EP3411322B1 - Method for bringing a work machine into a weathervane position, and work machine for carrying out the method - Google Patents

Method for bringing a work machine into a weathervane position, and work machine for carrying out the method Download PDF

Info

Publication number
EP3411322B1
EP3411322B1 EP17702524.4A EP17702524A EP3411322B1 EP 3411322 B1 EP3411322 B1 EP 3411322B1 EP 17702524 A EP17702524 A EP 17702524A EP 3411322 B1 EP3411322 B1 EP 3411322B1
Authority
EP
European Patent Office
Prior art keywords
work machine
wind
slewing
accordance
crane
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
EP17702524.4A
Other languages
German (de)
French (fr)
Other versions
EP3411322A1 (en
Inventor
Eiwan Christoph
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.)
Liebherr Werk Biberach GmbH
Original Assignee
Liebherr Werk Biberach 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
Application filed by Liebherr Werk Biberach GmbH filed Critical Liebherr Werk Biberach GmbH
Publication of EP3411322A1 publication Critical patent/EP3411322A1/en
Application granted granted Critical
Publication of EP3411322B1 publication Critical patent/EP3411322B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/84—Slewing gear
    • 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
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/02—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with non-adjustable and non-inclinable jibs mounted solely for slewing movements
    • B66C23/022—Pivot axis common with column
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/16—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • B66C23/166—Simple cranes with jibs which may be fixed or can slew or luff
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0427—Devices for both conveying and distributing with distribution hose on a static support, e.g. crane

Definitions

  • the invention relates to a method for wind release of a work machine, which is characterized by at least one rotary part which can be rotated about an essentially vertical axis by means of a rotary mechanism.
  • the present invention also relates to a working machine for carrying out such a method.
  • Work machines are affected, in particular slewing or tower cranes or concrete placing booms, which are designed in such a way that they must have sufficient wind clearance and wind vane stability when not in use in order to avoid overloading the supporting structure.
  • the decommissioning of a working machine is referred to as wind-free or wind-free.
  • the slewing gear brake of the working machine is usually permanently opened mechanically in order to free the rotating part of the working machine, usually the boom in the case of cranes, in the wind to keep rotating. Due to the attacking wind load, the crane jib or the slewing part can rotate independently out of the wind without a technical drive.
  • the boom will ultimately point to the leeward side. In this position, the wind force, which increases with the strength of the wind, tends to tip the mast to the leeward side, but the constant tilting moment of the counterweights acts in the opposite direction, so that sufficient stability of the crane is ensured. With this measure, the crane is always kept in a position with the lowest air resistance and maximum stability and/or minimum structural loading of the construction is achieved.
  • the core of the invention is an active wind release of the working machine.
  • an active control of the slewing gear drive should take place in order to bring the rotating part of the working machine into the optimal position for the wind release.
  • one or more wind data are recorded in advance by means of a measuring system arranged on the working machine.
  • the optimum position of the rotating part is then determined on the basis of the recorded wind data and used to control the slewing gear drive in order to move the rotating part to the optimum position. Consequently, at least one target value is determined for a desired angle of rotation of the slewing gear.
  • the rotating part of the work machine By moving to the optimal position, the rotating part of the work machine should be turned out of the wind and ideally point to the leeward side, so that there is always a position with the lowest air resistance.
  • the working machine is actively monitored and automatically controlled in non-operational mode in order to always ensure maximum stability and/or minimized structural stress on the construction.
  • the method can be run continuously or cyclically to ensure dynamic adjustment of the optimal position depending on changing wind conditions.
  • Additional wind data is recorded for the measurement data determined on the working machine.
  • This supplemental wind data is not sent directly of the working machine, but recorded in the immediate vicinity of the machine, at a point in the immediate vicinity of the machine that is subject to less external interference on a prevailing wind field, so that an almost undisturbed wind field is recorded on the basis of this supplementary wind data.
  • suitable external wind sensors are installed on higher platforms or buildings.
  • the wind data can be recorded on the upper floor of a neighboring building of the working machine.
  • the combination of the wind data recorded directly on the working machine and the supplementary wind data allows improved modeling or calculation of the applied wind load in order to determine an optimal position for the wind release based on this.
  • the measuring system is used to record the wind speed and/or wind direction directly on the working machine, ideally distributed at a number of positions on the working machine.
  • the wind speed and/or wind direction should be recorded at least on the rotatable part of the work machine, for example on the overhead crane in the case of a work machine in the form of a slewing crane.
  • the arrangement of wind sensors on the jib tip and/or on the counter jib and/or on the tower tip is particularly preferred.
  • the additional wind data from the external sensors can also record the wind speed and wind direction of the almost undisturbed wind field.
  • the structural load on the working machine is preferably determined by the measuring system in one or more areas or components of the working machine recorded.
  • a structural load is determined by a measurable stretching and/or compressing deformation of the material structure in the machine part being examined.
  • a measurement of the structural load in the area of the tower base, in particular in the area of the corner posts of a lattice piece installed in the tower base, has proven to be particularly preferred for working machines in the form of slewing cranes or tower cranes. It makes sense to install sensors on each of the corner posts in order to be able to determine the load on each corner post.
  • the measurable structural load in the area of the tower base, especially the corner posts is a good indicator of the effective overturning moment of the crane.
  • the structural load is preferably measured using one or more strain gauges, which preferably detect expanding and/or compressing deformations in the longitudinal direction of the tower.
  • any safety requirements of the control system of the working machine are taken into account when controlling and/or regulating the slewing gear for active wind release, for example specifications regarding the maximum rotational speed, acceleration, are observed.
  • the present invention relates to a work machine, in particular a tower crane or a concrete placing boom, with at least one rotary part which can be rotated about a vertical axis by means of a rotary mechanism.
  • the working machine comprises at least one measuring system that determines corresponding wind data on the machine and forwards it to a machine controller, the machine controller being designed in such a way that it executes the method according to the present invention.
  • the advantages and properties of the work machine obviously correspond to those of the method according to the invention, which is why a repeated description is dispensed with.
  • FIG 1 shows a known top-slewing tower crane.
  • the tower crane includes a crane tower 10 which is firmly anchored to the crane foundation 15 .
  • a slewing gear 20 is located at the upper end of the crane tower 10 , which accommodates the boom 30 and allows the boom 30 to rotate about a vertical axis of rotation 40 relative to the crane tower 10 .
  • the jib 30 and the counter jib 31 are braced via the guying 32 on the crane tip 11 .
  • the tower crane has been expanded to include a measuring device whose wind sensors are mounted distributed on the crane structure.
  • suitable wind sensors are in the form of the sensor W1 on the top of the tower 11 or in the area of the guying 32, the wind sensor W2 on the jib tip of the jib 30 and the wind sensor W3 distributed in the immediate vicinity of the counter-ballast 33 on the counter-jib 31 on the rotating part of the crane structure.
  • All wind sensors W1, W2 and W3 continuously record the wind speed and wind direction and forward their measured values to the crane control.
  • At least one strain gauge 50 is attached to each corner post of the installed lattice piece of the tower base in order to record the structural loading of the tower base due to the expanding or compressing deformation of the corner posts.
  • the measurable deformations are an indication of the overturning moment acting on the crane.
  • an external wind sensor W4 is mounted on the roof of the neighboring building 100, which also records the wind speed and wind direction in the area of the top floor of the building 100. Since the wind sensor W4 is located significantly higher than the crane structure, an undisturbed wind field can be assumed in this area.
  • the measurement data collected from the sensors W1, W2, W3, the strain gauges 50 in combination with the additional wind data from the external sensor W4 are evaluated within the crane controller and used to determine an optimal position of the boom 30, 31 for the wind release of the crane. Since the wind data is continuously determined, the optimum position of the upper crane is dynamically adjusted to the variable wind field within the crane control system. Taking into account the calculated target position, the slewing gear is actuated in a regulated manner by the crane controller in order to move the boom system 30, 31 to the desired position and hold it.
  • figure 2 shows an alternative slewing crane. Identical components to the embodiment of figure 1 are provided with identical reference symbols. In the following, therefore, only the structural differences will be discussed.
  • the slewing crane shown comprises an upper crane which can be rotated about the axis 40 by means of the slewing gear 20 and which provides a crane boom 300 arranged in a luffing manner on the crane tower 10 and the counter-ballast 320 .
  • the luffing movement of the jib 300 is achieved via the luffing cable 330 .
  • the wind sensors W1, W2 are arranged in the area of the luffing cable 330 in the vicinity of the counter-ballast 320 (W1) and in the area of the boom tip 310 (W2).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Wind Motors (AREA)

