EP0059901A1 - Steuergerät mit einem Mikroprozessor für eine drehbare, ausfahrbare Leiter oder einen gleichartigen Hebearm - Google Patents

Steuergerät mit einem Mikroprozessor für eine drehbare, ausfahrbare Leiter oder einen gleichartigen Hebearm Download PDF

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Publication number
EP0059901A1
EP0059901A1 EP82101486A EP82101486A EP0059901A1 EP 0059901 A1 EP0059901 A1 EP 0059901A1 EP 82101486 A EP82101486 A EP 82101486A EP 82101486 A EP82101486 A EP 82101486A EP 0059901 A1 EP0059901 A1 EP 0059901A1
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EP
European Patent Office
Prior art keywords
microprocessor
control
movements
law
lowering
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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.)
Granted
Application number
EP82101486A
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English (en)
French (fr)
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EP0059901B2 (de
EP0059901B1 (de
Inventor
Claude Artaud
Michel Vincent
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Camiva SA
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Camiva SA
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Application filed by Camiva SA filed Critical Camiva SA
Priority to AT82101486T priority Critical patent/ATE11950T1/de
Publication of EP0059901A1 publication Critical patent/EP0059901A1/de
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Publication of EP0059901B1 publication Critical patent/EP0059901B1/de
Publication of EP0059901B2 publication Critical patent/EP0059901B2/de
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Classifications

    • E—FIXED CONSTRUCTIONS
    • E06—DOORS, WINDOWS, SHUTTERS, OR ROLLER BLINDS IN GENERAL; LADDERS
    • E06C—LADDERS
    • E06C5/00—Ladders characterised by being mounted on undercarriages or vehicles Securing ladders on vehicles
    • E06C5/32—Accessories, e.g. brakes on ladders
    • E06C5/36—Safety devices against slipping or falling of ladders; Safety devices against overloading ladders
    • 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
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical

