EP0614845B1 - Kransicherheitsvorrichtung - Google Patents

Kransicherheitsvorrichtung Download PDF

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Publication number
EP0614845B1
EP0614845B1 EP94201063A EP94201063A EP0614845B1 EP 0614845 B1 EP0614845 B1 EP 0614845B1 EP 94201063 A EP94201063 A EP 94201063A EP 94201063 A EP94201063 A EP 94201063A EP 0614845 B1 EP0614845 B1 EP 0614845B1
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European Patent Office
Prior art keywords
crane
boom
display
data
screen
Prior art date
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Expired - Lifetime
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EP94201063A
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English (en)
French (fr)
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EP0614845B2 (de
EP0614845A2 (de
EP0614845A3 (de
Inventor
Akinori Ichiba
Yukio Tsutsumi
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Kato Works Co Ltd
Kato Seisakusho Co Ltd
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Kato Works Co Ltd
Kato Seisakusho Co Ltd
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Application filed by Kato Works Co Ltd, Kato Seisakusho Co Ltd filed Critical Kato Works Co Ltd
Publication of EP0614845A2 publication Critical patent/EP0614845A2/de
Publication of EP0614845A3 publication Critical patent/EP0614845A3/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • 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

Definitions

  • the present invention relates to a crane safety apparatus, and more particularly to a crane safety apparatus having a plurality of image display modes and capable of providing an operator with crane operation status settings and safe operation in accordance with a selected image display mode.
  • Such conventional technique provides warning and automatic stop for the possible overturn, collapse, or failure of a crane.
  • Japanese Patent Laid-open Publication No. 58-74496 discloses a method of regulating the operation range of a tower type crane. According to this method, a crane boom and an obstacle are schematically displayed on a screen so that it is possible to detect any contact between the boom and obstacle schematically displayed on the screen. In this case, however, for the display of an obstacle, the coordinates of the obstacle on the screen are required to be correctly set, leading to not a simple initial setting of the operation range.
  • US-A-3,993,986 discloses a crane safety device for restricting the operation of cranes within a predetermined allowable operation range.
  • the fundamental structure of the crane safety apparatus of this invention is shown in Fig.2A.
  • the crane safety apparatus is constructed of a main unit A and a display unit B. During the operation of the apparatus, commands and data are transferred between a main unit CPU and a display unit CPU.
  • the main unit A obtains from a sensor group A' the operation parameter data (such as boom length l, boom angle ⁇ , slewing angle ⁇ ) representative of the operation status of the crane mechanism which changes from time to time as the crane is operated.
  • operation parameter data such as boom length l, boom angle ⁇ , slewing angle ⁇
  • These operation parameters are sent directly, or after processed by CPU, to the display unit B as data A.
  • the display unit B modifies from time to time the display image on the display B'' screen in accordance with the data A, to thereby display the current operation status of the crane.
  • the main unit A stores various data in accordance with each crane specification. Such data are typically maximum specific loads for various crane operation status. For example, a total specific load curve shown in Fig.2B is used for the operation status settings such as with outrigger intermediate projection of (5.0 m - side direction), without jib, and with boom length of 8.9 m. Such a total specific load curve is determined for each of different operation status settings and boom lengths, in accordance with each crane specification. A great number of these data are stored in ROM of the main unit A.
  • the main unit A accesses ROM to obtain the maximum specific load data for the crane operation status at that time, or compares the maximum load value obtained by processing the data with the actual load and if the current crane operation status is in a danger zone, a warning is issued, or/and delivers a signal for controlling the crane mechanism A'' for automatic stop of the crane operation.
  • the memory of the display unit B there are stored a plurality of display image graphics data corresponding to a plurality of display modes.
  • a display image such as shown in Figs.5 to 9 is selected in accordance with the display mode selected by a setting key.
  • an operator can use other display modes to set the operation contents of a crane and monitor it for the effective crane operation. The operation of other display modes will be later detailed.
  • the main unit CPU 200 receives the actual load data from a stress sensor 201, and other crane operation parameter data from a slewing angle sensor 202, boom length sensor 203, boom angle sensor 204, boom top v. angle sensor 205, jib v. angle sensor 206, and stress sensor 208 respectively disposed at various positions of the crane.
  • the data from the sensors 205 and 206 disposed at the top of the boom are collected to a top terminal 207 at the boom distal end, sent to a cord reel 210 at the boom distal end via an optical fiber cable 209, subjected to photoelectric conversion at the cord reel, and sent to the main unit CPU 200.
  • the display unit CPU automatically enters the operation status setting mode, and displays the image such as shown in Fig.3.
  • This mode is indicated at 301.
  • Numerals generally indicated at 302 represent the boom status and they are flashing. When an operator sets desired numerals, they stop flashing and become always illuminated.
  • Numeral 0 stands for the case of using only the main boom without using the jib and rooster
  • numeral 1 stands for the case of using the jib with one step
  • numeral 3 stands for the case of using the jib with two steps.
  • numerals After completion of the boom operation status setting, numerals will flash to indicate the rightside outrigger status 303.
  • Numeral 3 represents a maximum projection
  • numeral 2 an intermediate projection
