EP2655241B1 - Grue et procédé destiné à faire fonctionner une grue grâce à la récupération de l'énergie issue d'opérations de grutage servant de source d'énergie secondaire - Google Patents

Grue et procédé destiné à faire fonctionner une grue grâce à la récupération de l'énergie issue d'opérations de grutage servant de source d'énergie secondaire Download PDF

Info

Publication number
EP2655241B1
EP2655241B1 EP11794121.1A EP11794121A EP2655241B1 EP 2655241 B1 EP2655241 B1 EP 2655241B1 EP 11794121 A EP11794121 A EP 11794121A EP 2655241 B1 EP2655241 B1 EP 2655241B1
Authority
EP
European Patent Office
Prior art keywords
energy
crane
fraction
energy source
power consumer
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.)
Revoked
Application number
EP11794121.1A
Other languages
German (de)
English (en)
Other versions
EP2655241A2 (fr
Inventor
Alfons Weckbecker
Marc Krebs
Axel Beckmann
Frank Schnittker
Steffen HELFRICH
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.)
Tadano Demag GmbH
Original Assignee
Terex Cranes Germany 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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=45315779&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP2655241(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Priority claimed from DE102010063911A external-priority patent/DE102010063911A1/de
Priority claimed from US12/976,403 external-priority patent/US8857635B2/en
Application filed by Terex Cranes Germany GmbH filed Critical Terex Cranes Germany GmbH
Publication of EP2655241A2 publication Critical patent/EP2655241A2/fr
Application granted granted Critical
Publication of EP2655241B1 publication Critical patent/EP2655241B1/fr
Revoked 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/38—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with separate prime movers for crane and vehicle
    • 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
    • B66C13/22—Control systems or devices for electric drives
    • B66C13/23—Circuits for controlling the lowering of the load
    • B66C13/26—Circuits for controlling the lowering of the load by ac motors
    • B66C13/28—Circuits for controlling the lowering of the load by ac motors utilising regenerative braking for controlling descent of heavy loads and having means for preventing rotation of motor in the hoisting direction when load is released
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02—Driving gear
    • B66D1/12—Driving gear incorporating electric motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
    • B66D1/02—Driving gear
    • B66D1/14—Power transmissions between power sources and drums or barrels
    • B66D1/22—Planetary or differential gearings, i.e. with planet gears having movable axes of rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
    • B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
    • B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
    • B66D5/12—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes with axial effect
    • B66D5/14—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes with axial effect embodying discs

Definitions

  • the invention relates to a crane, in particular a large crane, and a method for operating a crane, and in particular electrically operated cranes.
  • EP 2 065 331 A2 discloses a method and apparatus for operating a crane and improvements in or relating to electricity generation.
  • JP 2001-163574 A discloses a crane device having a portal structure, wherein a moving frame is provided with a lifting device for lifting and lowering a container spreader dripping a container.
  • DE 40 08 370 A1 discloses a system for energy supply for a crane.
  • DE 10 2004 010 988 A1 shows a composite engine system for a portal fork lift crane with a static electric energy storage and a short-term energy storage. Both energy storages are connected with a central direct current link via a control device each.
  • a load-lifting device is known from U.S. Patent No. 7,554,278 B2, to Wegner-Donnelly et al ., which uses recovered energy, which is released, for example, on lowering a load, for the energy supply of the device.
  • U.S. Patent No. 5,936,375 to Enoki discloses a method for storing and reusing energy for a load-lifting system.
  • the energy storage is based on batteries, which, because of their limited storage capacity may be extended, for example, by a flywheel. This form of energy storage is complex and, because of the increased component number, is associated with higher energy losses.
  • An object of the invention is to modify a crane in such a way that the fuel consumption as well as the emission of exhaust gases and noise are reduced, in particular taking into account an intermittent operation mode that is typical for a large mobile crane.
  • a crane comprising a power consumer system for providing energy; a primary energy source for feeding primary energy into the power consumer system; at least one secondary energy source, controllable independent from the primary energy source, for feeding secondary energy into the power consumer system, wherein the secondary energy source is connected to the power consumer system, and configured such that energy returned from operation of the at least one secondary energy source is at least partially fed as secondary energy into the power consumer system, said secondary energy source comprising at least one crane component, at least one energy storage unit arranged locally on the crane associated with the at least one crane component and connected to the power consumer system for storing primary energy and/or secondary energy; and at least one drive motor connected to the power consumer system for operating the at least one crane component in response to energy fed into the power consumer system.
  • “Locally” with respect to the arrangement of the energy storage unit means that the energy storage unit is not centrally, e.g. via the power consumer system, provided to all crane components. This means that the crane components not assigned to the energy storage unit, do not or not directly have access to the energy storage unit. This enables the local energy storage unit, which is in particular assigned to some few crane components and in particular to only one crane component, to be provided in smaller size, and thus in a space-, resource- and cost-saving manner, in the crane. In particular, the local energy storage unit is assigned to the at least one crane component.
  • the crane comprises a control unit which is in signal connection with the power consumer system, the primary energy source and the at least one secondary source to control energy supply to the at least one crane component.
  • the control unit comprises a non-transitory computer readable medium storing software that performs the steps of providing a total energy amount comprising at least one of primary energy generated by means of the primary energy source and secondary energy generated by means of the at least one secondary energy source; determining an energy usage fraction demanded by the at least one crane component; and storing an energy storage fraction in the at least one energy storage unit, wherein the total energy amount comprises the energy usage fraction and the energy storage fraction, and wherein the secondary energy is energy returned from operations performed by the at least one crane components.
  • the crane further comprises at least one energy converter connected to the at least one crane component to convert energy from the at least one crane component into power, and wherein said software performs the step of providing the energy usage fraction to the at least one crane component using the power from the at least one energy converter.
  • the control unit controls a ratio of the energy usage fraction to the energy storage fraction.
  • a data bus is provided that enables bidirectional data transfer, the data bus being connected to the control unit and further to the power consumer unit to provide electrical input and output variables to the control unit.
  • the primary energy source can be configured to be activated when a start condition is fulfilled and is configured to be deactivated when a stop condition is fulfilled.
  • the stop condition is fulfilled when at least one of the following conditions is met a) no demand for hydraulic power is detected; b) a battery voltage within predetermined limits is detected; c) a cooling water temperature of the primary energy source is detected to be within limit values; d) temperature of pressure oil is detected to be within limit values; e) when only auxiliary components connected to receive energy solely from the secondary energy source are turned on; and f) other predetermined stop conditions set by a user.
  • the primary energy source may comprise an internal combustion engine, a gear connected by a clutch to the internal combustion engine, and a generator.
  • the primary energy source may comprise a diesel engine.
  • the crane further includes auxiliary crane components connected to the power consumer system to receive energy solely from the secondary energy source.
  • the crane may further include at least one fuel cell connected to said primary energy source to supplement the energy output from the primary energy source.
  • the at least one crane component comprises a rotary mechanism or a hydraulic or electric linear drive, an energy converter, and an electric motor.
  • the energy converter comprises a consumer gear or a hydraulic pump.
  • the crane further includes at least one power consumer connected to the power consumer system, which system supplies energy to the at least one power consumer from the primary energy source.
  • the crane further includes at least one power consumer connected to the power consumer system, which system supplies energy to the at least one power consumer from the at least one secondary energy source.
  • the at least one secondary source may comprise an internal combustion engine.
  • the crane may further include a primary energy source radiator for cooling the primary energy source, and a secondary energy source radiator in cooling connection with the primary energy source radiator for cooling at least one of the primary energy source and the secondary energy source.
  • control unit in an emergency operation, is configured to cause energy to be supplied to the crane from the secondary power source.
  • the primary energy source may include a diesel engine, at least two primary source generators to convert mechanical energy from the diesel engine to electric energy to be fed via rectifiers into the power consumer system, and a clutch and gear connected together and between the diesel engine and the at least two primary source generators to transmit the mechanical energy from the diesel engine to the at least two primary energy source generators.
  • the crane may further include a cooling water supply connected to the rectifiers and the primary energy source generators.
  • the crane further includes an undercarriage, a superstructure rotatably arranged on the undercarriage, a hydraulic pump, a plurality of hydraulic cylinders connected to support the undercarriage, a converter, an electric motor connected to the hydraulic pump, the converter and the power consumer system to convert power supplied from the power consumer system to hydraulic energy to be supplied to the hydraulic pump to control positioning of the undercarriage.
  • the crane further including a superlift mast on the superstructure, a pressure transmitter connected to the superlift mast to detect and transmit an angular position of the superlift mast to the control unit.
  • the at least one crane component may comprise at least one rotary device, a corresponding rotary gear connected to the at least one rotary device, corresponding at least one electric motor connected to the at least one rotary gear for converting rotary movement from the at least one rotary gear into electric energy, and a converted connected to the at least one corresponding electric motor to feed the electric energy to the power consumer system.
  • the crane further including an external energy supply configured to supply mains power to the power consumer system.
  • the at least one crane component comprises at least one rotary device
  • the crane further comprises a central switch-over unit connected to each of the at least one rotary devices and the power consumer system for converting the rotary movement of the at least one rotary devices to electric energy to be supplied as secondary energy to the power consumer system.
  • the power consumer system comprises two power lines.
  • the crane may comprise a cable winch, the cable winch comprising a cable drum having a central cavity, an electric motor having a drive shaft extending along a central longitudinal axis of the central cavity, a first winch holder to connect the winch to the electric motor, a gear housing connected near a distal end of the drive shaft, a fixed planetary gear connected to the gear housing and the drive shaft, a second winch holder connected to the fixed planetary gear at a side opposite from the gear housing, and a brake connected to an end of the drive shaft and at an opposite side of the winch holder from the planetary gear.