Description

Die Erfindung betrifft ein Verfahren zur Windfreistellung einer Arbeitsmaschine, die sich durch wenigstens ein Drehteil auszeichnet, das mittels eines Drehwerkes um eine im wesentlichen vertikale Achse drehbar ist. Neben dem erfindungsgemäßen Verfahren betrifft die vorliegende Erfindung zudem eine Arbeitsmaschine zur Ausführung eines derartigen Verfahrens.The invention relates to a method for wind release of a work machine, which is characterized by at least one rotary part which can be rotated about an essentially vertical axis by means of a rotary mechanism. In addition to the method according to the invention, the present invention also relates to a working machine for carrying out such a method.

Betroffen sind Arbeitsmaschinen, insbesondere Dreh- bzw. Turmdrehkrane oder Betonverteilermasten, die so konzipiert sind, dass sie im Außerbetriebszustand eine ausreichende Windfreistellung und Windfahnenstabilität aufweisen müssen, um Überlastungen der Tragstruktur zu vermeiden.Work machines are affected, in particular slewing or tower cranes or concrete placing booms, which are designed in such a way that they must have sufficient wind clearance and wind vane stability when not in use in order to avoid overloading the supporting structure.

Als windfrei oder auch Windfreistellung bezeichnet man die Außerbetriebnahme einer Arbeitsmaschine, insbesondere eines Krans. Dabei wird üblicherweise die Drehwerkbremse der Arbeitsmaschine mechanisch dauerhaft geöffnet, um das Drehteil der Arbeitsmaschine, bei Kranen üblicherweise der Ausleger, im Wind frei drehbar zu halten. Durch die angreifende Windlast kann sich der Kranausleger bzw. das Drehteil ohne technischen Antrieb selbstständig aus dem Wind drehen.The decommissioning of a working machine, in particular a crane, is referred to as wind-free or wind-free. In this case, the slewing gear brake of the working machine is usually permanently opened mechanically in order to free the rotating part of the working machine, usually the boom in the case of cranes, in the wind to keep rotating. Due to the attacking wind load, the crane jib or the slewing part can rotate independently out of the wind without a technical drive.