Definitions

  • the present invention relates to a control device including the control and safety of the movements of a ladder, such as for example a rescue and fire fighting ladder, or of a similar lifting arm mounted on a vehicle.
  • Analog electronic control devices are known based on the following principle: an index symbolizes on a diagram the position of the end of the elevator and allows, thanks to a suitable coordinate axis system, the reading of the functional parameters.
  • This index includes a conductive part of the electric current which, during the movement of the index, switches electrically with the different zones of the diagram, which are themselves conductive and generally produced in the form of printed circuits. Switching with these zones produces the lighting or extinction of warning lights and possibly the automatic stopping of movements when these become dangerous, in particular for the stability of the carrier vehicle.
  • These devices are generally associated with an analog electromechanical or electronic logic system, which generates from information received from different sensors and the moving index, orders causing the change of state of indicators, the triggering of alarm (s) sound (s) or devices acting on the execution of the movements.
  • the present invention relates to a microprocessor control device which makes it possible to easily take into account all the desirable functional parameters and which is arranged to cause the automatic stopping of any dangerous movement after having triggered a progressive deceleration of the movement controlled by the operator before total stop, whatever the command command given, which thus avoids disruptive dynamic effects such as swaying of the current scale on known scales.
  • the automatic control introduced by the microprocessor here makes it possible to correct the harmful effects which the control left to produce on the sole initiative of the operator can produce.
  • the control device deployable adjustable ladder or similar lifting arm comprising at least one straightening or lowering control, a deployment and folding control and a pivoting control with members for manual selection of the desired movements, straightening and lowering actuators, deployment and folding, and pivoting, is characterized in that said selection members are adapted to supply an electrical signal representative of the direction of control and of the desired speed of execution of the movement, these members being connected to a microprocessor reader of these orders control, said microprocessor comprising in memory: the maximum ranges not to be exceeded as a function of various by selectable and predetermined range setting meters; a sequence of cyclic calculation of the real range from information given by sensors for measuring the angle of training and the length deployed; a cyclic comparison sequence of the real range calculated with the maximum range corresponding to the predefined implementation conditions and whether or not authorizing the requested movement; a law of deceleration of the lowering and deployment movements at least, in predetermined terminal zones of evolution of these movements corresponding to a certain approach to the
  • microprocessor control also makes it possible to limit the acceleration on switching on and off. In response to orders for voluntary commands to switch on or off, by means of predetermined laws stored in memory. .
  • Such a command also lends itself to the digital display of the operating parameters with as high a precision as desired, whether in particular the current parameters or operating limits.
  • Reaching the operating limit marked by the abovementioned automatic stopping process can also be advantageously accompanied by assistance with subsequent piloting by sending a spoken message indicating to the pilot the solution or solutions remaining at his disposal.
  • Such a microprocessor control also has the advantage of being easily adaptable to all options of equipment of the equipment and of changes of the limits for which it suffices to modify the data taken into memory.
  • the microprocessor also allows the command and automatic control of the leveling of the platform floor as a function of the 'training angle of the ladder.
  • a scale movement control and security system aims to provide the user with the value of operating parameters such as the angle of dressing ⁇ the developed length L, the maximum possible load at the end of the ladder, the height reached H, the range P ... to alert the user and possibly stop the movements when they become dangerous, in particular in the event of an impact with an obstacle or in the event of reaching the vehicle's stability limits.
  • This fig. 3 symbolizes the usage diagrams corresponding to three possible positions of the support cylinders, but a continuous variation of the diagram can be envisaged.
  • the different limits are stored in the control system.
  • the control system compares the position of the ladder to each of the limits and lights up an indicator which corresponds to the possibility of maximum load.
  • the deployment, lowering and possibly pivoting movements are automatically stopped when the ladder equipped with its rescue platform reaches the limit corresponding to the load case al, a2, and a3, or when the ladder without rescue platform reaches the limit corresponding to a4, or the limits going from a'1 to a'4 or from a "1 to a" 4 depending on the position of the beams 3.
  • an audible device is activated to attract the attention of the user.