  • numeral 1 a small projection
  • numeral 0 a minimum projection
  • numeral 4 no outrigger mounting
  • numeral 5 a running while lifting an object.
  • an operator selects a desired numeral upon activation of the ten keys on the touch panel 310A.
  • the leftside outrigger status 304 is set.
  • the display unit CPU After completion of the input operation for the operation status mode, the display unit CPU automatically enters the automatic crane safety monitor mode for displaying an image such as shown in Fig.4A.
  • the display unit CPU displays the current crane operation status, i.e., an outrigger setting 404, slewing position 405, operation radius 406, boom angle 407, lifting load 410, lifting distance 409, and boom length 402.
  • the boom length is schematically displayed in the form of bar 403 whose length changes in correspondence with the actual length of the boom.
  • Fig.4B (a) to ((n) The illustrative representations of the causes of automatic stop are shown in Fig.4B (a) to ((n), the representations having the following meanings. If there are a plurality of automatic stop causes during the automatic crane safety monitor mode, the corresponding number of representations are displayed on the screen.
  • the cause of automatic stop described above is displayed when certain conditions are satisfied.
  • the cause of automatic stop for moment is assigned, when the actual load is equal to or larger than the limit load and the lever operation is in danger side. If the actual load is near the limit load and an operator causes to turn down or extend the boom further, or causes the winch to wind up the wire, these lever operations are in danger side.
  • the main unit CPU issues a locking signal in response to these lever operations in danger side, and the display unit CPU displays the illustrative representation (a).
  • the operator recognizes from the displayed automatic stop cause illustrative representation (a) that the boom cannot be turned down or extended and that the crane can be released from the danger by other operations such as lifting the boom.
  • the crane enters the automatic stop, and the moment automatic stop cause representation is displayed.
  • the crane automatic stop is released and the cause representation disappears.
  • the crane operation lever is turned to the boom extension side, the automatic stop is effected again and the moment automatic stop cause is displayed. If the crane operation lever is turned not to the boom extension side but to the boom standing side, boom compression side or winch winding back side, then the automatic stop and cause display are not effected.
  • the boom movable range is also set so as not to make the boom contact with nearby buildings and the like. It is desirous if a warning is issued or the crane is automatically stopped if the boom is moved in the direction departing from the set movable range.
  • the display unit CPU enters the operation range limit display mode and displays a screen image such as shown in Fig.5.
  • the operation range limit display mode is indicated at 501.
  • the boom is schematically shown at B, and its distal end represented by a cross is indicated at P.
  • the schematically displayed boom B follows the actual boom motion, and is controlled by the display unit CPU in accordance with the operation parameters supplied from the main unit CPU.
  • an operator moves the boom to the limit point (the schematically displayed boom B also moves to the limit point).
  • the non-operation range is set at the hatched area at the right of the boom distal end P.
  • the operation radius R is displayed as the operation radius limit value at 507 within a rectangular frame.
  • higher limit of angle (B), lower limit of angle (C), and lifting distance limit (D) may also be set.
  • the characteristic point of this setting is that the boom is actually moved to the limit point and a key is depressed to set the non-operation range, instead of calculating and setting the numerical limit value without moving the boom to the limit point.
  • This method of setting is advantageous in that the operation range can be determined by moving the actual boom at the field location.
  • the total operation limit range covering all the limits (A) to (D) such as the radius limit and the like is shows as (E).
  • the boom is allowed to move within the area not hatched.
  • Other numerical values representative of the actual boom are also displayed on the screen, the values including boom angle 509, actual radius 508, boom length 506, and lifting distance 505.
  • a boom slewing angle range limit is displayed.
  • a boom B schematically displayed within an area 511 follows the actual boom motion.
  • the boom is moved to a boom slewing angle limit point and the boom slewing angle range limit is set upon activation of a setting key on the touch panel.
  • the slewing angle range limit one side of the boom may be set as indicated by (F) or both sides thereof may be set as indicated by (G).
  • the outrigger setting status 512 previously set is also displayed on the boom slewing display area.
  • a lifting load 503 and maximum load 504 are displayed on the screen.
  • the contents set during the operation range limit display mode are transferred in the form of numerical data from the display CPU to the main unit CPU.
  • the display unit CPU displays the hatched area on the right side of R . If the boom moves toward the outside of the set operation limit range, the main unit CPU detects it so that a warning is issued or the crane is automatically stopped. An operator can visually recognize the motion of the boom within the allowable operation range as shown at (E) with respect to the non-operation range. It is a significant advantage that an operator can forecast the next stage boom motion.
  • the display unit CPU Upon activation of a mode selection key on the touch panel 310B, the display unit CPU enters the target display mode which displays a screen image such as shown in Fig.6.
  • This target display mode is used when an operator cannot see a lifting load from the operator seat of the crane.
  • Target index marks 605 and 606 indicated by solid lines in Fig.6 are used for the setting of target points.
  • the side of an innermost square of the target index mark corresponds to an actual length of 15 cm, that of the next square to an actual length of 30 cm, and that of the outermost square to an actual length of 60 cm.