Bei ausreichender Windstärke zeigt der Ausleger letztendlich auf die windabgewandte Seite. In dieser Position wirkt die mit der Windstärke steigende Windkraft als den Mast auf die windabgewandte Seite kippen wollend, das konstante Kippmoment der Gegengewichte wirkt jedoch in die Gegenrichtung, sodass eine ausreichende Stabilität des Krans gewährleistet ist. Durch diese Maßnahme wird der Kran stets in einer Position mit geringstem Luftwiderstand gehalten und es wird eine maximale Standsicherheit und/ oder minimale Strukturbelastung der Konstruktion erreicht.If the wind is strong enough, the boom will ultimately point to the leeward side. In this position, the wind force, which increases with the strength of the wind, tends to tip the mast to the leeward side, but the constant tilting moment of the counterweights acts in the opposite direction, so that sufficient stability of the crane is ensured. With this measure, the crane is always kept in a position with the lowest air resistance and maximum stability and/or minimum structural loading of the construction is achieved.

Beim Vergleich verschiedener Normen zur Bestimmung der Windlasten wurde jedoch festgestellt, dass sich die theoretischen Windlasten auf Arbeitsmaschinen je nach angewendeter Norm anders darstellen. Mit der Einführung der neuen europäischen Kranberechnungsnorm EN 13001-2 sowie der allgemeinen Windlastnorm des Bauwesens EN 14439 (2009) kam es zuletzt zu einer Erhöhung der rechnerischen Windlastannahmen.When comparing various standards for determining wind loads, however, it was found that the theoretical wind loads on work machines are different depending on the standard used. With the introduction of the new European crane calculation standard EN 13001-2 and the general wind load standard for construction EN 14439 (2009), there has recently been an increase in the calculated wind load assumptions.

Bei unabhängigen Windlastuntersuchen konnte zudem festgestellt werden, dass das bisher angenommene Modell einer idealen Windfahnenstabilität vielen Praxisfällen nicht genügt und Arbeitsmaschinen ein teilweise abweichendes Verhalten bei Windeinfluss im Außerbetriebmodus an den Tag legen. Das abweichende Verhältnis ist hauptsächlich durch Störungen des vorherrschenden Windfeldes bedingt, die durch die baulichen Gegebenheiten in der näheren Maschinenumgebung begründet sind. Beispielsweise sorgen Gebäude für Windverwirbelungen, die das wünschenswerte selbständige Ausrichten des Krans in eine Windfreistellung erschweren bzw. verhindern.In independent wind load studies, it was also found that the previously assumed model of ideal wind vane stability is not sufficient in many practical cases and working machines sometimes show a different behavior under the influence of wind in non-operational mode. The deviating ratio is mainly due to disturbances in the prevailing wind field, which are due to the structural conditions in the immediate vicinity of the machine. For example, buildings cause wind turbulence, which makes it difficult or prevents the crane from aligning itself, which is desirable, when it is not exposed to the wind.

Es wird daher nach Lösungen zur Windfreistellung einer Arbeitsmaschine gesucht, die aufgrund der Umgebungsbebauung in einem gestörten Windfeld stehen und bei denen eine Windfreistellung nach konventioneller Weise nicht den Ansprüchen genügt. DE 10 2010 008713 A1 offenbart den Oberbegriff des Anspruchs 1.Solutions are therefore being sought for the wind release of a work machine that is in a disturbed wind field due to the surrounding buildings and where a conventional wind release does not meet the requirements. DE 10 2010 008713 A1 discloses the preamble of claim 1.

Gelöst wird diese Aufgabe durch ein Verfahren gemäß den Merkmalen des Anspruchs 1. Vorteilhafte Ausgestaltungen des Verfahrens sind Gegenstand der sich an den Hauptanspruch anschließenden abhängigen Ansprüche.This object is achieved by a method according to the features of claim 1. Advantageous refinements of the method are the subject matter of the dependent claims which follow the main claim.

Kern der Erfindung ist eine aktive Windfreistellung der Arbeitsmaschine. Im Gegensatz zum Stand der Technik soll nicht mehr auf eine durch Windkraft erzeugte selbstständige Drehbewegung des Drehteils der Arbeitsmaschine vertraut werden, sondern stattdessen eine aktive Regelung des Drehwerkantriebs erfolgen, um das Drehteil der Arbeitsmaschine zielgerichtet in die optimale Position für die Windfreistellung zu verbringen. Dazu werden vorab ein oder mehrere Winddaten mittels eines an der Arbeitsmaschine angeordneten Messsystems erfasst. Auf Grundlage der erfassten Winddaten wird dann die optimale Position des Drehteils ermittelt und für die Ansteuerung des Drehwerkantriebs herangezogen, um das Drehteil in die optimale Position zu verfahren. Es wird folglich zumindest ein Sollwert für einen gewünschten Drehwinkel des Drehwerkes bestimmt.The core of the invention is an active wind release of the working machine. In contrast to the prior art, one should no longer rely on an independent rotary movement of the rotating part of the working machine generated by wind power, but instead an active control of the slewing gear drive should take place in order to bring the rotating part of the working machine into the optimal position for the wind release. For this purpose, one or more wind data are recorded in advance by means of a measuring system arranged on the working machine. The optimum position of the rotating part is then determined on the basis of the recorded wind data and used to control the slewing gear drive in order to move the rotating part to the optimum position. Consequently, at least one target value is determined for a desired angle of rotation of the slewing gear.

