suspended, and wound around two lifting drums, driven in rotation by a worm gear system.

Dans ce but, l'objet principal de l'invention est un dispositif de correction automatique d'assiette pour un appareil de suspension de charge qui comprend au moins un groupe de levage constitué de deux câbles de levage devant être fixés à une charge et enroulés respectivement autour de deux tambours solidaires en rotation avec deux roues dentées engrenant chacune avec une vis sans fin, les deux vis sans fin étant solidaires en rotation avec un arbre unique de rotation.For this purpose, the main object of the invention is an automatic attitude correction device for a load suspension device which comprises at least one lifting group consisting of two lifting cables to be fixed to a load and wound up. respectively around two drums integral in rotation with two toothed wheels each meshing with an endless screw, the two endless screws being integral in rotation with a single shaft of rotation.

L'invention se caractérise par le fait que les deux câbles sont enroulés en sens contraire sur leur tambour respectif, que les engrènements des roues dentées sur les vis sans fin sont en sens opposé et que le dispositif comprend des moyens de déplacement en translation de l'arbre pour faire tourner dans le même sens les tambours et donc faire apparaître un allongement relatif d'un premier câble et un raccourcissement relatif du deuxième câble, dans le but de faire varier l'assiette de la charge.The invention is characterized in that the two cables are wound in opposite directions on their respective drums, that the meshes of the toothed wheels on the worms are in opposite directions and that the device comprises means for translational movement of the 'shaft to rotate the drums in the same direction and thus reveal a relative elongation of a first cable and a relative shortening of the second cable, in order to vary the attitude of the load.

L'automatisation du système selon l'invention est réalisée à l'aide d'un capteur de niveau placé sur la charge suspendue et associé à un générateur d'impulsions commandant les moyens de déplacement en translation de l'arbre. De cette sorte, toute variation de position de la charge est détectée par le capteur de position qui agit sur les moyens de déplacement en translation de l'arbre.Automation of the system according to the invention is carried out using a level sensor placed on the suspended load and associated with a pulse generator controlling the means for translational movement of the shaft. In this way, any variation in the position of the load is detected by the position sensor which acts on the means for translational movement of the shaft.

Un moyen moteur est prévu pour faire tourner l'arbre, indépendamment du dispositif, de manière à réaliser les mouvements de montée et de descente de la charge.A motor means is provided to rotate the shaft, independently of the device, so as to carry out the movements of raising and lowering of the load.

Le déplacement en translation de l'arbre peut être réalisé au moyen d'un vérin hydraulique commandé par le générateur d'impulsions.The translational movement of the shaft can be achieved by means of a hydraulic cylinder controlled by the pulse generator.

Cet effet de correction peut très bien être amplifié de manière à pouvoir obtenir une inclinaison déterminée de la charge en mouvement, et ceci à un moment donné.This correction effect can very well be amplified so as to be able to obtain a determined inclination of the moving load, and this at a given time.

L'invention et ses caractéristiques seront mieux comprises à la lecture de la description qui suit, et annexée de l'unique figure représentant le dispositif selon l'invention.The invention and its characteristics will be better understood on reading the description which follows, and appended to the single figure representing the device according to the invention.

L'invention s'applique à des appareils de levage, de déplacement vertical de charge, et de manière plus générale à des appareils de suspension de charge, tels que les appareils de manutention. Néanmoins, ces appareils doivent assurer la suspension de la charge au moyen de deux câbles enroulés autour de deux tambours, ces derniers étant entraînés en rotation par des moyens moteur. Cet entraînement doit être effectué au moyen de système d'engrènement du type roue dentée-vis sans fin.The invention applies to lifting devices, vertical load movement, and more generally to load suspension devices, such as handling devices. However, these devices must ensure the suspension of the load by means of two cables wound around two drums, the latter being driven in rotation by motor means. This training must be carried out by means of a gear system of the worm-gear type.

En référence à la figure, l'invention est décrite dans son adaptation à un groupe de levage dont l'appareil de levage est équipé. Une charge 2 est maintenue suspendue par deux câbles 4A et 4B enroulés chacun autour de deux tambours de levage 6A et 6B. Ces deux tambours 6A et 6B sont montés sur le groupe de levage par l'intermédiaire de leurs arbres de rotation respectifs 10A et 10B montés libres en rotation dans des paliers 12A et 12B. Chacun des deux arbres 10A et 10B est solidaire d'une roue dentée 8A et 8B. Chacune de ces deux roues dentées 8A et 8B est engrenée avec des vis sans fin 14A et 14B montées toutes les deux sur un unique arbre d'entraînement 16. Celui-ci est monté libre en rotation sur l'appareil de levage au moyen de paliers 18. Des moyens moteur non représentés entraînent en rotation l'arbre 16 pour assurer les mouvements de montée et de descente de la charge 2.With reference to the figure, the invention is described in its adaptation to a lifting group with which the lifting device is equipped. A charge 2 is held suspended by two cables 4A and 4B each wound around two lifting drums 6A and 6B. These two drums 6A and 6B are mounted on the lifting group by means of their respective rotation shafts 10A and 10B mounted free in rotation in bearings 12A and 12B. Each of the two shafts 10A and 10B is integral with a toothed wheel 8A and 8B. Each of these two toothed wheels 8A and 8B is meshed with worms 14A and 14B both mounted on a single drive shaft 16. This is mounted to rotate freely on the lifting device by means of bearings 18. Motor means not shown drive the shaft 16 in rotation to ensure the movements of raising and lowering of the load 2.