  • the electric motor and gear are capable of driving the winch to wind a cable on the cable drum to lift a load, and the electric motor operates as a generator for generating electric power when the cable is driven by the gear and drive shaft to lower the load
  • a crane according to another embodiment has a secondary energy storage unit, arranged centrally on the crane for storing excess energy from at least one of the primary energy source and the secondary energy source.
  • the second energy storage unit comprises a battery arrangement arranged as a stackable counter-weight on the crane.
  • the second energy storage unit comprises a battery arrangement arranged as a superlift counter-weight on a counter-weight carriage separated from the crane.
  • the secondary energy source has a maximally available secondary output P S,max that is smaller than a maximally available primary output P P,max of the primary energy source (12), and wherein P S,max ⁇ 0.5 ⁇ P P,max .
  • the software performs the following step of causing energy to be supplied to meet the energy usage fraction from the energy storage unit in preference over energy supplied from the primary energy source.
  • the software comprises the step of controlling the supply of energy to predetermined crane components in preference over other predetermined crane components.
  • the software performs the steps of activating, in a working operation of the crane, at least one crane component; deactivating in a no-load operation of the crane, the at least one crane component; and controlling operation of the crane such that in an intermittent operation, a ratio of operating period in the working operation to operating period in the no-load operation is at most 0.3.
  • the software performs the step of providing the energy usage fraction to the at least one crane component by causing energy to be fed into the power consumer system.
  • control unit determines an excess energy fraction such that a sum of the energy usage fraction and a maximum energy storage fraction is equal to a sum of the excess energy fraction and the total energy amount.
  • control unit controls reduction of the excess energy fraction by converting energy obtained from additional brake resistances into thermal energy, a return of the thermal energy to the crane being used to heat a crane cabin.
  • the software performs the following step of causing energy to be supplied to meet the energy usage fraction from the energy storage unit in preference over energy supplied from the primary energy source.
  • the software comprises the step of controlling the supply of energy to predetermined crane components in preference over other predetermined crane components.
  • a further object of the invention is to modify a method for operating a crane in such a way that it can be operated with a reduced fuel consumption and reduced emission of exhaust gases and noise.
  • a method which comprises activating, in a working operation of the crane, at least one crane component; deactivating, in a no-load operation of the crane, the at least one crane component; controlling operation of the crane such that in an intermittent operation, a ratio of operating period in the working operation to operating period in the no-load operation is at most 0.3; providing a total energy amount comprising at least one of primary energy generated by means of the primary energy source and secondary energy generated by means of a at least one secondary energy source; determining an energy usage fraction demanded by at least one crane component, wherein the at least one crane component is configured as a secondary energy source for energy recovery; and storing an energy storage fraction in the at least one energy storage unit, wherein the total energy amount comprises the energy usage fraction and the energy storage fraction, and wherein the secondary energy is energy returned from operations performed by the at least one crane components.
  • the energy usage fraction is provided to the at least one crane component by feeding into the power consumer system.
  • the energy usage fraction is provided by means of at least one energy converter connected to the at least one crane component to convert energy from operation of the at least one crane component into power.
  • a ratio of the energy usage fraction to the energy storage fraction is controlled by means of a control unit.
  • An excess energy fraction is determined by means of the control unit such, that a sum of the energy usage fraction and a maximum energy storage fraction is equal to a sum of the excess energy fraction and the total energy amount.
  • a reduction of the excess energy fraction is controlled by converting energy obtained from additional brake resistances into thermal energy, a return of the thermal energy to the crane being used to heat a crane cabin.
  • a method of operating a crane comprises providing energy to at least one crane component using a power consumer system, feeding primary energy into the power consumer system using a primary energy source, operating the at least one crane component using at least one drive motor connected to the power consumer system, feeding secondary energy into the power consumer system by recovering the secondary energy from operation of the at least one crane component as a secondary energy source, controllable independent from the primary energy source, and storing at least one of primary energy and secondary energy using at least one energy storage unit arranged locally on the crane and connected to the power consumer system.
  • a method for operating a crane comprises at least one crane component, a primary energy source, at least one secondary energy source, and a power consumer system connected to the a least one crane component the primary energy source and the at least one secondary energy source for supplying energy from at least one of the primary energy source and the at least one secondary energy source to the at least one crane component.
  • the method comprising the steps of providing a total energy amount comprising at least one of primary energy generated by means of a primary energy source and secondary energy generated by means of at least one secondary energy source; determining an energy usage fraction demanded by the at least one crane component; and storing an energy storage fraction in at least one energy storage unit, wherein the total energy amount comprises the energy usage fraction and the energy storage fraction, and wherein the secondary energy is energy returned from operations performed by the at least one crane components.
  • the method further includes the steps of activating, in a working operation of the crane, at least one crane component; deactivating in a no-load operation of the crane, the at least one crane component; and controlling operation of the crane such that in an intermittent operation, a ratio of operating period in the working operation to operating period in the no-load operation is at most 0.3.
  • the method includes the step of providing the energy usage fraction to the at least one crane component by causing energy to be fed into the power consumer system.
  • the method further comprises the steps of converting energy from operation of the at least one crane component into power using at least one energy converter connected to the at least one crane component, and providing the energy usage fraction to the at least one crane component using the power from the at least one energy converter.
  • the method further includes the step of controlling the supply of energy to the at least one crane component by controlling a ratio of the energy usage fraction to the energy storage fraction.
  • the method further includes the step of determining an excess energy fraction such that a sum of the energy usage fraction and a maximum energy storage fraction is equal to a sum of the excess energy fraction and the total energy amount.
  • the method further includes the step of reducing the excess energy fraction by converting energy obtained from additional brake resistances into thermal energy, a return of the thermal energy to the crane being used to heat a crane cabin.
  • control unit is capable of selectively controlling operation of the crane in four modes, the four modes being a standby mode, a semi-hybrid mode, a full-hybrid mode, and a full electric mode.
  • At least one auxiliary functions can be activated by the secondary energy source during a stop function when the primary energy source is deactivated.
  • both the primary energy source and electric drives for the at least one crane component are used to generate energy to be used to run the crane.
  • energy reserves stored in the energy storage unit or electric energy from the secondary energy sources are used preferentially over energy supplied from the primary energy source to run the crane.
  • the crane further includes an input device to allow a crane operator to switch between the four modes.
  • control unit comprises a module to automatically determine which of the four modes should be used and to cause the control unit to switch to the predetermined mode.
  • a cable winch may include a cable drum having a central cavity, an electric motor having a drive shaft extending along a central longitudinal axis of the central cavity, a first winch holder to connect the winch to the electric motor, a gear housing connected near a distal end of the drive shaft, a fixed planetary gear connected to the gear housing and the drive shaft, a second winch holder connected to the fixed planetary gear at a side opposite from the gear housing, and a brake connected to an end of the drive shaft and at an opposite side of the winch holder from the planetary gear.
  • the electric motor and gear are capable of driving the winch to wind a cable on the cable drum to lift a load, and the electric motor operates as a generator for generating electric power when the cable is driven by the gear and drive shaft to lower the load.
  • a crane apart from a primary energy source for feeding primary energy into a power consumer system, has at least one secondary energy source, which is independent of the primary energy source, for feeding secondary energy into the power consumer system.
  • the at least one secondary energy source is configured in such a way that energy returned from the crane operation is at least partially fed as secondary energy into the power consumer system.
  • the secondary energy source could be the crane components themselves, where energy is recovered from operation of those components. It is thereby possible to supply the necessary energy requirement to supply at least one drive motor connected to the power consumer system to operate at least one crane component with energy from the power consumer system, which has not been generated exclusively and especially by the primary energy source.
  • the primary energy source which may, for example, be configured as a diesel engine. It can thus also be made possible to configure the primary energy source smaller, i.e., with a lower power capacity, than in a comparable crane without a secondary energy source.
  • the at least one crane component can be used as a secondary energy source and therefore allows a functional integration of the crane. That means that the secondary energy source can be used for providing energy for the crane on the one hand and the secondary energy source can be one of the at least one crane component providing different kinds of function for the crane on the other hand. Therefore, the creation of at least one crane component as a secondary energy source allows combining the function of the crane component itself, e.g., for driving the crane, and further for providing secondary energy for the crane.
  • a crane component that is usable as a secondary energy source integrates two different functions in one component that are usually realized by two different components. Thus, a reduction in the overall size and further an enhancement of the efficiency of the energy supply of the crane are achieved.
  • a winch it is possible, for example, for a winch to be used as a crane component for rolling and unrolling a cable, it being necessary for the winch to be driven by a corresponding drive motor of the crane component to roll up the cable, i.e. to lift a load.
  • the winch is used as a secondary energy source, it being possible for the energy returned from lowering the load to be at least partially fed into the power consumer system and to be available for further use or storage. Because of the large geometry of a crane, i.e., because of long booms and large lifting heights, the latter offers a large potential for returnable secondary energy.
  • the energy saving potential in a crane is greater than in a digger or other construction machines.
  • the crane according to the invention which is built as a semi-hybrid or a full-hybrid system.
  • the total crane weight is not of primary significance, the maximally recovered power of the secondary energy sources can exceed a currently maximum total energy amount of the crane, so the secondary energy can also be fed into an operating network.
  • the crane is used as a power plant.
  • the secondary energy source is not the crane components using energy recovered from the crane operation, but is instead another separate source.
  • the secondary energy source may, for example, be an internal combustion engine or a battery energy source, which, in comparison to the primary energy source, has a lower power.
  • This smaller internal combustion engine may, for example, be operated independently of the primary energy source and be used in order, for example, to supply smaller electric consumers, such as an air-conditioning system or other electric consumers, with energy.
  • at least one energy storage unit connected to the power consumer system may be provided to store excess primary energy and/or secondary energy.
  • the energy storage unit is arranged locally on the crane and, in particular, is associated with the at least one crane component.
  • the energy supply of the crane can be controlled particularly effectively and efficiently in terms of energy by a control unit, which is in signal connection with the power consumer system to control the energy supply of the crane.