Durch Anfahren der optimalen Position soll das Drehteil der Arbeitsmaschine aus dem Wind gedreht werden und idealerweise ins Lee zeigen, so dass sich stets eine Position mit geringstem Luftwiderstand ergibt. Dadurch wird die Arbeitsmaschine im Außerbetriebsmodus aktiv überwacht und automatisch gesteuert, um stets für eine maximale Standsicherheit und/oder minimierte Strukturbelastung der Konstruktion zu sorgen.By moving to the optimal position, the rotating part of the work machine should be turned out of the wind and ideally point to the leeward side, so that there is always a position with the lowest air resistance. As a result, the working machine is actively monitored and automatically controlled in non-operational mode in order to always ensure maximum stability and/or minimized structural stress on the construction.

Das Verfahren kann kontinuierlich oder zyklisch ausgeführt werden, um eine dynamische Anpassung der optimalen Position in Abhängigkeit der veränderlichen Windbedingungen sicherzustellen.The method can be run continuously or cyclically to ensure dynamic adjustment of the optimal position depending on changing wind conditions.

Zu den an der Arbeitsmaschine ermittelten Messdaten werden ergänzende Winddaten erfasst. Diese ergänzenden Winddaten werden nicht direkt an der Arbeitsmaschine, sondern in der näheren Maschinenumgebung erfasst, an einer Stelle in näherer Maschinenumgebung, die geringeren äußeren Störeinflüssen auf ein vorherrschende Windfeld unterliegt, sodass auf Grundlage dieser ergänzenden Winddaten ein nahezu ungestörtes Windfeld erfasst wird. Idealerweise werden geeignete externe Windsensoren an bzw. auf höherliegenden Plattformen bzw. Gebäuden installiert. Beispielsweise kann eine Aufnahme der Winddaten am Obergeschoss eines benachbarten Gebäudes der Arbeitsmaschine erfolgen.Additional wind data is recorded for the measurement data determined on the working machine. This supplemental wind data is not sent directly of the working machine, but recorded in the immediate vicinity of the machine, at a point in the immediate vicinity of the machine that is subject to less external interference on a prevailing wind field, so that an almost undisturbed wind field is recorded on the basis of this supplementary wind data. Ideally, suitable external wind sensors are installed on higher platforms or buildings. For example, the wind data can be recorded on the upper floor of a neighboring building of the working machine.

Die Kombination der direkt an der Arbeitsmaschine erfassten Winddaten und der ergänzenden Winddaten erlaubt eine verbesserte Modellierung bzw. Berechnung der angreifenden Windlast, um darauf basierend eine optimale Position für die Windfreistellung zu bestimmen.The combination of the wind data recorded directly on the working machine and the supplementary wind data allows improved modeling or calculation of the applied wind load in order to determine an optimal position for the wind release based on this.

Es besteht die Möglichkeit, den Drehwerkantrieb nicht nur anzusteuern sondern gleichzeitig zu regeln, sodass die ermittelte optimale Position auch bei angreifenden Windlasten gehalten wird.It is possible not only to control the slewing gear drive, but also to regulate it at the same time, so that the optimal position determined is maintained even when wind loads are applied.

In einer bevorzugten Ausführungsvariante erfolgt mittels des Messsystems eine Windgeschwindigkeits- und/oder Windrichtungsaufnahme direkt an der Arbeitsmaschine, idealerweise verteilt an mehreren Positionen der Arbeitsmaschine. Die Windgeschwindigkeits- und/oder Windrichtungsaufnahme sollte zumindest am drehbaren Teil der Arbeitsmaschine erfolgen, beispielsweise bei einer Arbeitsmaschine in Form eines Drehkrans am Oberkran. Besonders bevorzugt ist die Anordnung von Windsensoren an der Auslegerspitze und/oder am Gegenausleger und/oder an der Turmspitze.In a preferred embodiment variant, the measuring system is used to record the wind speed and/or wind direction directly on the working machine, ideally distributed at a number of positions on the working machine. The wind speed and/or wind direction should be recorded at least on the rotatable part of the work machine, for example on the overhead crane in the case of a work machine in the form of a slewing crane. The arrangement of wind sensors on the jib tip and/or on the counter jib and/or on the tower tip is particularly preferred.

Die ergänzenden Winddaten der externen Sensorik können ebenfalls die Windgeschwindigkeit- und Windrichtung des nahezu ungestörten Windfeldes aufnehmen.The additional wind data from the external sensors can also record the wind speed and wind direction of the almost undisturbed wind field.

Weiterhin vorzugsweise wird durch das Messsystem die strukturelle Belastung der Arbeitsmaschine ein oder mehrerer Bereiche bzw. Bauteile der Arbeitsmaschine erfasst. Idealerweise wird eine strukturelle Belastung durch eine messbare dehnende und/oder stauchende Verformung der Materialstruktur im untersuchten Maschinenteil ermittelt. Als besonders bevorzugt erweist sich bei Arbeitsmaschinen in Form von Drehkranen bzw. Turmdrehkranen eine Messung der strukturellen Belastung im Bereich des Turmfußes, insbesondere im Bereich der Eckstiele eines im Turmfuß verbauten Gitterstückes. Sinnvollerweise werden an jedem der Eckstiele Sensoren verbaut, um die Belastung jedes Eckstiels feststellen zu können. Die messbare strukturelle Belastung im Bereich des Turmfußes, insbesondere der Eckstiele, ist ein guter Indikator für das wirkende Kippmoment des Krans.Furthermore, the structural load on the working machine is preferably determined by the measuring system in one or more areas or components of the working machine recorded. Ideally, a structural load is determined by a measurable stretching and/or compressing deformation of the material structure in the machine part being examined. A measurement of the structural load in the area of the tower base, in particular in the area of the corner posts of a lattice piece installed in the tower base, has proven to be particularly preferred for working machines in the form of slewing cranes or tower cranes. It makes sense to install sensors on each of the corner posts in order to be able to determine the load on each corner post. The measurable structural load in the area of the tower base, especially the corner posts, is a good indicator of the effective overturning moment of the crane.