  • a sensor When the rescue platform is used, a sensor signals its presence.
  • Switches allow you to select the limits: two men plus platform, one man plus platform. Before reaching the limit of use corresponding to the load case chosen, a pre-signal intervenes as well as a slowing down of the maneuvers as will be seen below.
  • the scale position information delivered by the various sensors is read periodically by the microprocessor and stored in memory.
  • the microprocessor processes this data and compares the state of the scale with the limits of use stored in permanent memory.
  • the movement control orders (direction and speed) given by the operator enter the microprocessor; they are validated or modified according to the result of the comparison of the state of the scale to the limits of use and then transmitted to the power control members. Simultaneously, the microprocessor generates, if necessary, the orders for controlling the automatic movement of the horizontal alignment of the platform floor.
  • the microprocessor causes the automatic stop of this movement when the limit is reached, but after having achieved a progressive deceleration of the movement until the total stop and this whatever the command order given by the operator as we will see later.
  • the MPU via the data BUS, by exciting the corresponding addresses, allows the transfer of REPROM to RAM of the initialization parameters.
  • the program provides for reading and storing the entries in RAM. All the digital inputs El to E34 are present in the form of a 1 or O at the terminals of the input BUFFERS.
  • the MPU thanks to the addresses of the input PIA 1 and the BUFFER 1, reads all of the inputs El to E16 which must be transferred to RAM by the data bus and the memory addresses.
  • All analog inputs E41 to E51 are present as a voltage across the analog input multiplexers.
  • the M PU thanks to the addresses of the PIA 1, the multiplexer 1 and the A / D converter, reads the input E41, converted into digital and transfers by the BUS data and the address of the memory, the corresponding binary word in RAM.
  • the MPU When all the external data is in RAM memory, the MPU performs the calculations necessary for the smooth running of the program by going to draw from RAM by the DATA bus and addresses the previously stored data.
  • the results of these calculations are firstly stored in RAM by the intermediary of the BUS data and new addresses and secondly displayed on the control panel delimited in phantom in fig. 5.
  • This transfer to the display panel of the logic indicators: beam position, alert load case, etc. is done via the data BUS and PIA 2 addresses and the output decoder, which allows transmission up to 16 pieces of information at a time (S1 to S15 in this example).
  • the display of the training angle, developed length, span and height parameters is done via the data buses and addresses of the PIA 2, the digital display decoder, and a 7-segment decoder for each digital output. , i.e. for S25 to S32 in a row.
  • the MPU at each cycle, reads all the logic and analog inputs that it stores in RAM at the same addresses than before, the parameters already stored being automatically erased.
  • the MPU performs all the calculations with this new information and the elements displayed are possibly updated.
  • certain data are only displayed every 2 seconds for example.
  • the MPU completes the program in a few milliseconds. This time is variable depending on the number of movements performed. In any event, each of the scale control parameters is read approximately 200 times per second.
  • the MPU checks if the value of the analog input E47 (measurement of the developed length) believes, if not, as previously, the reading of the input E47 is carried out several times, and if the anomaly persists, there is display the number assigned to sensor E47 and stop the operation of the scale
  • the system thus performs a self-check and avoids giving erroneous orders in the event that it receives false information.
  • the microprocessor also controls the display and signaling panel which informs the user of the state of the scale and its possibilities.
  • Fig. 7 shows the block diagram of the hydraulic movement control circuit.
  • a variable flow pump 52 supplies the entire installation from a reservoir 53.
  • the telescopic beams which support the setting cylinders are controlled by distributors 54 and 55 which respectively supply the cylinders 56 of the left beams and the cylinders 57 of the right beams.
  • a distributor 58 ensures the actuation of cylinders 59 for neutralizing the elastic suspension of the vehicle and of the timing cylinders 2.
  • a pressure switch 60 registers the resulting pressure rise and it establishes the energizing the electronic system of the scale by the input El. Therefore, the control of the movements of the scale itself is possible by action, on the proportional solenoid valves 61, 62, 63 and 64.
  • the solenoid valve 61 controls the deployment-re-deployment movement by means of the hydraulic motor 65 which actuates a winch.
  • the solenoid valve 62 controls the straightening-lowering movement by means of the jacks 66.
  • the solenoid valve 63 supplies the tilt correction cylinders 67 which cause the part 5 of the turret to rotate.
  • the solenoid valve 64 controls the pivoting movement to the right or to the left by means of the motor 68.
  • Each of the solenoid valves 61, 62, 63, 64 is of the proportional type, that is to say it delivers a flow proportional to the control voltage of the coils.