  • the control unit controls the energy requirements with regard to the necessary primary energy and/or secondary energy to be fed, for the energy usage fraction demanded by the drive motors of the crane components, as well as an energy storage fraction which can be stored in the at least one energy storage unit.
  • the additional energy requirement is always preferentially provided from the at least one energy storage unit, before the primary energy source is caused to generate new, additional primary energy. In this way, it is possible to avoid creation of additional pollution and to reduce fuel consumption.
  • a real-time state monitoring of the crane is possible with the control of the crane according to an embodiment in which the crane further comprises a data bus enabling bidirectional data transfer.
  • the data bus is connected to the control unit and also to the power consumer unit to provide electrical input and output variables to the control unit.
  • the sending and processing of electric signals as input and output variables for the control unit takes place more quickly than mechanical, fluid-mechanical, pneumatic or electro-mechanical signals.
  • the primary energy source is configured to be activated when a start condition is fulfilled and is configured to be deactivated when a stop condition is fulfilled.
  • the primary energy source necessary for the requirements to actuate the main crane functions, such as, for example, a lifting device and/or a travelling drive of the crane, accordingly.
  • the start-stop function operating hours of the primary energy source can be reduced in that the stop condition of the primary energy source is fulfilled when, for example, neither the lifting device nor the travelling drive are actuated.
  • the fuel consumption for the primary energy source configured, in particular, as a diesel engine is reduced. Additionally, exhaust gas and noise emissions are reduced. Because of the reduced number of operating hours, the work outlay and the costs connected thereto for maintaining the primary energy source are reduced.
  • the secondary energy source independent of the primary energy source, may be provided to operate auxiliary components of the crane.
  • Auxiliary components of this type may, for example, be an air-conditioning system, cabin heating, auxiliary heating for the primary energy source, a generator, a hydraulic oil circulating pump for oil to be conveyed through an oil cooler, the oil cooler itself or further components.
  • the auxiliary components may be connected to the power consumer system to receive energy solely from the secondary energy source. Since auxiliary components of this type may be supplied exclusively by the secondary energy source, the primary energy source may be decoupled from the auxiliary components. As a result, it is possible, in particular, for the stop condition to deactivate the primary energy source to be fulfilled more frequently and, in particular, over longer time periods.
  • the stop condition is fulfilled and therefore the primary energy source deactivated when exclusively auxiliary components, but not main components of the crane, are being operated. It is therefore not necessary for the diesel engine configured for the maximum outputs of the crane to be managed to be operated in order, for example, to supply the air-conditioning system of the crane cabin with current.
  • the secondary energy source providing the energy supply of the auxiliary components
  • the primary energy source can be designed smaller, i.e., with a smaller maximally available power.
  • the required installation space in the crane and the weight for the primary energy source, and therefore the crane overall are reduced.
  • the fuel consumption during travelling operation of the crane is also additionally reduced. It is thus possible for the secondary energy source to be in operation when the primary energy source is deactivated.
  • the secondary energy source may be deactivated when the primary energy source is activated.
  • the secondary energy source may also be used to maintain the battery voltage in order to ensure adequate energy for frequent engine starts of the primary energy source.
  • the secondary energy source may have a motor generator, so the auxiliary components driven by the secondary energy source can additionally and/or alternatively be operated by an external energy source such as, for example, a power supply with 220 V supply voltage.
  • the secondary energy source may be used to charge a secondary energy storage unit, for example, a hydraulic or pneumatic store, which during the start of the primary energy source, operates an assisting engine, in particular a hydraulic or a compressed air engine, as an additional starter.
  • a crane with a primary energy source allows particularly uncomplicated handling and effective use of the crane, as the required fuel is comprehensively available.
  • the primary energy source comprises an internal combustion engine, a gear connected by a clutch to the internal combustion engine, and a generator.
  • An increase in the efficiency of the generator coupled to the internal combustion engine may take place by means of a self-cooling system located therebehind, such as, for example, a heat exchanger to air or an air cooling system.
  • a self-cooling system located therebehind, such as, for example, a heat exchanger to air or an air cooling system.
  • the energy fed into the power consumer system can be used particularly efficiently and therefore with reduced loss for the drive of the crane components.
  • the primary energy source comprises a diesel engine.
  • Rotationally driven components such as, for example, winding mechanisms, rotary mechanisms or travel gear have proven particularly suitable here due to the large amount of inherent available energy potential because of mass inertia and rotational energy. It is also possible, to correspondingly provide linear working functions, for example by converting the electric energy by means of a hydraulic system.
  • an energy storage unit it is possible with an energy storage unit according to another embodiment, to arrange a battery pack as a main energy store centrally on the crane.
  • the battery pack because of its heavy weight, may be arranged as a stackable counter-weight on the crane as a base ballast or as a superlift counter-weight on a counter-weight carriage separated from the crane.
  • the at least one crane component comprises a rotary mechanism or a hydraulic or electric linear drive, an energy converter, and an electric motor.
  • a counter-weight generally required separately for the crane is not necessary, as the battery arrangement can be used as the counter-weight.
  • a crane according to another embodiment has a secondary energy source, which, in comparison to the primary energy source, has a smaller, maximally available power. Further, the crane has a second energy storage unit, arranged centrally on the crane. Because of the correspondingly reduced requirements of the capacity of the secondary energy source, this may be correspondingly small in dimension and with a lower power. This also leads to, among other things, a further saving in weight of the crane overall.
  • a crane having these features offers a large potential of returnable secondary energy.
  • the possible energy savings of such a crane are larger than those of a digger or other construction machines.
  • this crane being built as a semi-hybrid or a full-hybrid system.
  • energy can be provided as potential energy of the lifted load.
  • Larger cranes, and particularly electrically operated cranes with tall booms, are capable of generating more energy from movement of the load than are smaller boom cranes. This is because the energy is generated by the downward movement of the load, and less energy can be generated from loads moving small distances.
  • a return of the energy may be realized by conversion of the potential energy of the lifted load to kinetic energy by lowering the load, e.g., via rotating winches or via geometrical variations of the crane, i.e., luffing the main jib and the auxiliary jib by a hoisting gear and a luffing mechanism. Furthermore, a total energy amount is provided, which comprises the primary energy generated by means of the primary energy source and/or the secondary energy generated by means of the secondary energy source.
  • An energy usage fraction is the amount of energy demanded by the at least one crane component for operation thereof and an energy storage fraction is the amount of excess energy produced by the energy sources on the crane, and then stored in the at least one energy storage unit.
  • the total energy fraction comprises the energy usage fraction and the energy storage fraction.
  • the secondary energy is from the energy returned from the crane operation.
  • batteries or double layer capacitors may be used, for example, which are also known as ultracaps. It is thus possible with the method according to the invention to reduce the no-load operation of the crane or to avoid it, as the emission of pollutants by the primary energy source is always connected to the generation of an energy amount for the energy usage fraction.
  • the energy usage fraction is detected as the energy amount that is necessary for providing all functions and motions of the crane. Since the crane components preferably comprise electrical drives, this detection is carried out rapidly and directly and therefore more easily than it could be done for a crane with hydraulic drives.
  • No-load operation therefore means that energy is expended to operate the primary energy source without a corresponding utilisation by a load connected therewith.
  • no load is lifted or held, no load is displaced into position, no load is moved, no load is lowered or deposited and the crane is not moved.
  • the invention provides for activating, in a working operation of the crane, at least one crane component; deactivating in a no-load operation of the crane, the at least one crane component; and controlling operation of the crane such that in an intermittent operation, a ratio of operating period in the working operation to operating period in the no-load operation is at most 0.3.
  • the intermittent operation is distinguished in that a ratio of the operating period in working operation to an operating period in no-load operation is at most 30 %, at least one crane component, in particular at least one travelling drive motor and/or at least one winch motor being activated in the working operation of the crane and the at least one crane component being deactivated in the no-load operation of the crane.
  • the primary energy source is primarily operated in no-load, as the crane provides the main functions of the at least one crane component discontinuously and not in continuous operation. That means that during intermittent operation an amount of energy can be required from the crane components, wherein that energy amount exceeds currently generated energy amount.
  • the returned energy and the stored energy are available via the power consumer system.
  • a known demand of power to the combustion engine can also be used for the maximum load control of the combustion engine such that no additional effort arises for the demand of power. That means that if the demand of power is known, it is possible to drive the respective energy source, i.e., the combustion engine, such that said known demand of power is provided. In particular, said energy source is driven in that only the amount of power, and not more, is provided. Thus, the combustion engine can exactly be driven on such a level that said known demand of power is provided. It is therefore possible to avoid providing energy that is not necessary in a current situation. In order to align the energy produced by the combustion engine with the known demand of power, the latter value can be used for the maximum load control of the combustion engine.
  • the crane components comprise electrical drives and controls with memory functions, it is possible to pre-determine an expected demand for power by the crane components.
  • the load control limiter can calculate based on the lifting height and the weight of the load, the demand of energy that has to be provided within a given time limit.
  • power is defined as the rate of energy per time, it is possible to influence the demand of power by varying the time necessary for applying the demand of energy. That is, the larger the time interval is for applying the demand of energy, the smaller is the demand of power.
  • the demand of power can be reduced and so can be limited to a maximum value.
  • the primary energy source i.e., preferably a diesel engine.
  • a comparable, predicted control of a maximum load of hydraulic driven crane components is not possible.
  • motor rotation speed of the primary energy source drops down and leads to a reduced velocity of movement of the hydraulic crane components.
  • the usage of electrical driven crane components in combination with the above explained control of maximum power can achieve an overall enhancement of the control characteristics for controlling the maximum load.
  • the electrical drives of the crane components are operated by control of rotation speed or moment of force. Both operating modes could be realized at the crane.
  • the crane can thus be provided with a means, such as a switch or menu choice, that permits the crane operator to switch between both modes.