  • the crane is operated to move an actual lifting load to a target location which is set as a first target upon activation of a key on the touch panel 310B.
  • the first target is the origin of the coordinate system of the screen.
  • a lifting load position 607 is displayed on the screen at the position apart from the origin by a certain distance. After setting the first target, an operator can recognize from the screen the positional relation of the lifting load with the target position without seeing the actual lifting load. It is common for a crane operation to slew the crane and transfer a lifting load from the first point to the second point. In such a case, the target index mark 605 is set at the first point, and the target index mark 606 is set at the second point.
  • the index marks 605 and 606 have independent coordinate systems so that the distance between the target index marks 605 and 606 is not related to an actual distance therebetween.
  • the frames indicated by a dotted line are the effective display area of the coordinate systems of the first and second points, the side of the frame corresponding to an actual length of, e.g., 100 cm.
  • the position of a lifting load within this effective area is represented by mark. Even if the lifting load moves outside of this area, the mark as at 607' is displayed while moving along the dotted line so that the direction of the lifting load can be recognized by an operator. While seeing the mark on the screen relative to the target index mark, an operator can continue the transfer operation of the lifting load between the first and second points without actually seeing them.
  • the numerical values of the distances of the lifting load to the first and second points are displayed at the upper area of the screen at 603 and 604.
  • the outrigger setting 609 and slewed boom position 608 are displayed at the lower left area of the screen.
  • Reference numeral 601 indicates the display mode
  • 602 indicates the safety numerical value for the crane operation during this display mode.
  • FIG.6 An example of the display image shown in Fig.6 provides two independent two-dimensional target index marks. It is also possible to display three or more index marks, or three-dimensional index marks.
  • the lifting load capacity of a crane depends on the posture of the crane structure such as a front, rear, right and left position, so that the boom slewing of the crane should be paid attention.
  • the display unit CPU enters the limit load - slewing angle display mode upon key activation on the touch panel 310B, the display image as shown in Fig.7 appears on the screen.
  • a crane is schematically shown at the center on the screen, with the outrigger setting 706 being displayed at 706.
  • a boom is schematically displayed at 705 for indicating the boom slewed position.
  • a cross mark 704 at the distal end of the schematically displayed boom 705 indicates the current distal end of the boom.
  • a solid line A or dotted line B indicates a safety load range area 703. The operation is judged as safe so long as the cross mark 704 is displayed within the area.
  • the safety load range on the screen changes with the set outrigger conditions. It is convenient for a crane operator to use this mode when the crane is slewed.
  • a mode indication 701 For reference purpose, there are also displayed on the screen, a mode indication 701, safety numerical value 702, boom length numerical value, boom operation status 708, boom angle 709, actual load 710, lifting distance 711, operation radius 712, and maximum load 713.
  • the typical parameter for a safety crane operation is a lifting load curve relative to the operation radius as shown in Fig.2B. It is convenient for an operator to know the operation safety margin by visually recognizing the current operation status from this safety index curve.
  • the display unit CPU Upon activation of a mode switching key on the touch panel 310B, the display unit CPU enters the performance curve display mode and displays a display image on the screen as shown in Fig.8.
  • the performance curve is collectively determined from a combination of crane operation parameters such as the outrigger projection state, boom length, use or non-use of jib, slewing angle and the like.
  • the main unit CPU uses such operation parameters, accesses the previously stored specific load data relative to the operation radius conforming with each crane specification, and sends the specific load data to the display unit CPU.
  • a total specific load table such as shown in Fig.9A which is referred to for the crane safety operation.
  • This table provides specific loads relative to operation radii conforming with each crane specification, when the outrigger setting status and boom length are given. While referring to the table, an operator can judge if, for example, the set outrigger and boom length are sufficient for the lifting load and operation radius of an operation to be carried out.
  • the display unit CPU displays a display image as shown in Fig.9B. This mode is referred to for an operation to be carried out so that in this mode the crane is essentially in a stop state.
  • An operator first uses the ten keys 310A to enter the numeral value of a desired boom length in an area 902 where a cursor flashes. During this mode, the entered boom length is not set as an actual boom length value. Thereafter, the flashing cursor moves to an area 903 wherein the numerical value of a desired slewing angle is entered.
  • the outrigger status and the like have already been set during the previous operation status display mode (Fig.3).
  • the display unit CPU receives from the main unit CPU (or the display unit CPU itself may have such data) maximum specific load data Wt for the operation boom angle for the given conditions, and displays them in a numerical value table 904. If the boom length and the like set for a desired operation are determined as improper upon reference to the displayed data, the table with these numerical values is reset, and a new boom length and the like are again entered.
  • a mode indication 901 For reference sake, during this mode there are displayed on the screen a mode indication 901, boom operation status 907, outrigger setting 906, and slewing angle 905.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (11)