  • the microprocessor cuts the electrical supply to the distributor 51, output S19 of the microprocessor (control oil pressure of the pump at zero value by exit status 0).
  • FIG. 8 There is shown in FIG. 8 the general flowchart of the operations carried out by the electronic microprocessor system.
  • the program then includes the scale overload test (Input E51).
  • Figs. 9, 10 and 11 represent the detailed flowchart for calculating heights and spans, memorizing the position of the support beams of the stabilizer jacks, displaying the authorized load limits and storing the limit span corresponding to the operating case.
  • the microprocessor after having read all the input parameters, calculates the range P, the height H, the maximum values of developable length L max before automatic stop at constant dressing angle and corresponding maximum height H, the maximum value of l 'dressing angle ⁇ 2 corresponding to the maximum range for which there must be an automatic stop with constant developed length L; the angle of dressing ⁇ r, the range Pr and the developed length Lr at the start of slowing down of the movements.
  • ⁇ corresponds to an angular range of deceleration of the lowering before automatic stop
  • ⁇ P and ⁇ L to two ranges of deceleration before automatic stop in span or developed length.
  • the different values taken into account are stored in memories indicated in the "Calculation" box of fig. 9, with the letter M followed by an identification index.
  • the microprocessor uses memory M20 in which is stored the maximum range corresponding to the use of the ladder (fig. 3 and 11).
  • the microprocessor then checks in what position the timing cylinders 2 are and what is the orientation ⁇ of the scale relative to the longitudinal axis of the vehicle. If the orientation B of the ladder does not differ by more than ⁇ 25 ° from the longitudinal axis of the vehicle, the useful range is the maximum range for the load considered and it is independent of the position of the stabilizers. For different orientations of the scale, the microprocessor memorizes the position of the beams located on the side where the scale is oriented (memories M2, M3, M4, fig. 9).
  • the microprocessor then displays the load case (fig. 10). It examines whether the ladder is used with or without its platform (entrance E9) what is the choice of load made by the user (1, 2 or 3 men on the platform, ladder in support, entrances E10, E11, E12) and it compares, in the case of the scale used without a platform, the real range of the scale stored in the memory M21, with the limit ranges authorized as a function of the position of the stabilizers; it deduces the maximum possible load therefrom and proceeds to switch on the corresponding warning light and extinguish the other warning lights by the outputs S3 to S9 (warning lights 33 to 39).
  • the microprocessor then checks if there is agreement of the steps and makes the corresponding display (LED 41).
  • the following sequence relates to the emission of an audible signal when the load case changes; thus an audible signal of duration 1 second is emitted when the range becomes equal to P4, P5, P6, P7, P8 or P9.
  • the MPU sets the output S33 to 0 (or maintains it if it was there previously).
  • the MPU checks, in the order of the program, the logical values of the inputs E18, E25 and E29 (stored in RAM). If one of them is at 1, the output S33 is set (or maintained) at 0.
  • test A and B Next comes the verification of the position of the ladder relative to the pivoting and straightening / lowering chassis to avoid any interference with the vehicle cabin (tests A and B).
  • the MPU sets S33 to o.
  • test C is done.
  • the analog output S33 generates a signal proportional to the input E41 with a decreasing maximum value in accordance with a deceleration curve with end of travel stop, REPROM memory storage and which will be seen later.
  • the MPU checks logic input E27 (test D) and test E.
  • the output S33 If D or E is positive, the output S33 generates, as above, a signal proportional to the input E41 with maximum value limited by said deceleration curve before the end of the course.
  • the MPU If -D and E are negative, the MPU generates a signal proportional to the input E41 without correction except in the event of a sudden request or suppression of the motion control (input E41) or in this case the MPU generates the output signal at acceleration and deceleration, according to other speed control curves stored in REPROM memory, this in order to have greater comfort in piloting the scale and to avoid unpleasant mechanical stresses on the scale.
  • the MPU which manages the output S33 can, without waiting for a deviation from the horizontality of the platform, simultaneously control its alignment by generating a proportional signal to S33 on the output S36: proportional control for horizontal positioning of the platform 11, this proportional control being able to cooperate with an actuator not shown, such as an electric actuator interposed between the last rung 10 of the scale and the platform to vary the angle ⁇
  • a control loop is incorporated in the program, which allows, by measuring the angle ⁇ of the platform with respect to the scale (E45) to put in the program a correction parameter allowing the elimination of the deviations due to the electro-hydro-mechanical power control system of the ladder movements.
  • the dressing command is controlled and executed by the MPU following the same principle as the lowering command above, with of course, parameters to be controlled specific to this movement.