  • a proportional triggering and accordingly a velocity-parameter for an auxiliary reeve winch it is possible to switch to an operation mode that is based on the control of the forces on the crane components. For example, if the reeve winch applies constant force, a corresponding reaction force is exerted on a further winch or on another crane component.
  • the variability of the use of the reeve winch is enhanced by an adequate control and is further adaptable to different operation conditions.
  • the energy usage fraction is either provided for the energy demand by conversion into electric, hydraulic or mechanical energy of the at least one crane component or is fed into the power consumer system.
  • the energy usage fraction is provided by feeding into the power consumer system or by means of at least one energy converter connected to the at least one crane component to convert energy from the at least one crane component into power.
  • a method of this type has improved efficiency.
  • the energy is, in particular, provided in the form of electric energy, locally at various points of the crane and can be demanded correspondingly locally without transmission losses directly at the energy source, in particular at the secondary energy source providing the recovered secondary energy.
  • the control of the energy demand either by the power consumer system or directly at the crane component can take place by means of a control unit.
  • the method comprises controlling a ratio of the energy usage fraction to the energy storage fraction by means of the control unit.
  • a method allows an excess energy fraction to be detected, which is provided when a sum of a maximally usable energy usage fraction and a maximally usable energy storage fraction is equal to a sum of the excess energy fraction and the total energy amount. That means that the energy amount generated by the primary energy source and/or secondary energy source is greater than the actual current energy requirement and storable energy fraction.
  • the method further comprises controlling reduction of the excess energy fraction by converting energy obtained from additional brake resistances into thermal energy, a return of the thermal energy to the crane being used to heat the crane cabin.
  • This thermal energy may, for example, be returned to the crane and in particular used to heat the crane cabin and may also be used by hydraulic systems.
  • Crane 1 is configured as a mobile crane with four wheels 2, it also being possible for the crane 1 to have more wheels 2 or alternatively also crawler travel gear (of the type illustrated, e.g ., Figs. 2 and 3 ). It is understood that any type of travelling gear can be used within the skill of the ordinarily skilled artisan.
  • the crane 1 comprises an undercarriage 3 and a superstructure 5 which is rotatably arranged on the undercarriage 3 by means of a rotary carriage guide 4.
  • a driving cabin 7 with a driving cabin air-conditioning system (DCAC) 8 arranged therein is provided at a front end in the travel direction 6 of the undercarriage 3.
  • Rigidly connected to the superstructure 5 is a crane cabin 9, which has a crane cabin air-conditioning system (CCAC) 10.
  • a crane boom 11 is articulated in a lifting manner on the superstructure 5.
  • a primary energy source (PES) 12 is accommodated in the undercarriage 3 of the crane 1.
  • the primary energy source 12 is configured as a diesel engine and drives the wheels by means of a gear 13, although any suitable engine can be used within the skill of the ordinarily skilled artisan.
  • the gear 13 is connected by a clutch, not shown, to the diesel engine 12 in a manner known per se.
  • the diesel engine 12 is cooled by means of a radiator (RAD) 14.
  • Also directly connected to the diesel engine 12 is at least one hydraulic pump 15, which is in signal connection by means of a hydraulic control line 16 with an undercarriage control block (UCB) 17 arranged in the undercarriage 3 and with a superstructure control block (SCB) 18 arranged in the superstructure 5.
  • UMB undercarriage control block
  • SCB superstructure control block
  • the hydraulic control line is guided from the undercarriage 3 into the superstructure 5 by way of the rotary carriage guide 4, so the signal connection between the hydraulic pump 15 and the superstructure control block 18 is not impaired by a rotation of the superstructure 5 on the undercarriage 3.
  • a control unit 120 is provided, which is connected to the primary energy source 12 and arranged adjacent thereto.
  • the control unit 120 is activated by an operator in the crane cabin 9. It is also possible for the control unit 120 to be operated from the driving cabin 7.
  • the control unit 120 (and the other control units provided in the various embodiments disclosed herein), may be implemented as processors configured to control the various crane components on the crane. Such processors are known in the art.
  • the present invention contemplates providing software stored on a non-transitory computer readable medium to be executed by the processor to perform the various functions discussed in this application.
  • the control unit 120 may have a start-stop function, by means of which the primary energy source 12 is automatically activated as soon as the start condition is fulfilled and deactivated as soon as the stop condition is fulfilled.
  • a driving cabin air-conditioning compressor (DCACC) 19 to operate the driving cabin air-conditioning system 8.
  • DCACC driving cabin air-conditioning compressor
  • the driving cabin air-conditioning compressor 19 is in signal connection with the driving cabin air-conditioning system 8 by means of the driving cabin air-conditioning line 20.
  • the primary energy source 12 drives a primary energy source generator (PESG) 21, which is connected to a battery 23 by a power line 22 (i.e., a power consumer system) to charge the battery 23.
  • a power line 22 i.e., a power consumer system
  • At least one electric consumer (EC) 24 is connected to the primary energy source generator 21 and, according to the embodiment shown, is arranged in the superstructure 5.
  • a plurality of electric consumers may also be provided, which are arranged in the undercarriage 3 and/or in the superstructure 5 of the crane 1.
  • Lights for the cabins 7, 9, a light for the surroundings of the crane, warning lights and warning signals, a crane control with a display, a radio or further auxiliary energy consumers, such as radio apparatuses, mobile radio charging apparatuses etc., are non-limiting examples of such electric consumers 24.
  • the power line 22 is also guided by way of the rotary carriage guide 4 to connect the primary energy source generator 21 to the at least one electric consumer 24 arranged in the superstructure 5.
  • a secondary energy source (SES) 25 is provided in the superstructure 5, which may be configured as an internal combustion engine, e.g., a diesel engine.
  • the secondary energy source 25 may be any suitable engine.
  • SESR secondary energy source radiator
  • the secondary energy source 25 is cooled by a secondary energy source radiator (SESR) 26, which is in cooling connection by a cooling line 27 by way of the rotary carriage guide 4, with the radiator 14 arranged in the undercarriage 3. It is therefore possible for the primary energy source 12 to be temperature-controlled by the secondary energy source 25 by means of the radiator 14 and/or the secondary energy source radiator 26 and the cooling line 27.
  • heated cooling water may, for example, be conveyed from the secondary energy source radiator 26 via the cooling line 27 into the radiator 14 and the primary energy source 12 thus pre-heated, so that a cold start can be avoided.
  • the secondary energy source 25 drives an auxiliary source generator (ASG) 28, which also feeds the battery 23 and the at least one electric consumer 24 via the power line 22.
  • a crane cabin air-conditioning compressor (CCACC) 29 which is connected by a crane cabin air-conditioning line 30 to the crane cabin air-conditioning system 10, is directly connected to the secondary energy source 25.
  • the secondary energy source 25 may be smaller and less powerful than the primary energy source 12, a maximally available power PS max of the secondary energy source 25 being smaller than a maximally available power PP max of the primary energy source 12.
  • PS max ⁇ 0.5 ⁇ PP max , in particular PS max ⁇ 0.3 ⁇ PP max and, in particular PS max ⁇ 0.1 ⁇ PP max .
  • the secondary energy source 25 may be retrofitted, so the secondary energy source 25 can be fastened by means of a correspondingly configured adaptor receiver (not shown) on the crane 1.
  • the secondary energy source 25 is also called an additional assembly.
  • One or more of the crane components such as, for example, a luffing mechanism, and a cable winch or, for example, a rotary mechanism to actuate the crane boom 11, may also be used as the secondary energy source 25.
  • the primary energy source 12 drives the travelling drive, i.e., the wheels 2 of the crane 1 by means of the gear 13. Furthermore, the hydraulic pump 15, which supplies the undercarriage control block 17 with compressed oil, is driven by the primary energy source 12. During road travel, the superstructure 5 does not perform any operations or functions, so that the secondary energy source 25 can be deactivated.
  • the lifting device of the crane 1 As soon as, during working operation, the lifting device of the crane 1 is operated, hydraulic oil is conveyed by the hydraulic pump 15 via the hydraulic control line 16 by way of the rotary carriage guide 4 into the superstructure control block 18.
  • the lifting device is comprised of the superstructure 5 and crane boom 11.
  • the primary energy source 12 drives the primary energy source generator 21, which charges the battery 23 and supplies the at least one electric consumer 24 with electric voltage.
  • a stop phase may occur, during which no crane power is required, i.e., neither the superstructure 5, the boom 11 nor the travelling drive (wheels 2, and gear 13) of the crane 1, are actuated.
  • This stop phase is recognised by means of the start-stop function of the control unit with the aid of the stop condition, so that, on the occurrence of one of the stop conditions listed below by way of example, the primary energy source 12 is deactivated.
  • Possible stop conditions are, for example, 1) no demand for hydraulic power, i.e. to drive activation of the superstructure 5, lifting device 11 or the travelling drive (wheels 2, gear 13), 2) detection of the presence of a battery voltage within predetermined limits via a battery voltage level detector 112, 3) presence of a cooling water temperature of the primary energy source 12 within limit values using a cooling water temperature detector 113, 4) temperature of the pressure oil within limit values via a pressure oil temperature detector 114, and 5) when only auxiliary components connected to receive energy solely from the secondary energy source are turned on, and 6) further stop conditions, which may be individually specified by a user.
  • Said limit values for the cooling water temperature are between 70 to 95 °C, in particular 75 to 93 °C, and in particular 80 to 92 °C.
  • the limit values for the pressure oil temperature depend on the type of pressure oil used. For instance, said limit values are between 40 and 80 °C, and in particular 55 °C.
  • a load moment of the crane is detected. That detected load moment has to be smaller than a defined load moment threshold value, which is, for instance 30% related to a maximum available load moment of the crane.