Selon l'invention, les engrènements des vis sans fin 14A et 14B sur les roues dentées 8A et 8B, et les enroulements des câbles 4A et 4B autour des tambours 6A et 6B sont effectués de manière à ce que la rotation de l'arbre 16 entraîne simultanément la descente des deux câbles 4A et 4B ou la montée de ces deux mêmes câbles. Dans le cas de la figure, les câbles 4A et 4B ont été représentés enroulés autour des tambours 6A et 6B en sens inverse. Ceci implique que les engrènements des roues dentées 8A et 8B sur les vis sans fin 14a et 14B sont également inversés, comme l'indiquent les flèches représentées sur les deux roues dentées 8A et 8B. Dans ces conditions, la caractéristique principale de l'invention consiste à monter l'arbre 16 libre en translation selon son axe de symétrie X, X′. En effet, on peut voir qu'un déplacement en translation selon cet axe X, X′ de l'arbre 16 entraîne des rotations simultanées et de même sens des roues dentées 8A et 8B. Ceci a pour conséqence que les tambours tournent eux également dans le même sens, les câbles 4A et 4B étant enroulés de manière opposée, ledit déplacement en translation de l'arbre 16 entraîne la montée d'un des deux câbles et la descente de l'autre.According to the invention, the meshes of the worms 14A and 14B on the toothed wheels 8A and 8B, and the windings of the cables 4A and 4B around the drums 6A and 6B are carried out so that the rotation of the shaft 16 simultaneously causes the descent of the two cables 4A and 4B or the ascent of these two same cables. In the case of the figure, the cables 4A and 4B have been shown wound around the drums 6A and 6B in opposite directions. This implies that the meshes of the toothed wheels 8A and 8B on the worms 14a and 14B are also reversed, as indicated by the arrows shown on the two toothed wheels 8A and 8B. Under these conditions, the main characteristic of the invention consists in mounting the free shaft 16 in translation along its axis of symmetry X, X ′. In fact, it can be seen that a translational movement along this axis X, X ′ of the shaft 16 causes simultaneous rotations and in the same direction of the toothed wheels 8A and 8B. This has the consequence that the drums also rotate in the same direction, the cables 4A and 4B being wound up. conversely, said displacement in translation of the shaft 16 causes one of the two cables to rise and the other to descend.

On voit maintenant que, lors d'une manipulation de la charge 2, si une inclinaison quelconque de celle-ci, par rapport au poids d'ancrage des poids 4A et 4B apparaît, un déplacement dans un sens déterminé, pourra provoquer le rétablissement de la charge dans sa position horizontale. De même un déplacement de l'arbre dans le sens opposé accroît cette inclinaison.We now see that, when handling the load 2, if any inclination of the latter, relative to the anchoring weight of the weights 4A and 4B appears, a displacement in a determined direction, may cause the restoration of the load in its horizontal position. Similarly, a displacement of the shaft in the opposite direction increases this inclination.

On précise que les tambours 6A et 6B doivent avoir les mêmes diamètres, et qu'il en est de même pour les roues dentées 8A et 8B et les vis sans fin 14A et 14B. Le pas des engrènements des roues dentées sur les vis sans fin doit être le même. Si on désire rectifier de façon très précise la position de la charge 2, il est nécessaire que les roues dentées 8A et 8B aient un diamètre important par rapport à celui des tambours 6A et 6B.It is specified that the drums 6A and 6B must have the same diameters, and that it is the same for the toothed wheels 8A and 8B and the worms 14A and 14B. The pitch of the gears of the toothed wheels on the worms must be the same. If it is desired to very precisely correct the position of the load 2, it is necessary for the toothed wheels 8A and 8B to have a large diameter relative to that of the drums 6A and 6B.

On prévoit d'automatiser le dispositif selon l'invention de la manière suivante.It is planned to automate the device according to the invention in the following manner.

Un capteur de niveau 24 est placé sur la charge dans une position lui permettant de mesurer ou de détecter une inclinaison selon la droite passant par les deux points d'ancrage des deux câbles 4A et 4B. Ce capteur de niveau 24 est associé à un générateur d'impulsions 20, commandant lui-même des moyens de déplacement en translation 22 de l'arbre 16.A level sensor 24 is placed on the load in a position allowing it to measure or detect an inclination along the straight line passing through the two anchoring points of the two cables 4A and 4B. This level sensor 24 is associated with a pulse generator 20, itself controlling means for translational movement 22 of the shaft 16.