  1. Kransicherheitsvorrichtung zum Einsatz mit einem Kranmechanismus, der eine Kranstruktur mit einem Ausleger zum Heben eines Gegenstandes aufweist, um das Positionieren des gehobenen Gegenstandes oder das Verhindern des Umkippens oder der Kollision mit einem Hindernis des Kranmechanismus zu unterstützen, umfassend:
    Sensoren (201-208), die am Kranmechanismus angebracht sind, um Sensorsignale zu erzeugen, die den Betriebszustand des Kranmechanismus anzeigen, wie Auslegerlänge, Auslegerwinkel, Schwenkwinkel;
    eine Anzeigevorrichtung (211, 212, 213, RAM) zum Anzeigen eines Schemadiagramms des Kranmechanismus; und
    einen Rechner (200), der mit den Sensoren und den Anzeigegerät verbunden ist, wobei der Prozessor in Reaktion auf die Signale der Sensoren das Schemadiagramm des Kranmechanismus beim Betrieb des Kranmechanismus aktualisiert,
    dadurch gekennzeichnet, daß
    die Anzeigevorrichtung einen Anzeigespeicher zum Speichern graphischer Daten, um das Schemadiagramm des Kranmechanismus zu zeigen, und einen zweidimensionalen Bildschirm zur Anzeige der graphischen Darstellung entsprechend der im Anzeigespeicher gespeicherten graphischen Daten enthält,
    der Rechner (200) in Reaktion auf die Sensorsignale die graphischen Daten des Schemadiagramms des Kranmechanismus, die im Anzeigespeicher gespeichert sind, aktualisiert, so daß die graphische Darstellung des Schemadiagramms des Kranmechanismus auf dem Bildschirm den Kranmechanismus entsprechend seinem Betriebszustand wiedergibt,
    die Vorrichtung weiterhin Steuereinrichtungen (310A, 310B) zur Auswahl eines von mehreren Anzeigemodi (Figur 3 bis Figur 9b) und zum Erzeugen eines Befehlssignals enthält, und
    der Rechner in Reaktion auf jeden ausgewählten Anzeigemodus erste graphische Daten eines Schemadiagramms des Kranmechanismus erzeugt, die dem jeweils ausgewählten Anzeigemodus entsprechen und den jeweiligen Betriebszustand des Kranmechanismus wiedergeben, und in Reaktion auf das Befehlssignal zweite graphische Daten eines Arbeitsbereichsanzeigemusters erzeugt, die dem ausgewählten Anzeigemodus entsprechen, und die ersten und zweiten graphischen Daten im Bildschirmspeicher abspeichert.
  2. Kransicherheitsvorrichtung nach Anspruch 1, bei der der Rechner einem ausgewählten Betriebsbereichs-Begrenzungsmodus entsprechend ein Auslegerdiagramm (B, P) in einer Seitenansicht als spezifisches Schemadiagramm des Kranmechanismus erzeugt und als spezifische Daten des Arbeitsbereichsanzeigemusters einen Nicht-Betriebsbereich (510) erzeugt, der in bezug auf das distale Ende des augenblicklich angezeigten Auslegerdiagramms auf dem Bildschirm angezeigt wird.
  3. Kransicherheitsvorrichtung nach Anspruch 1, bei der der Rechner in Reaktion auf einen ausgewählten Zielanzeigemodus als die spezifischen Daten des Schemadiagramms des Mechanismus ein Kranhub-Positionsdiagramm (607) erzeugt, das entsprechend der Änderung des Anzeigeortes mit dem Auslegerzustand variiert, und eine Zielindexmarkierung (605, 606, 613, 614) als spezifische Daten des Arbeitsbereichsanzeigemusters erzeugt, die entsprechend einer vorgewählten Position auf dem Bildschirm plaziert wird,