Die Messung der strukturellen Belastung erfolgt vorzugsweise über ein oder mehrere Dehnungsmessstreifen, die vorzugsweise dehnende und/oder stauchende Verformungen in Turmlängsrichtung erfassen.The structural load is preferably measured using one or more strain gauges, which preferably detect expanding and/or compressing deformations in the longitudinal direction of the tower.

Ebenfalls ist es wünschenswert, dass bei der Steuerung und/oder Regelung des Drehwerkes zur aktiven Windfreistellung etwaige Sicherheitsanforderungen des Steuerungssystems der Arbeitsmaschine Berücksichtigung finden, beispielsweise Vorgaben bezüglich der maximalen Drehgeschwindigkeit, Beschleunigung, eingehalten werden..It is also desirable that any safety requirements of the control system of the working machine are taken into account when controlling and/or regulating the slewing gear for active wind release, for example specifications regarding the maximum rotational speed, acceleration, are observed.

Neben dem erfindungsgemäßen Verfahren betrifft die vorliegende Erfindung eine Arbeitsmaschine, insbesondere einen Turmdrehkran oder einen Betonverteilermast, mit wenigstens einem Drehteil, das mittels eines Drehwerks um eine vertikale Achse drehbar ist. Die Arbeitsmaschine umfasst erfindungsgemäß wenigstens ein Messsystem, das entsprechende Winddaten an der Maschine ermittelt und an eine Maschinensteuerung weiterreicht, wobei die Maschinensteuerung derart ausgeführt ist, dass diese das erfindungsgemäße Verfahren gemäß der vorliegenden Erfindung ausführt. Die Vorteile und Eigenschaften der Arbeitsmaschine entsprechen offensichtlich denen des erfindungsgemäßen Verfahrens, weshalb auf eine wiederholende Beschreibung verzichtet wird.In addition to the method according to the invention, the present invention relates to a work machine, in particular a tower crane or a concrete placing boom, with at least one rotary part which can be rotated about a vertical axis by means of a rotary mechanism. According to the invention, the working machine comprises at least one measuring system that determines corresponding wind data on the machine and forwards it to a machine controller, the machine controller being designed in such a way that it executes the method according to the present invention. The advantages and properties of the work machine obviously correspond to those of the method according to the invention, which is why a repeated description is dispensed with.

Weitere Vorteile und Eigenschaften der Erfindung werden im Folgenden anhand der in den Figuren dargestellten Ausführungsbeispiele erläutert. Es zeigen:

Figur 1:
eine skizzierte Seitendarstellung eines Turmdrehkrans zur Ausführung des erfindungsgemäßen Verfahrens und
Figur 2:
eine skizzierte Seitendarstellung eines alternativen Drehkrans zur Ausführung des erfindungsgemäßen Verfahrens.
Further advantages and properties of the invention are explained below with reference to the exemplary embodiments illustrated in the figures. Show it:
Figure 1:
a sketched side view of a tower crane for carrying out the method according to the invention and
Figure 2:
a sketched side view of an alternative slewing crane for carrying out the method according to the invention.

Figur 1 zeigt einen an sich bekannten obendrehenden Turmkran. Der Turmkran umfasst einen Kranturm 10, der fest mit dem Kranfundament 15 verankert ist. figure 1 shows a known top-slewing tower crane. The tower crane includes a crane tower 10 which is firmly anchored to the crane foundation 15 .

Ein Drehwerk 20 befindet sich am oberen Ende des Kranturms 10, das den Ausleger 30 aufnimmt und eine Drehbewegung des Auslegers 30 um eine vertikal stehende Drehachse 40 gegenüber dem Kranturm 10 zulässt. Der Ausleger 30 sowie der Gegenausleger 31 werden über die Abspannung 32 an der Kranspitze 11 abgespannt.A slewing gear 20 is located at the upper end of the crane tower 10 , which accommodates the boom 30 and allows the boom 30 to rotate about a vertical axis of rotation 40 relative to the crane tower 10 . The jib 30 and the counter jib 31 are braced via the guying 32 on the crane tip 11 .

In unmittelbarer Umgebung des Turmkranes befindet sich ein höherbauendes Gebäude 100, das für Turbulenzen bzw. Störungen des vorherrschenden Windfeldes im Bereich des Turmkranessorgt. Aufgrund der umgebungsbedingten Störung des vorherrschenden Windfeldes genügen die bisher bekannten passiven Verfahren zur Windfreistellungen nicht mehr den Sicherheitsanforderungen an den Außerbetriebmodus eines Turmdrehkranes. Aus diesem Grund führt die Kransteuerung des Turmdrehkrans der Figur 1 das erfindungsgemäße Verfahren aus, sobald der Au-βerbetriebmodus für den Kran aktiviert wird.In the immediate vicinity of the tower crane there is a higher building 100 which causes turbulence or disturbances in the prevailing wind field in the area of the tower crane. Due to the environmental disturbance of the prevailing wind field, the previously known passive methods for wind release no longer meet the safety requirements for the non-operational mode of a tower crane. For this reason, the crane control of the tower crane leads the figure 1 the inventive method as soon as the Au-βerbetriebmodus is activated for the crane.