  • the load moment is monitored intermittently, regularly or continuously at a load moment indicator (LMI), not shown in fig. 1 but further described below. If the current load moment exceeds the load moment threshold value, the crane driver must be enabled to react promptly in any case of crane operation for safety reasons. Therefore, the stop conditions are enabled, if the load moment exceeds the load moment threshold value.
  • LMI load moment indicator
  • the secondary energy source 25 such as, for example, air-conditioning systems 8, 10, cabin heating or heated engine cooling water and blowers (not shown), temperature-control of the primary energy source 12, for example by means of cooling water of the secondary energy source radiator 26 to avoid a cold start, current generation for electric consumers such as light in the cabins 7, 9, light of the surroundings of the crane, warning lights and warning signals, crane control with display, radio, auxiliary consumers such as radio apparatuses, mobile radio charging apparatuses, fans, oil coolers, oil circulation for cooling and filtering and maintaining the battery charge as well as further functions and/or auxiliary components which may be provided in accordance with normal crane operations.
  • the secondary energy source 25 such as, for example, air-conditioning systems 8, 10, cabin heating or heated engine cooling water and blowers (not shown), temperature-control of the primary energy source 12, for example by means of cooling water of the secondary energy source radiator 26 to avoid a cold start, current generation for electric consumers such as light in the cabins 7, 9, light of the surroundings of the crane, warning lights and warning signals, crane control with display, radio,
  • the secondary energy source 25 may drive further hydraulic pumps, not shown, which allow an activation of the lifting device (superstructure 5 and/or boom 11) and/or cable winches or cylinders (not shown). Consequently, emergency operation may be provided by the secondary energy source 25 in the event of a temporary complete (or partial) failure of the primary energy source 12.
  • Regular crane movement can therefore be provided by the secondary energy source 25, without the powerful primary energy source 12 having to be started. Therefore, depending on a maximum available power of the secondary energy source 25, said energy source 25 may be used as an additional drive, without the primary energy source 12 having to be started.
  • the total weight of the crane 1 may also be reduced compared to a crane known according to the prior art with a powerful, separate superstructure motor to drive the crane hydraulics.
  • the secondary energy source 25 in the undercarriage 3 of the crane 1. Accordingly, the secondary energy source radiator 26, the secondary energy source generator 28 and the crane cabin air-conditioning compressor 29 would also be provided in the undercarriage 3.
  • the centre of gravity is preferably displaced downward. Thus, the stability moment of the crane 1 is additionally increased.
  • Fig. 2 and 3 show an exemplary embodiment of a further configuration of a crane 75.
  • Components, which correspond to those, which have already been described above with reference to Fig. 1 have the same reference numerals and will not be described again in detail.
  • the crane 75 in this exemplary embodiment is configured as a crawler crane with two crawler travel gears 76 arranged in parallel on the undercarriage 3.
  • the superstructure 5, which comprises the driving cabin 7 and a main boom 78 which can be pivoted about a horizontal axis 77 (see Fig. 3 ), is rotatably arranged on the undercarriage 3.
  • the main boom 78 opposing the horizontal axis 77 the latter is also pivotably connected to an auxiliary boom 79.
  • a pulley 80 with a hook for lifting and displacing loads is provided at the tip of the auxiliary boom 79.
  • the lifting cable 790 connects the auxiliary boom 79 to the pulley 80.
  • the main boom 78 and the auxiliary boom 79 are braced by a tensioning system comprising, for example, a plurality of tensioning cables 81 and supports 82.
  • counter-weight arrangement 85 is provided on a cross member 83 extending substantially horizontally of the superstructure 5, spaced apart from a vertical rotational axis 84, about which the superstructure 5 is rotatably mounted with respect to the undercarriage 3.
  • the counter-weight arrangement 85 comprises a plurality of counter-weights 86 placed on top of one another.
  • the counter-weight arrangement 85 may have two stacks (not shown) of individual counter-weights 86 arranged laterally in each case on the cross member 83.
  • Other arrangements for the counterweights may also be used, within the skill of the ordinarily skilled artisan.
  • the primary energy source which may be in the form of a diesel engine 12 (or other suitable engine) and a primary energy source generator 21 connected thereto.
  • a pivoting mechanism 46 is provided on the rotary carriage guide 4 connecting the undercarriage 3 to the superstructure 5, to pivot the superstructure 5 about the rotational axis 84.
  • Each of the crawler travel gears 76 of the undercarriage 5 is configured and oriented symmetrically with respect to the rotational axis 84 and has a travelling drive 58.
  • a cable winch 43 which is connected by a cable to one of the supports 82.
  • a telescopic cylinder 50 connects the main boom 78 with the cross member 83. By actuating the telescopic cylinder 50 it is retracted or extended, thus effecting a pivoting movement of the main boom 78 about the horizontal axis 77.
  • the telescopic cylinder 50 may be a hydraulic piston, or similar mechanism.
  • a luffing mechanism 44 is provided on the cross member 83 and is connected by a tensioning cable 81 and supports 82 to the auxiliary boom 79.
  • the luffing mechanism 44 is correspondingly used to pivot the auxiliary boom 79 relative to the main boom 78.
  • start-stop functions described above with respect to Fig. 1 also may be implemented in the crane 75 of the second embodiment.
  • the operation of the start-stop functions would be the same compared to the first embodiment shown in figure 1 , so that detailed description thereof will be omitted.
  • Fig. 4 shows an exemplary embodiment of a schematic view of an electric circuit 300 of the crane 75.
  • the power consumer system 31 comprises two power lines 32, of which one is used as the positive pole and the other is used as the negative pole. A voltage of 650 V is applied to the power consumer system 31.
  • Cooling water hoses 33 are also provided as central supply lines and are used as the feed and return line for cooling water.
  • the power lines 32 are connected to various components as will be explained below, to supply power for operation of those components.
  • a control unit (CU) 34 is connected via a data bus 35, which is, in this embodiment, designed as a CAN bus line, but can be any suitable line as would be understood by one of ordinary skill in the art.
  • the control unit 34 is connected via an interface (IF) 36 to the data bus 35 in the embodiment shown. Therefore, the control unit 34 is connected to the power consumer system 31 via the data bus 35 and therefore the control unit 34 is further connected to all components directly and indirectly connected to the power consumer system 31.
  • the primary energy source 12 which may be provided in the form of the diesel engine, is connected by means of a clutch 37 to the gear 13, by means of which two primary energy source generators 21 are driven.
  • the mechanical energy is converted into electric energy and fed via the rectifiers 38 into the power consumer system 31.
  • Both the rectifiers 38 and the primary energy source generators 21 are, on the one hand, connected to the cooling water lines 33 and, on the other hand, to one another and are therefore connected to the cooling water supply of the crane 1.
  • the power consumer system 31 is activated by means of the control unit 34 by an operator in the crane cabin 9. It is also possible for the control unit 34, additionally or alternatively, to be operated from the driving cabin 7, so a control of the power consumer system 31 is also ensured from the driving cabin 7. Proceeding from the power consumer system 31, a large number of crane components (electric consumers) can be supplied with energy, with it basically being possible to distinguish between two different drive types, rotary and linear drives.
  • the crane components driven by rotary drives such as the cable winches 43, luffing mechanisms 44, derricking gears 45, a pivoting mechanism 46, and a shear winch 47, are connected by a converter 39 to the power consumer system 31 and the converter 39 supplies electric motors 40 with electric energy.
  • the electric motors 40 drive consumer gears 41, which are connected by brakes 42 to the respective actual crane components 43-47.
  • three cable winches 43, two luffing mechanisms 44, one derricking gears 45, one pivoting mechanism 46 and one shear winch 47 are provided as crane components connected to brakes 42.
  • Other crane components may be connected as well, or fewer brake components may be connected, as would be understood by one of ordinary skill in the art.
  • the crane components driven by linear drives are provided in such a way that an electric motor 40 is also supplied with energy by the power consumer system 31 by means of a converter 39.
  • the electric motor 40 feeds a hydraulic pump 48.
  • the hydraulic pump 48 is used as an energy converter to convert the electric energy into hydraulic energy.
  • Crane components in the form of hydraulic cylinders may also be connected by a hydraulic distributor line 49.
  • a telescopic cylinder 50 is used to retract and extend the telescopic main boom 78.
  • Cabin cylinders 51 are used to incline the driving cabin 7 and/or the crane cabin 9.
  • Securing cylinders 52 are provided to secure the crane boom 11 or 78 and further securing cylinders 53 are provided to secure the superlift masts.
  • the cylinders 54 are provided to displace the superstructure of the crane.
  • the cylinders 50 to 54 are also used to supply the electric consumers 25 with power, which are arranged on the superstructure 5. It is also possible to use an electric linear drive additionally or instead of the hydraulic cylinders.
  • the hydraulic pump 15 in the undercarriage 3 (shown in the embodiment of Fig. 1 , but also present in the embodiment of Figs. 2-3 ) is also connected in an analogous manner by a converter 39 and an electric motor 40 to the power consumer system 31 in order to convert the electric energy supplied from the power consumer system 31 into hydraulic energy and to feed it into the hydraulic distributor line 55.
  • a rapid connection cylinder 56 and four support cylinders 57 are provided on the hydraulic distributor line 55 of the hydraulic pump 15 to support the undercarriage 3 or to increase the height of, or to level, the support base (not shown in the drawings) for the crane 1.
  • the support base of the crane comprises several outriggers connected to the undercarriage drive of the crane 1, 75.
  • Each outrigger is supported on the ground by at least one hydraulic cylinder that is attached to a second end of the outrigger opposing to a first end of the outrigger connected to the undercarriage 3.
  • the hydraulic pump 15 enables storing of a hydraulic liquid, e.g., oil, and therefore, the hydraulic pump may be used as a secondary storage unit.