Ces moyens de déplacement en translation 22 peuvent être constitués par un dispositif tel qu'un vérin hydraulique commandé par le générateur d'impulsions 20, cet ensemble constituant un asservissement hydraulique. D'autres dispositifs servomoteurs peuvent également être prévus pour produire le mouvement de translation de l'arbre 16.These translational displacement means 22 can be constituted by a device such as a hydraulic cylinder controlled by the pulse generator 20, this assembly constituting a hydraulic servo. Other servomotor devices can also be provided to produce the translational movement of the shaft 16.

On comprend, que pendant une manutention de la charge 2, la position de suspension choisie au départ, sera maintenue tout au long de cette manutention, si on utilise le dispositif selon l'invention équipé de cet asservissement en position.It will be understood that during handling of the load 2, the suspension position chosen at the start will be maintained throughout this handling, if the device according to the invention is used equipped with this servo-control in position.

L'unique figure représente un groupe de levage constitué de deux câbles 4A et 4B. On peut envisager un appareil de levage de charge important pouvant comporter plusieurs groupes de ce type. On peut également imaginer que d'autres points d'ancrage de la pièce puissent exister, sans pour cela être équipés du système de correction d'assiette selon l'invention.The only figure represents a lifting group made up of two cables 4A and 4B. We can consider a large load lifting device that can include several groups of this type. One can also imagine that other anchoring points of the part could exist, without being equipped with the attitude correction system according to the invention.

Il est également possible de créer, en utilisant le principe utilisé dans le dispositif selon l'invention, des appareils déverseurs, le déplacement de l'arbre 16 devenant plus important pour permettre de produire des déplacements différentiels des deux câbles plus importants, donc incliner la charge alors suspendue.It is also possible to create, using the principle used in the device according to the invention, overflow devices, the displacement of the shaft 16 becoming greater in order to produce differential displacements of the two larger cables, therefore tilting the charge then suspended.

Claims (4)

1. Automatic stability-correction device for a load-suspension apparatus which comprises at least one lifting unit consisting of:
- two lifting cables (4A and 4B) which are to be fixed to a load (2) and wound respectively around:
- two drums (6A and 6B) integral in rotation with respectively
- two gear wheels (8A and 8B) meshing respectively with:
- two worms (14A and 14B) integral in rotation with a single rotating shaft (16), the device being characterised in that the two cables (4A and 4B) are wound in opposite directions onto the drums (6A and 6B), and in that the gear wheels (8A and 8B) mesh on the worms (14A and 14B) in opposite directions, and in that it comprises means (22) for the translational displacement of the said shaft (16), in order to rotate the drums (6A, 6B) in the same direction and to bring about a relative elongation of a first one of the two cables (4A, 4B) and a relative shortening of the second one of these two cables (4A, 4B) in order to vary the stability of the said load (2).
2. Device according to Claim 1, characterised in that it comprises a level sensor (24) placed on the load (2) and associated with a pulse generator (20) controlling the translational-displacement means (22).
3. Device according to Claim 1 or 2, characterised in that the translational-displacement means (22) consist of a hydraulic actuator.
4. Device according to any one of the preceding claims, characterised in that it comprises drive means for rotating the shaft (16).
EP19890401237 1988-05-04 1989-05-02 Automatic levelling device for a suspension device of a load Expired - Lifetime EP0345105B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8805995 1988-05-04
FR8805995A FR2631015B1 (en) 1988-05-04 1988-05-04 AUTOMATIC PLATE CORRECTION DEVICE FOR A LOAD SUSPENSION APPARATUS

Publications (2)

Publication Number Publication Date
EP0345105A1 EP0345105A1 (en) 1989-12-06
EP0345105B1 true EP0345105B1 (en) 1992-03-11

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EP (1) EP0345105B1 (en)
DE (1) DE68900959D1 (en)
ES (1) ES2029744T3 (en)
FR (1) FR2631015B1 (en)

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US3663051A (en) * 1970-10-14 1972-05-16 United States Steel Corp C-hook leveling device for billet handling
DE2053590A1 (en) * 1970-10-31 1972-05-04 Siemens Ag Loading device for containers
GB1409178A (en) * 1973-03-16 1975-10-08 Lampart Zomancipari Muvek Drive apparatus
DE2726469A1 (en) * 1977-06-11 1978-12-21 Pfauter Fa Hermann DRIVE DEVICE FOR A WORKING TABLE OF A MACHINE TOOL
FR2470079A1 (en) * 1979-11-21 1981-05-29 Courtay Roger Hoist for lifting asymmetric loads - has balancing hoist controlling sling position through sensing switches
FR2558453B3 (en) * 1984-01-19 1986-05-16 Socar DEVICE FOR CARRYING OUT THE LOADING AND UNLOADING AT A CONSTANT LEVEL OF A CONTAINER WITH A MOBILE TRAY

Also Published As

Publication number Publication date
EP0345105A1 (en) 1989-12-06
DE68900959D1 (en) 1992-04-16
FR2631015A1 (en) 1989-11-10
ES2029744T3 (en) 1992-09-01
FR2631015B1 (en) 1990-08-10

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