Zur Verfahrensausführung ist der Turmdrehkran um eine Messvorrichtung erweitert, deren Windsensoren verteilt an der Kranstruktur montiert sind. Insbesondere sind geeignete Windsensoren in Form des Sensors W1 an der Turmspitze 11 bzw. im Bereich der Abspannung 32, des Windsensors W2 an der Auslegerspitze des Auslegers 30 sowie des Windsensors W3 in unmittelbarer Nähe des Gegenballastes 33 am Gegenauslegers 31 verteilt an am Drehteil der Kranstruktur angebracht.To carry out the process, the tower crane has been expanded to include a measuring device whose wind sensors are mounted distributed on the crane structure. In particular, suitable wind sensors are in the form of the sensor W1 on the top of the tower 11 or in the area of the guying 32, the wind sensor W2 on the jib tip of the jib 30 and the wind sensor W3 distributed in the immediate vicinity of the counter-ballast 33 on the counter-jib 31 on the rotating part of the crane structure.

Alle Windsensoren W1, W2 und W3 nehmen kontinuierlich die Windgeschwindigkeit als auch die Windrichtung auf und reichen ihre Messwerte an die Kransteuerung weiter.All wind sensors W1, W2 and W3 continuously record the wind speed and wind direction and forward their measured values to the crane control.

Im Bereich des Turmfußes 12 in der Nähe des Kranfundamentes 15 ist pro Eckstiel des verbauten Gitterstückes des Turmfußes jeweils wenigstens ein Dehnungsmessstreifen 50 befestigt, um die strukturelle Belastung des Turmfußes aufgrund der dehnenden bzw. stauchenden Verformung der Eckstiele zu erfassen. Die messbaren Verformungen sind ein Indikation für das auf den Kran wirkende Kippmoment.In the area of the tower base 12 near the crane foundation 15, at least one strain gauge 50 is attached to each corner post of the installed lattice piece of the tower base in order to record the structural loading of the tower base due to the expanding or compressing deformation of the corner posts. The measurable deformations are an indication of the overturning moment acting on the crane.

Zusätzlich zu den am Kran gesammelten Winddaten des Sensoren W1, W2, W3 wird auf dem Dach des benachbarten Gebäudes 100 ein externer Windsensor W4 montiert, der ebenfalls die Windgeschwindigkeit bzw. Windrichtung im Bereich des Obergeschosses des Gebäudes 100 aufnimmt. Da der Windsensor W4 deutlich höher als die Kranstruktur gelegen ist, kann in diesem Bereich von einem ungestörten Windfeld ausgegangen werden.In addition to the wind data collected by the sensors W1, W2, W3 on the crane, an external wind sensor W4 is mounted on the roof of the neighboring building 100, which also records the wind speed and wind direction in the area of the top floor of the building 100. Since the wind sensor W4 is located significantly higher than the crane structure, an undisturbed wind field can be assumed in this area.

Die gesammelten Messdaten der Sensoren W1, W2, W3, der Dehnungsmessstreifen 50 in Kombination mit den ergänzenden Winddaten des externen Sensors W4 werden innerhalb der Kransteuerung ausgewertet und dazu verwendet, eine optimale Position des Auslegers 30, 31 für die Windfreistellung des Krans zu bestimmen. Da die Winddaten kontinuierlich ermittelt werden, erfolgt innerhalb der Kransteuerung eine dynamisch Anpassung der optimalen Position des Oberkrans an das variable Windfeld. Unter Berücksichtigung der berechneten Soll-Position wird das Drehwerk von der Kransteuerung geregelt angesteuert, um das Auslegersystem 30, 31 in die gewünschte Position zu verbringen und zu halten.The measurement data collected from the sensors W1, W2, W3, the strain gauges 50 in combination with the additional wind data from the external sensor W4 are evaluated within the crane controller and used to determine an optimal position of the boom 30, 31 for the wind release of the crane. Since the wind data is continuously determined, the optimum position of the upper crane is dynamically adjusted to the variable wind field within the crane control system. Taking into account the calculated target position, the slewing gear is actuated in a regulated manner by the crane controller in order to move the boom system 30, 31 to the desired position and hold it.

Das Ausführungsbeispiel der Figur 2 zeigt einen alternativen Drehkran. Identische Bauteile zum Ausführungsbeispiel der Figur 1 werden mit identischen Bezugszeichen versehen. Im Folgenden wird daher nur auf die konstruktiven Unterschiede eingegangen.The embodiment of figure 2 shows an alternative slewing crane. Identical components to the embodiment of figure 1 are provided with identical reference symbols. In the following, therefore, only the structural differences will be discussed.

Der in Figur 2 gezeigte Drehkran umfasst einen mittels des Drehwerkes 20 um die Achse 40 drehbaren Oberkran, der einen wippbar am Kranturm 10 angeordneten Kranausleger 300 sowie den Gegenballast 320 vorsieht. Die Wippbewegung des Auslegers 300 wird über die Wippverseilung 330 erzielt. Im Ausführungsbeispiel der Figur 2 werden die Windsensoren W1, W2 einmal im Bereich der Wippverseilung 330 in Nähe des Gegenballastes 320 (W1) und im Bereich der Auslegerspitze 310 (W2) angeordnet.the inside figure 2 The slewing crane shown comprises an upper crane which can be rotated about the axis 40 by means of the slewing gear 20 and which provides a crane boom 300 arranged in a luffing manner on the crane tower 10 and the counter-ballast 320 . The luffing movement of the jib 300 is achieved via the luffing cable 330 . In the embodiment of figure 2 the wind sensors W1, W2 are arranged in the area of the luffing cable 330 in the vicinity of the counter-ballast 320 (W1) and in the area of the boom tip 310 (W2).