  • Fig. 13 defines the principle flow diagram of the automatic slowdown of the pivoting, lowering or deployment movements before automatic stopping, corresponding to the maximum admissible range.
  • the microprocessor receives movement commands from the operator. If the range P is greater than or equal to the maximum admissible range Pa, the microprocessor does not control the movement.
  • the microprocessor compares the range P with the range Pr corresponding to the start of the zone where the movement must be slowed down in order to reach the automatic stopping point at zero speed.
  • Fig. 14 illustrates the diagram of the speed of movement as a function of the space traveled.
  • the speed of the movement is that requested by the operator and it can go up to the maximum speed Vm allowed by the control systems.
  • zone B corresponding to a range P greater than Pr and less than Pa, the microprocessor imposes a speed maximum defined by limit C which joins the start point of deceleration where the speed can be maximum at the end point of deceleration where the speed must be zero.
  • zone B the microprocessor controls the movement at the speed requested by the operator as long as this is less than the limit speed defined by curve C, then at the speed corresponding to this curve C when the speed requested by l operator becomes superior to the latter.
  • a movement slowdown system is only effectively achievable thanks to the use of a microprocessor because the slowdown zones of each movement are a function of the large number of parameters on which the limit range Pa ′ depends and they must be recalculated. constantly in the course of movement, as we have seen, the various movements of the scale being able to be simultaneous and influencing the limit range Pa.
  • the microprocessor thus limits in all cases the harmful dynamic effects and in particular any rocking of the 'unwanted scale.
  • the slowing down of the various movements can be controlled in the following manner by the microprocessor.
  • the microprocessor which has in memory the relation speed-control order S 34 of the development movement, determines the maximum control order S 34 m which corresponds to the maximum admissible speed V Lm (N).
  • the microprocessor which has in memory the speed-command command relation S 33 of the lowering movement determines the maximum command command S 33 m which corresponds to the maximum admissible speed V ⁇ m (R).
  • the microprocessor which has in memory the relation speed-command command S 35 of the pivoting movement, determines the maximum command command S 35 m which corresponds to the maximum admissible speed V ⁇ m (T).
  • Fig. 21 defines the principle flow diagram of the horizontal positioning of the working platform 11.
  • the microprocessor simultaneously controls the angular movement of the platform and the raising or lowering of the ladder at the same speed.
  • sensors of known types such as potentiometers or angular encoders measure the angle of dressing ⁇ and the angle ⁇ of the platform floor relative to the scale.
  • the microprocessor calculates the speed necessary to follow the raising or lowering movement and to remove the position deviation after a defined time, for example 5 seconds.
  • This device which performs the simultaneous angular movement of the platform 11 and of the ladder makes it possible to have the platform horizontally precise and smoothly, which improves passenger comfort.
  • the microprocessor When the operator requests a movement which becomes dangerous for the stability of the vehicle, the microprocessor thus causes, as explained, the automatic stopping of this movement when the limit is reached, after having achieved the progressive deceleration of this movement.
  • the indicator light requesting training or folding back (S11 - indicator 45, fig. 6) lights up.
  • the operator who may be in a context of panic, may not react immediately and wonder why the ladder is no longer ordered. It is then that the transmission of a spoken message takes on its full value and is here provided from the microprocessor according to the diagram in FIG. 22.
  • the microprocessor at this time, sends by BUS, the information necessary for the dissemination of the message corresponding to the scenario that caused the automatic shutdown.
  • the memory circuits 69 and speech synthesizer 70 manufacture the sentence to be broadcast which, after amplification at 71 is transmitted to a loudspeaker 72 placed near the ladder operator acting in the vehicle.
  • a second listening station 73 can be placed at the ladder control station located in the platform 11 to inform an operator acting from the platform.
  • microprocessor also allows greater ease of adaptation to particular constraints.
  • the operating limits change and it suffices to modify the values stored in memory.
  • simply ad- j Q Indre possibly additional sensors and modify the program. This means that many variants can be easily adapted while remaining within the scope of the invention.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ladders (AREA)
  • Programmable Controllers (AREA)
  • Manipulator (AREA)
EP82101486A 1981-03-05 1982-02-26 Steuergerät mit einem Mikroprozessor für eine drehbare, ausfahrbare Leiter oder einen gleichartigen Hebearm Expired - Lifetime EP0059901B2 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AT82101486T ATE11950T1 (de) 1981-03-05 1982-02-26 Steuergeraet mit einem mikroprozessor fuer eine drehbare, ausfahrbare leiter oder einen gleichartigen hebearm.