    wobei der Rechner mit dem Verändern der Hubposition die Kranhub-Positionsdiagrammdaten im Bildschirmspeicher aktualisiert, so daß das Kranhub-Positionsdiagramm auf dem Bildschirm die Entfernung der Hubposition vom Ziel anzeigt.
  4. Kransicherheitsvorrichtung nach Anspruch 3, bei der die Zielindexmarkierung eine zweidimensionale geschlossene Fläche ist, die als ihren Mittelpunkt das Kranhubpositionsdiagramm zu der Zeit auf dem Bildschirm dargestellt hat, wenn das Bediensignal erscheint.
  5. Kransicherheitsvorrichtung nach Anspruch 4, bei der, in Reaktion auf das Betätigen des Kranmechanismus, beim Bewegen des Kranhub-Positionsdiagramms aus den Grenzen (613, 614) der geschlossenen Fläche hinaus, das Kranhub-Positionsdiagramm neben oder entlang der Grenze angezeigt wird.
  6. Kransicherheitsvorrichtung nach Anspruch 1, ferner umfassend einen Betriebsgrenzenspeicher zum Speichern von Betriebsgrenzdaten und einer Einrichtung zum Erzeugen eines Kranstützfuß-Statussignals, das den Status der Kranstützfußstellung anzeigt,
    wobei der Rechner in Reaktion auf einen ausgewählten Grenzladeschwenkwinkel-Anzeigemodus als spezifische Daten des Schemadiagramms des Kranmechanismus ein Auslegerdiagramm (704, 705) in einer Draufsicht erzeugt und auf die Kranbetriebsgrenzendaten im Betriebsgrenzenspeicher zugreift, die auf dem Kranstützfuß-Statussignal basieren, um als spezifische Daten des Arbeitsbereichsanzeigemusters Daten der Auslegersicherheitsschwenkanzeige (A, B) zu erzeugen.
  7. Kransicherheitsvorrichtung nach Anspruch 6, bei der das Auslegersicherheits-Schwenkbereichsdiagramm eine geschlossene Kurvenlinie ist, die die Auslegersicherheits-Schwenkgrenzen zum sicheren Betrieb des Kranmechanismus um den Auslegerschwenkmittelpunkt zeigt, wobei ein Bediener auf dem Bildschirm erkennen kann, ob sich das Auslegerdiagramm innerhalb des Auslegersicherheits-Schwenkbereichsdiagramms befindet, um einen sicheren Kranbetrieb zu gewährleisten.
  8. Kransicherheitsvorrichtung nach Anspruch 6, bei der das Auslegerdiagramm als Linie dargestellt ist, die auf dem Bildschirm um den Auslegerschwenkmittelpunkt rotiert, und deren Länge entsprechend der Auslegerlängeneinstellung variiert.
  9. Kransicherheitsvorrichtung nach Anspruch 6, bei der sich die Daten des Auslegersicherheits-Schwenkbereichsdiagramms entsprechend der Auslegerhublast ändern.
  10. Kransicherheitsvorrichtung nach Anspruch 1, bei der der Rechner zusätzlich graphische Daten einer automatischen Stopmarkierung (412) erzeugt, die den Grund für einen automatischen Stop anzeigt.
  11. Kransicherheitsvorrichtung nach Anspruch 2, bei der die Daten des spezifischen Arbeitszonenanzeigemusters erzeugt werden, wenn ein Bediener den Ausleger in einen Grenzpunkt des Betriebsbereichs bewegt.
EP94201063A 1988-12-27 1989-04-06 Kransicherheitsvorrichtung Expired - Lifetime EP0614845B2 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP330197/88 1988-12-27
JP33019788 1988-12-27
JP33019788 1988-12-27
EP89904237A EP0406419B2 (de) 1988-12-27 1989-04-06 Sicherheitsanordnung für kräne