Analog zum Ausführungsbeispiel der Figur 1 erfolgt eine Messung ergänzender Winddaten durch einen externen Sensor W4 im Dachbereich des benachbarten Gebäudes 100. Die strukturelle Belastung des Krans wird ebenfalls durch angeordnete Dehnungsmessstreifen 50 im Bereich des Turmfußes 12 erfasst. Die optimale Position des um die Achse 40 drehbaren Auslegers 300 wird wie im Beispiel der Figur 1 durch die Kransteuerung berechnet und durch eine geregelte Steuerung des Drehwerkes 20 angefahren. Es besteht ebenfalls die Möglichkeit, für die Bestimmung der optimalen Position des Oberkrans zusätzlich den Wippwinkel des Auslegers 300 zu berücksichtigen und den entsprechenden Wippantrieb gegebenenfalls anzusteuern.Analogous to the embodiment of figure 1 additional wind data is measured by an external sensor W4 in the roof area of the neighboring building 100. The structural load on the crane is also recorded by strain gauges 50 arranged in the area of the tower base 12. The optimal position of the arm 300, which can be rotated about the axis 40, is as in the example of FIG figure 1 calculated by the crane control and approached by a regulated control of the slewing gear 20. There is also the possibility of additionally considering the luffing angle of the jib 300 for determining the optimum position of the upper crane and of controlling the corresponding luffing drive if necessary.

Claims (9)

  1. Method of weathervaning a work machine in out-of-operation mode, in particular of weathervaning a revolving crane/revolving tower crane or a concrete spreader mast, wherein the work machine comprises at least one slewing part that is rotatable about a substantially vertical axis (40) by means of a slewing gear (20), comprising the method steps:
    - measuring one or more pieces of wind data by means of a measurement system arranged at the work machine;
    - determining an optimum position of the slewing part for an optimum weathervaning of the work machine in dependence on the detected wind data; and
    - actuating the slewing gear drive to bring the slewing part into the determined position
    characterized in that
    characterized in that, in addition to the wind data measured at the work machine, supplementary wind data in the machine environment are detected by one or more external sensors (W1, W2, W3) and are taken into account for the determination of the optimum position, wherein the supplementary wind data are detected in a machine environment region in which a non-disrupted wind field or a wind field that has fewer disruptive influences than in the region of the work machine prevails.
  2. Method in accordance with claim 1, characterized in that the method is performed continuously or cyclically to travel the slewing part into a dynamically changeable optimum position.
  3. Method in accordance with one of the preceding claims, characterized in that a regulation of the slewing gear drive is performed to maintain the slewing part in the determined optimum position.
  4. Method in accordance with one of the preceding claims, characterized in that the measurement system detects the wind speed and/or the wind direction, in particular in a distributed manner at different points of the work machine, but preferably at least at the slewing part of the work machine, particularly preferably in the region of a boom tip and/or at the counter-boom and/or at the tower tip (11).
  5. Method in accordance with one of the preceding claims, characterized in that the measurement system (50) detects the structural load of the work machine in one or more regions of the work machine, for example in the region of the corner bars of a tower base (12), and the detected load measurement values are taken into account for the determination of the optimum position.
  6. Method in accordance with claim 5, characterized in that stretching and/or compressive deformations of the material structure are detected at the one or more positions, in particular by the use of a plurality of strain gauges (50).
  7. Method in accordance with one of the preceding claims, characterized in that any safety demands in the control system of the work machine are taken into account on the control and/or regulation of the slewing gear drive for the active weathervaning.
  8. Method in accordance with one of the preceding claims, characterized in that one or more further machine drives, preferably a luffing gear, are controlled and/or regulated in addition to the slewing gear (20) for the traveling to the determined optimum position.
  9. Work machine, in particular a revolving tower crane or a concrete spreader mast, having at least one slewing part that is rotatable about a vertically standing axis (40) by means of a slewing gear (20), having a measurement system (50), and having a machine control to perform the method in accordance with one of the preceding claims.
EP17702524.4A 2016-02-01 2017-02-01 Method for bringing a work machine into a weathervane position, and work machine for carrying out the method Active EP3411322B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016001037.1A DE102016001037A1 (en) 2016-02-01 2016-02-01 Process for wind release of a work machine and work machine for process execution
PCT/EP2017/000128 WO2017133841A1 (en) 2016-02-01 2017-02-01 Method for bringing a work machine into a weathervane position, and work machine for carrying out the method

Publications (2)

Publication Number Publication Date
EP3411322A1 EP3411322A1 (en) 2018-12-12
EP3411322B1 true EP3411322B1 (en) 2023-02-01

Family

ID=57956230

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17702524.4A Active EP3411322B1 (en) 2016-02-01 2017-02-01 Method for bringing a work machine into a weathervane position, and work machine for carrying out the method

Country Status (7)