  • travelling drives 58 are also connected to the power consumer system 31 in an embodiment in which the crane 75 is equipped with crawler travel gear 76 (as shown in the embodiment of Figs. 2 and 3 ) instead of wheels 2 ( Fig. 1 embodiment). It is possible to use peripheral drives, one for each of the wheels 2 to have a multiple drive. In that case, it is also possible to individually drive, to brake and/or to control, i.e., to steer, the wheels. Alternatively, it is also possible to provide a central steering unit, a central brake system and further a central drive so that some or all of the wheels 2 are simultaneously driven and/or steered.
  • the rotary devices shown schematically in Fig. 4 may be used as secondary energy sources.
  • potential energy is converted into kinetic energy from the cable winches 43 by means of a lowering of the load.
  • the rotary movement of the respective gear 41 is transmitted to the respective electric motor 40, which acts as a generator and converts the rotary movement into electric energy and feeds the latter via the converter 39 into the power consumer system 31.
  • the plan shown in Fig. 4 of the energy supply of the crane 1, 75 is called a local system, since the individual consumers, i.e., the crane components, are in each case separately connected by the converter 39, electric motor 40, consumer gear 41, brake 42 and corresponding rotary devices 43 to 47 to the power consumer system 31.
  • a central system for the energy supply is also possible as an alternative or supplement, in which a central switch-over unit is provided, to which the rotary devices can be connected.
  • the central switch-over unit 111 is shown in figure 5 .
  • Said central switch-over unit 111 converts the rotary movement of the rotary device(s) to electric energy to be supplied as secondary energy to the power consumer system 31.
  • the advantage in the central solution is the reduction in the number of required converters 39. Since the local model manages without a central switch-over unit 111, however, the local system is, as a whole lighter in weight and more cost-effective, as, in particular, the costs for a switch-over unit 111 are higher than costs for additionally required
  • a further advantage of the local system is the integrated control in the crane components. Since high, pulsed currents are fed on the shortest paths, i.e., without an interposed switch-over unit, into the respective electric motor 40 by the power consumer system 31, energy losses are reduced and therefore the efficiency of the energy supply improved. Overall, only two power lines 32 are required in the crane 1, 75, which distribute the power in the form of electric energy to the crane components.
  • the rotary guide 4 between the undercarriage 3 and the superstructure 5, because of the reduced required number of lines, may be configured to be smaller and therefore more economical and stable. In particular, the rotary guide 4 in the local system is less prone to malfunction. Because of the reduced number of required power lines 32, the required number of connecting plugs to connect the lines 32 is also reduced. This is realised for both the first and the second embodiment of this invention.
  • an energy storage unit 60 is connected to the power consumer system 31 (see Fig. 6 ).
  • the energy storage unit 60 is, in this case, provided centrally on the crane as a main energy store and is configured, for example, as a battery pack. This battery pack may alternatively be arranged as part of the stackable counterweight on the crane 1, 75 as a base ballast or as a superlift counterweight on a separate counterweight carriage.
  • At least one fuel cell 110 is connected to the power consumer system (see Fig. 4 , 6 ). The fuel cells 110 provide energy for the power consumer system 31 if it is demanded.
  • a plurality of local energy storage units may be provided on the crane 1, 75, which are connected to the power consumer system 31 and are used to store primary energy and/or secondary energy.
  • a winch having a local energy storage unit operatively connected thereto may be provided.
  • the energy storage units may be in one embodiment, directly associated with the crane components in order to reduce transmission losses and therefore improve the efficiency of the system.
  • the on-board electrical system 61 is also connected to the power consumer system 31.
  • the electrical system 61 is a power outlet that ranges from 12 V to 400 V. That power outlet can be utilized, e.g., for cabin heating, hydraulic heating, radio, etc. Thus the power outlet may be interpreted as an auxiliary outlet.
  • the auxiliary components as discussed above which, for instance, may be battery packs and/or fuel cells, are not intended to be auxiliary but base configuration of supplemental power supplies.
  • Fig. 6 shows a schematic cycle for controlling the energy of the crane 75.
  • Fig. 7 illustrates a flow-chart of determination of various energy amounts in the crane system.
  • a similar schematic can be shown for the crane 1 shown in the embodiment of Fig. 1 or the crane 87 shown in the embodiment of Figs. 2 and 3 .
  • the configuration thereof is within the skill of the ordinarily skilled artisan once the crane components on the crane are identified.
  • the primary energy source (ES) 12 as well as the crane components 43 to 47 also useable as secondary energy sources, and are in signal connection with the power consumer system 31 for feeding in primary and/or secondary energy.
  • the external energy supply 59 may be provided for an alternate feeding-in of external energy.
  • the total energy 121 is sum of the energy amounts fed in by the energy sources 12, 43 to 47 and 59 to the power consumer system 31.
  • a fraction therefrom, referred to as the energy usage fraction 122, is demanded by the crane components 43 to 47, 51 to 54 for operation.
  • the crane components 43 to 47, 51 to 54 are in signal connection with the control unit 34.
  • a load moment indicator 115 (LMI) is integrated in the control unit 34 and enables power management of the cranes 1, 75, and 87.
  • control unit 34 determines a current and/or an estimated energy usage fraction 122 for each of the crane components 43 to 47 and 51 to 54, e.g ., due to a planned lifting or other operation of the component, by a comparator 123 provided with the control unit 34. As a result of the comparison performed by the comparator 123, it is possible to decide whether a first case 124 in which the total energy amount 121 is larger than the total energy usage fraction 122, or a second case 125 is current, in which the total energy amount 121 is smaller than or equal to the total energy usage fraction 122.
  • the total energy usage fraction 122 of the crane 75 is equal to the sum of all energy usage fractions of the crane components 43 to 47 and 51 to 54 and the energy usage fraction of the travelling drive 58. If the amount of the energy that is fed into the power consumer system 31 exceeds the current energy usage fraction, i.e., if the amount of energy produced exceeds the amount of energy needed by the various components, the surplus amount of energy is transmitted as an energy storage fraction 126 from the power consumer system 31 to the energy storage unit (ESU) 60 and/or to at least one fuel cell 110 (not shown in Fig. 7 , see Fig. 6 ). For that purpose, the power consumer system 31 is in signal connection with the energy storage unit 60 and the at least one fuel cell 110.
  • ESU energy storage unit
  • the energy storage unit 60 is not able to accept any amount of energy, e.g ., if the energy storage unit 60 comprises a battery that is fully loaded, and, an excess amount of energy is provided by the energy sources 12, 43 to 47, the excess amount of energy can be translated, for instance, via electric lines to the external energy supply 59 and/or to the crane 75 itself, for example, as electrical energy for running an electrical heating in the crane cabin 9 or even as thermal energy, i.e., heated air via a heating pipe to the crane cabin 9. The same procedure arises if the at least one fuel cell 110 is fully loaded. The excess amount of energy may also be fed back as electrical energy back to the external energy supply 59.
  • the control unit 34 enables the monitoring of the separate energy usage fractions of the crane components (CC) 43 to 47 and 58. Further, the control unit 34 enables the monitoring of the energy amounts fed-in to the energy sources (ES) 12, 43 to 47 and 59. In addition, the energy storage fraction in the energy storage unit 60 is also monitored by the control unit 34. With these monitoring functions, the control unit 34 enables an effective, fast and direct energy management of the crane 75.
  • the actuation of the crane components may be done by a crane operator in the crane cabin 9 via the central control unit 34 or the driving cabin 7.
  • a cable winch 43 will be described in more detail below with the aid of Fig. 9 .
  • the cable winch 43 is shown in a longitudinal section parallel to a rotational axis 62.
  • the cable winch 43 is rigidly installed on the crane 1, or crane 75, with a winch holder 63 on the engine side and a winch holder 64 on the gear side.
  • a sheet metal trough 65 Provided between the winch holders 63, 64 is a sheet metal trough 65, which, on the one hand, is used to stabilise the winch fastening and, on the other hand, can also be used to fasten the winch 43 to the crane 1 or 75.
  • the electric motor 40 Arranged concentrically with the rotational axis 62 is the electric motor 40, which may be configured as a torque motor. Other motors may also be used within the skill of the ordinarily skilled artisan. Since the electric motor 40 is integrated in the cable winch 43 in this embodiment, the space requirement on the crane 1 or 75 is reduced. As a result, it is possible to construct the crane 1 or 75 in a smaller overall size.
  • the electric motor 40 is non-rotatably held on the winch holder 63 on the motor-side and rotatably connected by means of a sleeve 66 and a roller bearing 67, which may be configured as floating bearing about the rotational axis 62, to a cable drum 68 of the cable winch 43.
  • the cable drum 68 is also arranged concentrically with respect to the rotational axis 62 and has a hollow and cylindrical shape.
  • the motor 40 is arranged within the cable drum 68 and it therefore is possible to arrange it in a particularly space-saving manner on the crane 1 or 75.
  • the cable drum 68 has an internal diameter Di of approximately 540 mm, and therefore can provide sufficient space for a conventional commercial torque motor.
  • Di an outer lateral surface of the cable drum 68
  • guide grooves 69 on which the cable is to be wound.
  • plates 70 are arranged on end faces of the cable drum 68, which extend away, in each case, substantially radially from the cable drum 68 and are used to guide and hold the wound-on cable.
  • the motor 40 also has a continuous drive shaft 71, which is arranged concentrically with respect to the rotational axis 62.
  • the drive shaft 71 is non-rotatably connected to the motor 40 and mounted guided in a fixed planetary gear 73, which acts as a fixed bearing.
  • the drive shaft 71 transmits a drive torque to a circulating gear housing 72 and drives the latter.
  • the gear housing 72 is non-rotatably connected to the cable drum 68 and therefore ensures a torque transmission from the motor 40 via the drive shaft 71 and the fixed planetary gear 73 to the cable drum 68.
  • the brake 42 which is stationarily fastened to the adaptor flange 74, is provided on the winch holder 64 on the gear side by means of an adaptor flange 74.
  • the brake 42 may be configured as an electromagnetic spring pressure multiple disk brake.