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR8104449 1981-03-05
FR8104449A FR2501390A1 (fr) 1981-03-05 1981-03-05 Dispositif de commande a microprocesseur pour echelle orientable deployable ou bras elevateur analogue

Publications (3)

Publication Number Publication Date
EP0059901A1 true EP0059901A1 (de) 1982-09-15
EP0059901B1 EP0059901B1 (de) 1985-02-20
EP0059901B2 EP0059901B2 (de) 1996-09-04

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ID=9255906

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Application Number Title Priority Date Filing Date
EP82101486A Expired - Lifetime EP0059901B2 (de) 1981-03-05 1982-02-26 Steuergerät mit einem Mikroprozessor für eine drehbare, ausfahrbare Leiter oder einen gleichartigen Hebearm

Country Status (6)

Country Link
EP (1) EP0059901B2 (de)
AT (1) ATE11950T1 (de)
DE (1) DE3262363D1 (de)
ES (1) ES510139A0 (de)
FR (1) FR2501390A1 (de)
MA (1) MA19406A1 (de)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0154069A3 (de) * 1984-03-08 1986-12-30 Merryweather And Sons Limited Steuereinrichtung für eine aufrichtbare und ausfahrbare Struktur
EP0196888A3 (en) * 1985-03-28 1987-12-02 Kabushiki Kaisha Hikoma Seisakusho Lifting apparatus
EP0387399A3 (de) * 1989-03-16 1991-03-13 Ppm S.A. Verfahren und Vorrichtung zur Steuerung der Kranfunktionen eines mobilen Teleskopauslegerkrans
EP0539207A1 (de) * 1991-10-24 1993-04-28 Kabushiki Kaisha Kobe Seiko Sho Sicherheitsvorrichtung für eine Baumaschine
EP0580007A1 (de) * 1992-07-21 1994-01-26 A. WEBER ANLAGENBAU GmbH & Co. KG Steuerung für das Verschwenken eines in seiner effektiven Länge veränderlichen Auslegers
EP0779238A1 (de) * 1995-12-14 1997-06-18 Liebherr-Werk Ehingen GmbH Kranfahrzeug
EP0779237A3 (de) * 1995-12-15 1997-07-09 Liebherr-Werk Ehingen GmbH Kranfahrzeug mit einer Überlastsicherungseinrichtung
FR2750972A1 (fr) * 1996-07-12 1998-01-16 Fdi Sambron Chariot de manutention pourvu d'un systeme de securite permettant d'eviter son basculement accidentel
CN103100150A (zh) * 2013-02-22 2013-05-15 王永庆 一种高空救援装置及其组装方法
WO2013097509A1 (zh) * 2011-12-30 2013-07-04 中联重科股份有限公司 一种臂架回收的控制方法、控制装置、控制系统及车辆
US8965637B2 (en) 2009-06-19 2015-02-24 J.C. Bamford Excavators Limited Method of operating a working machine
EP3431436A1 (de) 2017-07-17 2019-01-23 Manitou Bf Steuerung einer fördermaschine
EP3431435A1 (de) 2017-07-17 2019-01-23 Manitou Bf Steuerung einer fördermaschine
CN113880015A (zh) * 2021-09-02 2022-01-04 潍柴动力股份有限公司 高空作业平台控制方法、装置、电子设备和存储介质
US11286141B2 (en) 2018-03-30 2022-03-29 Manitou Italia S.R.L. Articulated self-propelled work machine

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2583898B1 (fr) * 1985-06-21 1988-05-20 Camiva Sa Procede de commande d'une echelle sur vehicule
FI123891B (fi) * 2004-06-29 2013-12-13 Bronto Skylift Oy Ab Henkilönostin
GB2577899B (en) 2018-10-09 2023-03-29 Bamford Excavators Ltd A machine, controller, and control method

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0008210A1 (de) * 1978-08-04 1980-02-20 Eaton Corporation Vorrichtung zur Unterstützung der Kranbedienung
DE2836337A1 (de) * 1978-08-19 1980-02-28 Magirus Deutz Ag Einrichtung zur steuerung und ueberwachung der an einer drehleiter angeordneten sicherheitssteuerung
DE3011715A1 (de) * 1979-03-26 1980-10-02 Janome Sewing Machine Co Ltd Elektronisch gesteuerte naehmaschine
GB2050294A (en) * 1979-05-18 1981-01-07 Coles Cranes Ltd Safe load indicator