Country Link
US (1) US11254548B2 (en)
EP (1) EP3411322B1 (en)
CN (1) CN108698807B (en)
AU (1) AU2017215908B2 (en)
CA (1) CA3014805A1 (en)
DE (1) DE102016001037A1 (en)
WO (1) WO2017133841A1 (en)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3112336B1 (en) * 2020-07-07 2022-07-08 Manitowoc Crane Group France Tower crane with detection of a state of autorotation or oscillation of a rotating part in out of service configuration
CN113682960B (en) * 2021-09-07 2024-02-20 南华大学 Visual tower crane control system and control method

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2931466B1 (en) * 2008-05-22 2011-01-07 Manitowoc Crane Group France METHOD FOR CONTROLLING THE ORIENTATION MOVEMENT OF THE ROTATING PART OF A TOWER CRANE
JP5344881B2 (en) * 2008-10-02 2013-11-20 Ｉｈｉ運搬機械株式会社 Crane turning assist device in strong wind
DE102010008713B4 (en) * 2010-02-19 2015-04-23 Wolffkran Holding Ag Luffing jib tower crane
DE102011107754B4 (en) * 2011-06-10 2021-07-22 Liebherr-Werk Ehingen Gmbh Angle-related procedure for monitoring crane safety during the set-up process, as well as crane and crane control
CN202296925U (en) * 2011-09-15 2012-07-04 浙江省建设机械集团有限公司 Automatic opening device for rotary normally closed type brake of tower crane
CA2866998C (en) * 2013-03-15 2015-09-22 Howard M. Chin Crane assembly for a maintenance system for a wind turbine maintenance program
CN203715132U (en) * 2014-01-04 2014-07-16 山西一建集团有限公司 Tower crane safety production monitoring system with remote real-time management function
DE102015104148A1 (en) * 2015-03-19 2016-09-22 Gbf Gesellschaft Für Bemessungsforschung Mbh Turning crane and method for aligning a slewing crane

Also Published As

Publication number Publication date
CN108698807A (en) 2018-10-23
CN108698807B (en) 2021-08-17
CA3014805A1 (en) 2017-08-10
US20210188602A1 (en) 2021-06-24
US11254548B2 (en) 2022-02-22
EP3411322A1 (en) 2018-12-12
AU2017215908B2 (en) 2022-03-24
AU2017215908A1 (en) 2018-08-30
WO2017133841A1 (en) 2017-08-10
DE102016001037A1 (en) 2017-08-03

Similar Documents

Publication Publication Date Title
EP1925585B1 (en) Mobile crane
WO2007045426A1 (en) Working mast, in particular for large manipulators and movable concrete pumps
DE102011107754B4 (en) Angle-related procedure for monitoring crane safety during the set-up process, as well as crane and crane control
EP2378053B1 (en) Civil construction machine with computer unit for determining an adjustment range
EP3256414B1 (en) Crane, as well as process for monitoring the overload protection of such a crane
EP2636634B1 (en) Crane and method for crane control
EP3256415B1 (en) Crane, as well as process for monitoring the overload protection of such a crane
WO2015162096A1 (en) Method and device for operating a mobile crane, and mobile crane
EP2135834B1 (en) Crane, preferably mobile or caterpillar crane
EP2524892A1 (en) Crane control
EP3411322B1 (en) Method for bringing a work machine into a weathervane position, and work machine for carrying out the method
DE102019101623A1 (en) Rope robot
EP3271282B1 (en) Slewing crane and method for aligning a slewing crane
EP3856673B1 (en) Crane and method for monitoring the operation of such a crane
DE102009007310A1 (en) Concrete spreading device for use in stationary and mobile concrete pump, has end hose downwardly suspended at mast arm, and computerized-evaluation circuit operated in response to output signal of measuring arrangement
EP0387399B1 (en) Method and device for controlling the crane functions of a mobile crane with a telescopic jib
DE112014002081B4 (en) Sensor-based monitoring of wind direction and heat radiation for a mobile work device
EP4053065B1 (en) Device and method for controlling a crane rotational gear and crane
DE102020215260B4 (en) Method of operating a crane and crane
DE102019102828A1 (en) Method and device for preventing slack rope
DE2140779C3 (en) Device for determining the limit loads on jib cranes
DE102017202009A1 (en) crane
DE3529590A1 (en) Cantilever crane with active control device

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

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

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

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: 20180829

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

AX Request for extension of the european patent

Extension state: BA ME

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
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: 20220824

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

Ref country code: AT

Ref legal event code: REF

Ref document number: 1546902

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230215

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502017014386

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230222

Year of fee payment: 7

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20230201

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: 20230201

Ref country code: PT

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: 20230601

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: 20230501

Ref country code: NL

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: 20230201

Ref country code: LV

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: 20230201

Ref country code: LT

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: 20230201

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: 20230201

Ref country code: ES

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: 20230201

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230704

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

Ref country code: SE

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: 20230201

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: 20230201

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: 20230601

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: 20230502

Ref country code: FI

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: 20230201

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20230228

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: 20230201

Ref country code: RO

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: 20230201

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230201

Ref country code: EE

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: 20230201

Ref country code: DK

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: 20230201

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: 20230201

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502017014386

Country of ref document: DE

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: 20230201

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

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

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

26N No opposition filed

Effective date: 20231103

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

Ref country code: MC

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: 20230201

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

Ref country code: SI

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: 20230201

Ref country code: MC

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: 20230201

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230201

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

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230228

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 20240226

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240228

Year of fee payment: 8

Ref country code: CH

Payment date: 20240301

Year of fee payment: 8

Ref country code: GB

Payment date: 20240221

Year of fee payment: 8