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP89904237.8 Division 1989-04-06
EP89904237A Division EP0406419B2 (de) 1988-12-27 1989-04-06 Sicherheitsanordnung für kräne

Publications (4)

Publication Number Publication Date
EP0614845A2 EP0614845A2 (de) 1994-09-14
EP0614845A3 EP0614845A3 (de) 1994-10-26
EP0614845B1 true EP0614845B1 (de) 1999-10-20
EP0614845B2 EP0614845B2 (de) 2004-05-12

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EP89904237A Expired - Lifetime EP0406419B2 (de) 1988-12-27 1989-04-06 Sicherheitsanordnung für kräne
EP94201063A Expired - Lifetime EP0614845B2 (de) 1988-12-27 1989-04-06 Kransicherheitsvorrichtung

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EP89904237A Expired - Lifetime EP0406419B2 (de) 1988-12-27 1989-04-06 Sicherheitsanordnung für kräne

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EP (2) EP0406419B2 (de)
KR (1) KR940009268B1 (de)
AT (2) ATE124381T1 (de)
AU (2) AU5629990A (de)
DE (2) DE68923278T3 (de)
RU (1) RU2093452C1 (de)
WO (1) WO1990007465A1 (de)

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JP2564060B2 (ja) * 1991-10-24 1996-12-18 株式会社神戸製鋼所 建設機械の安全装置
JPH07144884A (ja) * 1993-11-26 1995-06-06 Komatsu Mec Corp 移動式リーチタワークレーン
FR2720438B1 (fr) * 1994-05-30 1996-07-05 Camiva Procédé de contrôle en déplacement d'un moyen élévateur.
EP0857687A4 (de) * 1995-03-03 1999-12-29 Komatsu Mfg Co Ltd Vorrichtung zum anzeigen von der reichweite eine mobilem kranen
DE19538264C2 (de) * 1995-10-13 1999-02-18 Pietzsch Automatisierungstech Verfahren und interaktive Bedienkonsole zur Vorbereitung und Einrichtung eines mobilen Arbeitsgerätes
DE19653579B4 (de) * 1996-12-20 2017-03-09 Liebherr-Werk Biberach Gmbh Turmdrehkran
US6744372B1 (en) 1997-02-27 2004-06-01 Jack B. Shaw Crane safety devices and methods
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DE68923278T3 (de) 2004-08-05
DE68923278T2 (de) 1995-10-26
EP0406419A1 (de) 1991-01-09
RU2093452C1 (ru) 1997-10-20
EP0406419B2 (de) 2002-08-28
ATE124381T1 (de) 1995-07-15
AU5629990A (en) 1992-01-09
EP0614845B2 (de) 2004-05-12
EP0406419A4 (en) 1991-11-27
EP0614845A2 (de) 1994-09-14
ATE185772T1 (de) 1999-11-15
DE68923278D1 (de) 1995-08-03
DE68929092T3 (de) 2005-01-20
WO1990007465A1 (en) 1990-07-12
EP0406419B1 (de) 1995-06-28
KR940009268B1 (ko) 1994-10-06
KR910700194A (ko) 1991-03-14
DE68929092T2 (de) 2000-06-08
AU618900B1 (en) 1992-01-09
EP0614845A3 (de) 1994-10-26
DE68929092D1 (de) 1999-11-25

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