  • the view in Fig. 9 therefore shows the possibility for operating, e.g ., the cable winch 43. It is possible, on the one hand, to drive the cable winch by means of the electric motor 40 and the gear 73 to, for example, wind a cable onto the cable drum 68 and to lift a load. However, it is also possible, when lowering a load, to drive the electric motor 40 by means of the gear and the drive shaft 71 and to use it as a generator for generate electric power. In addition, the brake 42 is used, for example, to avoid the load coming off or a rotary movement of the cable drum 68 that is too fast, for safety reasons.
  • Fig. 10 shows an exemplary configuration of a further embodiment of a crane 87.
  • Components corresponding to those previously explained in view of Fig. 1 to 9 have same reference signs and are not again discussed in detail.
  • the essential difference of the crane 87 compared to the crane 75 as illustrated in Fig. 2 and 3 is the setup of the crane 87 as a superlift crane comprising a superlift mast 88. Further, a counterweight carriage 92 is connected to the superstructure 5 of the crane 87, wherein an additional counterweight 93 is arranged on the counterweight carriage 92 separately from the superstructure 5.
  • a method which enables the operator to displace a load horizontally as well as vertically (not shown).
  • the energy usage fraction that is necessary for driving the relevant crane components is provided by the cable winches 43 and/or by the luffing mechanisms 44.
  • the operator defines a designated change of a position of the load or of a condition of the crane via an operator interface 107 that is connected to the control unit 34 (not shown in Fig. 9 , see Fig. 8 ).
  • the control unit 34 determines several energy parameters related to energy needs of each crane component of the crane 87.
  • a possible and energetic favourable path of motion and, in particular, a certain sequence of single motions is recommended by the control unit 34.
  • a start point and a target point of the load may be handled.
  • a virtual connecting line between the start point and the target point may be divided in a sequence of vertical and horizontal motions. Starting from the start point, firstly a maximum allowable vertical movement upwards is calculated. After that a sequence of horizontal movements in a horizontal plane parallel to the ground is provided, in particular above the at least one obstacle. In a last step, the load is lowered to the target point.
  • path-calculation are possible, for example, direct line-calculating, i.e., in which a shortest connection from the starting point to the target point may be used.
  • the concrete execution of crane motion for displacing the load can be realized by the operator by usage of different actuation modules for the single crane functions.
  • a risk of accident and/or disturbance e.g., due to deviations of an operating schedule, local circumstances in the form of interfering edges or demands of safety reasons, is reduced.
  • the operator can directly influence the energy management of the cranes 1, 75, 87 by understanding the energy needs and generating capability of each crane component. For instance, the operator may deliberate about whether a planned displacement of the load is possible or not without activation of the primary energy source 12. It is also possible with the energy management system to take into account the efficiency factors of each crane component.
  • a crawler track 76 has a smaller efficiency factor than a cable winch 43
  • a smaller necessary energy usage fraction would be postulated via the control unit 34 at the cable winch 43 in order to reduce energy loss. For instance, if it is planned to lift a load of known weight to a known height, the control unit 34 is able to calculate the amount of potential energy that has to be provided for such a lifting operation. Based on these data, the control unit 34 may further calculate a necessary amount of power. Thus, the potential for saving energy is enhanced.
  • the displacement of the load is first calculated and, if desired, simulated, and second, carried out automatically, i.e., the operator does not have to intervene into the process of load displacement.
  • parameters such as radius of the load, height of the load, position of the load, position of the superstructure and/or drive position of the undercarriage drive and/or of the counterweight 92 are calculated under the frame condition of an energetic favourable displacement of the load.
  • boundary conditions necessary to assure safety can be integrated into the calculation in order to reduce a risk of collision during displacement of the load.
  • for providing an autonomous displacement of the load in the embodiment of Fig.
  • an angle transmitter 105 on the superstructure 5 is advantageous for detecting the angular position of the superstructure 5 as well as, alternatively or additionally to the length encoders 101, a pressure transmitter 109 can be used for the determination of the angular position concerning an axis of rotation 108 of the superlift mast 88, whereas the axis of rotation 108 is perpendicular to the rotational axis 84.
  • the angle transmitter 105 and the pressure transmitter 109 transmit the detected positions to the control unit 34 which uses them to control the autonomous displacement of the load. According to the pressure in the pressure transmitter 109, a certain position of the superlift mast 88 can be calculated, since the pressure in the pressure transmitter 109 is proportional to a angle position of the superlift mast 88 concerning the axis of rotation 108.
  • Cranes 1, 75, and 87 thus allow savings in energy consumption and in emissions, in particular in intermittent operation, which characterises the conventional operation of a loading lifting means such as in the cranes 1, 75, and 87 shown here.
  • a self-cooling system such as, for example, a heat exchanger to the air or an air cooling may be provided.
  • Said self-cooling system is directly connected to the primary energy source 12 so that heat can be removed from the primary energy source 12.
  • a cooler e.g., a heat exchanger
  • the control unit 34 may be used for this purpose, which, for example, detects the current energy usage fraction but also the current energy storage fraction of the energy system and evaluates it.
  • the current energy usage fraction is that fraction of total energy amount that is currently used by the crane components.
  • the current energy storage fraction is that fraction of total energy amount that is currently stored in the at least one energy storage unit 60. Both the energy storage fraction and the energy usage fraction may be determined or measured by the control unit 34.
  • the energy supply of the crane shown thus takes place diesel-electrically with one or more generators 21, preferably synchronous generators, which, in each case, by means of a converter 39, i.e., a frequency converter, feed electric energy, i. e. , primary energy, into the power consumer system 31.
  • the motors 40 are preferably synchronous motors and are supplied from the power consumer system 31.
  • the control unit 34 is arranged centrally in the crane. It is also possible for a plurality of control units to be provided, which are arranged locally on the crane, i.e., the control units may be provided on the crane components.
  • this drive system all the crane components can be used simultaneously, independently of one another and in a directly controllable manner taking into account a maximum power available. Furthermore, it is possible to directly determine the drive power of the individual crane components. Moreover, it is possible to limit the drive power of the individual components and therefore to limit the overall power consumption of the crane. This could be realized for instance by the control unit 34, whereas a limit of drive power of the individual components is calculated by a maximum rotational speed of said components. Moreover, it is possible to be able to evaluate all the drives of the crane component with regard to their current energy state, their use and the operating period.
  • the drives of the crane components are connected to the control unit 34 and said drives comprise corresponding sensors which enable the control unit 34 to detect a current position and further a current velocity of movement of the drive, e.g ., rotational velocity or transversal velocity, it is possible to determine the current energy state of said components. Further, the use and the operating period of said components can be determined by the control unit 34. This allows a direct and simple load collective determination and a real-time state monitoring, so that critical states of the crane components can be recognised early and possible stoppages optionally avoided. As a result, stoppage times can be reduced and inherent energy states determined. If the crane is connected to the external power supply 59, it is possible to operate the crane free of emissions.
  • a current velocity of movement of the drive e.g ., rotational velocity or transversal velocity
  • a crane of this type its overall availability is improved and therefore the use period for an operator is increased. Since the crane components are only used if it is really necessary and also their usage is adjusted to maximum power requirements of the crane components, that means that the components are not run at maximum power for a longer time so that said components may collapse at an early stage of the crane life time, the rate of efficiency of the crane is increased.
  • Four different operating modes are available, i.e., a standby mode 117, a semi-hybrid mode 118, a full-hybrid mode 119, and a full electric mode 120. As schematically shown in a flow chart of Fig. 8 , it is possible to switch between said four operating modes during operation of the crane.
  • the operator may directly choose one of said modes via the operator interface 107.
  • the operator interface 107 creates a decision signal 116, based on which one of the modes is selected.
  • the operator interface 107 is directly connected to the power consumer system 31 or alternatively connected to the power consumer system 31 via the control unit 34.
  • said best mode is calculated by the control unit 34 based on current signals of the power consumer system 31 and attached crane components 9, 12, 43, 44, 45, 46, 47, 51, 52, 53, 54, 58 and 59.
  • the selection of the best mode for operating the crane is automatic and therefore an effective and economic operation of the crane is guaranteed even if the operator does not monitor the operation of the crane the whole time.
  • the operator interface 107 enables the operator during the mooring-operation whether the electrical drives of the crane components 9, 12, 43, 44, 45, 46, 47, 51, 52, 53, 54, 58 and 59 are operated by control of rotation speed 127 or by control of moment of force 128. Said switch between operation modes for controlling the electrical drives of said crane components is usually decided by the operator.
  • control unit 34 may send a switching signal via the operator interface 107 for choosing one of the operation modes 127, 128.
  • auxiliary functions in particular electric drives
  • the primary energy source for example, the internal combustion engine and the electric drives for the at least one crane component are used to generate energy to be used to run the crane.
  • energy reserves from the energy storage units, or electric energy from the secondary energy sources are preferentially used over the energy supplied from the primary energy source.
  • the primary energy source in particular with the use of the start-stop function, is only seldom required because of the intermittent operation of the crane, wherein, even in the activated state of the primary energy source, unused energy is not lost, but is stored by means of the energy storage units.
  • the full-electric mode is one in which exclusively electric energy sources, i.e., fuel cells, photovoltaic systems, and/or batteries, are used as the energy storage units, or a mains power supply is used exclusively. As a result, pollutant emission and therefore noise emissions are completely eliminated.
  • electric energy sources i.e., fuel cells, photovoltaic systems, and/or batteries
  • the crane Due to the combination of the four mentioned operating modes, it is ensured that the crane is available with a high degree of capacity utilisation, i.e ., even upon a failure of one of the energy sources, the crane can be switched over to another of the operating modes. It may also be necessary, for example, to switch over the operating modes when, because of emission specifications, the internal combustion engine, for example, has to be deactivated or the external current supply network is no longer available. It is likewise not necessary to operate the crane at constant load, or, for example, to switch off the crane as a whole, if the stop condition is fulfilled. As a result, the useable life of the main crane components is extended and, the resell value of the crane may be increased. A switch over between the operating modes may take place, for example, by means of the control unit 34, which can either automatically detect which mode to use, or can be instructed to change between modes by operation of a switch or selection of a menu item by the crane operator.