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0008210A1 (de) * 1978-08-04 1980-02-20 Eaton Corporation Vorrichtung zur Unterstützung der Kranbedienung
DE2836337A1 (de) * 1978-08-19 1980-02-28 Magirus Deutz Ag Einrichtung zur steuerung und ueberwachung der an einer drehleiter angeordneten sicherheitssteuerung
DE3011715A1 (de) * 1979-03-26 1980-10-02 Janome Sewing Machine Co Ltd Elektronisch gesteuerte naehmaschine
GB2050294A (en) * 1979-05-18 1981-01-07 Coles Cranes Ltd Safe load indicator

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0154069A3 (de) * 1984-03-08 1986-12-30 Merryweather And Sons Limited Steuereinrichtung für eine aufrichtbare und ausfahrbare Struktur
EP0196888A3 (en) * 1985-03-28 1987-12-02 Kabushiki Kaisha Hikoma Seisakusho Lifting apparatus
EP0387399A3 (de) * 1989-03-16 1991-03-13 Ppm S.A. Verfahren und Vorrichtung zur Steuerung der Kranfunktionen eines mobilen Teleskopauslegerkrans
EP0539207A1 (de) * 1991-10-24 1993-04-28 Kabushiki Kaisha Kobe Seiko Sho Sicherheitsvorrichtung für eine Baumaschine
EP0580007A1 (de) * 1992-07-21 1994-01-26 A. WEBER ANLAGENBAU GmbH & Co. KG Steuerung für das Verschwenken eines in seiner effektiven Länge veränderlichen Auslegers
EP0779238A1 (de) * 1995-12-14 1997-06-18 Liebherr-Werk Ehingen GmbH Kranfahrzeug
EP0779237A3 (de) * 1995-12-15 1997-07-09 Liebherr-Werk Ehingen GmbH Kranfahrzeug mit einer Überlastsicherungseinrichtung
FR2750972A1 (fr) * 1996-07-12 1998-01-16 Fdi Sambron Chariot de manutention pourvu d'un systeme de securite permettant d'eviter son basculement accidentel
US8965637B2 (en) 2009-06-19 2015-02-24 J.C. Bamford Excavators Limited Method of operating a working machine
WO2013097509A1 (zh) * 2011-12-30 2013-07-04 中联重科股份有限公司 一种臂架回收的控制方法、控制装置、控制系统及车辆
CN103100150A (zh) * 2013-02-22 2013-05-15 王永庆 一种高空救援装置及其组装方法
CN103100150B (zh) * 2013-02-22 2015-04-08 王永庆 一种高空救援装置及其组装方法
EP3431436A1 (de) 2017-07-17 2019-01-23 Manitou Bf Steuerung einer fördermaschine
EP3431435A1 (de) 2017-07-17 2019-01-23 Manitou Bf Steuerung einer fördermaschine
WO2019016013A1 (fr) 2017-07-17 2019-01-24 Manitou Bf Commande d'une machine de manutention
WO2019016014A1 (fr) 2017-07-17 2019-01-24 Manitou Bf Commande d'une machine de manutention
EP3431435B1 (de) 2017-07-17 2020-04-22 Manitou Bf Steuerung einer fördermaschine
AU2018304429B2 (en) * 2017-07-17 2023-11-16 Manitou Bf Control of a handling machine
US11905144B2 (en) 2017-07-17 2024-02-20 Manitou Bf Control of a handling machine
US11286141B2 (en) 2018-03-30 2022-03-29 Manitou Italia S.R.L. Articulated self-propelled work machine
CN113880015A (zh) * 2021-09-02 2022-01-04 潍柴动力股份有限公司 高空作业平台控制方法、装置、电子设备和存储介质

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ES8305510A1 (es) 1983-04-01
EP0059901B2 (de) 1996-09-04
DE3262363D1 (en) 1985-03-28
EP0059901B1 (de) 1985-02-20
FR2501390B1 (de) 1984-06-22
MA19406A1 (fr) 1982-10-01
ES510139A0 (es) 1983-04-01
FR2501390A1 (fr) 1982-09-10
ATE11950T1 (de) 1985-03-15

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