  • LMI load moment indicator 115
  • the LMI 115 is integrated part of the control unit 34 and schematically illustrated in Fig. 6 .
  • LMI 115 monitors the current load torque and guarantees that a known maximum value of the load torque is not exceeded by actively manipulating relevant parameters such as height of the load and radius of the load.
  • the LMI 115 detects the current safety condition of the crane, information on the crane configuration, such as the loads, the pressures in the hydraulic or pneumatic cylinders, the hook and the load height can be examined, and the energy potentials of energy that could be recovered from each of the crane components can be directly determined and provided as electrical signals. Said electrical signals are shown to the operator via the operator interface 107. It is further also possible to use the electrical signals as control signals in the control unit 34 to submit the energy potentials as a parameter for the control unit 34. The energy potentials thus are energy reservoirs which are detected by LMI 115. Possible energy requirements are thus determined and possible work speeds forecast by means of the energy storage units.
  • the LMI 115 allows a sensitive operation of the crane components which is effected by redundant LMI-control systems, which take into account the three degrees of freedom of the suspended load, determines this in real time and supplies it directly to the control unit as an electric control variable.
  • the real-time state monitoring it is possible to easily and directly request load cycles, torques, and loads various locations on the crane and to use them for further information processing.
  • the loads on the crane in all the sensed locations are totalled in order to determine a current maximum load of the crane and to monitor it.
  • the real-time state monitoring is made possible by the input and output signals electrically provided from the various sensors to the control unit(s), which guarantees rapid data processing and communication.
  • monitoring of the crane components is thus accomplished. For example, it is possible for an incompletely opened brake or a sluggish bearing to be recognised by a finding of an excessive power consumption of the corresponding crane component. The need for repairs can thus be easily recognized, and those then be quickly made to improve crane operations and safety.
  • LMI 115 To provide real-time state monitoring of the crane, input data for the control unit is provided as electrical data from the various LMI 115 and other sensors so that these data can easily and rapidly be processed by the control unit.
  • Adequate energy management enables displaying the energy balance of the crane in real-time and therefore enhancing possible energy savings on the one hand and on the other hand creating a regulation of priorities for the management of all energy generating devices and energy consumer devices. Therefore, an LMI system is used that comprises electric, fail safe and redundant sensors for independent control of part sections of the crane. By this system, it is possible to unburden the crane operator, since sections of the crane are independently controlled by local, high-grade self-sufficient controls built as intelligent systems.
  • this is provided by simulating the geometry of the crane or by lifting and lowering the load during low visibility conditions, e.g ., fog, using the control unit 34. Controls that are not realized in real-time are not adequate for self-sufficient control of a crane due to safety reasons.
  • a further advantage of the usage of electric control data compared to mechanical or fluid-mechanical control data is the avoidance of transformation losses and therefore the avoidance of noise of signals during signal-conversion.

Landscapes

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

Claims (14)

  1. Grue (1) comprenant :
    un système consommateur de puissance (22) pour fournir de l'énergie ;
    une source d'énergie primaire (12) pour alimenter en énergie primaire le système consommateur de puissance ;
    au moins une source d'énergie secondaire (25) pouvant être commandée indépendamment de la source d'énergie primaire, pour alimenter en énergie secondaire le système consommateur de puissance, où la source d'énergie secondaire est reliée au système consommateur de puissance, et configurée de sorte que l'énergie renvoyée par le fonctionnement de l'au moins une source d'énergie secondaire alimente au moins partiellement en tant qu'énergie secondaire le système consommateur de puissance, ladite source d'énergie secondaire comprenant au moins un composant de grue ;
    au moins une unité de stockage d'énergie (23) agencée localement sur la grue associée à l'au moins un composant de grue et reliée au système consommateur de puissance pour stocker de l'énergie primaire et/ou de l'énergie secondaire ;
    au moins un moteur d'entraînement (40) relié au système consommateur de puissance pour faire fonctionner l'au moins un composant de grue en réponse à l'énergie alimentant le système consommateur de puissance ; et
    une unité de commande, qui est en liaison par signaux avec le système consommateur de puissance, la source d'énergie primaire et l'au moins une source secondaire pour commander la fourniture d'énergie à l'au moins un composant de grue ;
    caractérisée en ce que
    l'unité de commande (120) comprend un support lisible par ordinateur non transitoire stockant un logiciel qui est adapté pour exécuter les étapes suivantes qui consistent :
    à fournir une quantité d'énergie totale (121) comprenant au moins l'une d'une énergie primaire générée au moyen de la source d'énergie primaire et d'une énergie secondaire générée au moyen de l'au moins une source d'énergie secondaire ;
    à déterminer une fraction d'utilisation d'énergie (122) demandée par l'au moins un composant de grue,
    à stocker une fraction de stockage d'énergie (126) dans l'au moins une unité de stockage d'énergie ; et
    à fournir la fraction d'utilisation d'énergie à l'au moins un composant de grue en utilisant la puissance provenant de l'au moins un convertisseur d'énergie ;
    où la quantité d'énergie totale comprend la fraction d'utilisation d'énergie et la fraction de stockage d'énergie, et où l'énergie secondaire est l'énergie renvoyée par des opérations exécutées par l'au moins un composant de grue ;
    la grue comprend en outre au moins un convertisseur d'énergie relié à l'au moins un composant de grue pour convertir l'énergie provenant de l'au moins un composant de grue en puissance ; et l'unité de commande commande un rapport entre la fraction d'utilisation d'énergie et la fraction de stockage d'énergie.
  2. Grue selon la revendication 1, comprenant en outre un bus de données (35) permettant un transfert de données bidirectionnel, ledit bus de données est relié à l'unité de commande et en outre à l'unité de consommation de puissance pour fournir des variables d'entrée et de sortie électriques à l'unité de commande, et en particulier dans laquelle lors d'un fonctionnement d'urgence, l'unité de commande est configurée pour provoquer la fourniture de l'énergie à la grue à partir de la source d'énergie secondaire,
    et dans laquelle la grue en particulier comprend en outre un transmetteur d'angle relié à la superstructure pour détecter et transmettre une position angulaire de la superstructure à l'unité de commande.
  3. Grue selon la revendication 1, comprenant en outre des composants de grue auxiliaires reliés au système consommateur de puissance (31) pour recevoir de l'énergie uniquement à partir de la source d'énergie secondaire.
  4. Grue selon la revendication 1, dans laquelle l'au moins un composant de grue comprend un mécanisme rotatif ou un dispositif d'entraînement linéaire hydraulique ou électrique, un convertisseur d'énergie (39) et un moteur électrique, où le convertisseur d'énergie en particulier comprend un engrenage de consommateur ou une pompe hydraulique.
  5. Grue selon la revendication 1, comprenant en outre au moins un consommateur de puissance relié au système consommateur de puissance (21), lequel système fournit de l'énergie à l'au moins un consommateur de puissance à partir de la source d'énergie primaire et/ou à partir de l'au moins une source d'énergie secondaire (25).
  6. Grue selon la revendication 1, comprenant en outre :
    un châssis de roulement (3) ;
    une superstructure (5) agencée en rotation sur le châssis de roulement ;
    une pompe hydraulique (15) ;
    une pluralité de cylindres hydrauliques reliés de manière à supporter le châssis de roulement ;
    un convertisseur (39) ;
    un moteur électrique relié à la pompe hydraulique, au convertisseur et au système consommateur de puissance (31) pour convertir la puissance fournie à partir du système consommateur de puissance en énergie hydraulique devant être fournie à la pompe hydraulique pour commander le positionnement du châssis de roulement,
    où la grue en particulier comprend en outre :
    un mât de super-levage (78) sur la superstructure ;
    un transmetteur de pression relié au mât de super-levage pour détecter et transmettre une position angulaire du mât de super-levage à l'unité de commande.
  7. Grue selon la revendication 1, comprenant en outre une source d'énergie externe configurée pour fournir la puissance secteur au système consommateur de puissance (31).
  8. Grue selon la revendication 1, dans laquelle l'au moins un composant de grue comprend au moins un dispositif rotatif, et la grue comprend en outre une unité de commutation centrale reliée à chacun de l'au moins un dispositif rotatif et du système consommateur de puissance (31) pour convertir le mouvement de rotation de l'au moins un dispositif rotatif en une énergie électrique devant être fournie en tant qu'énergie secondaire au système consommateur de puissance, et dans laquelle le système consommateur de puissance en particulier comprend deux lignes électriques.
  9. Grue selon la revendication 1, comprenant en outre une deuxième unité de stockage d'énergie, agencée de manière centrale sur la grue pour stocker l'énergie en excès provenant d'au moins l'une de la source d'énergie primaire et de la source d'énergie secondaire (25), dans laquelle en particulier la deuxième unité de stockage d'énergie comprend un agencement de batterie agencé en tant que contrepoids empilable sur la grue, dans laquelle en particulier la deuxième unité de stockage d'énergie comprend un agencement de batterie agencé en tant que contrepoids de super-levage sur un chariot de contrepoids séparé de la grue.
  10. Grue de la revendication 1, dans laquelle le logiciel est adapté pour exécuter l'étape suivante consistant à amener l'énergie devant être fournie à correspondre à la fraction d'utilisation d'énergie provenant de l'unité de stockage d'énergie (60) plutôt que l'énergie fournie à partir de la source d'énergie primaire, dans laquelle en particulier le logiciel comprend l'étape consistant à commander la fourniture d'énergie à des composants de grue prédéterminés plutôt qu'à d'autres composants de grue prédéterminés, dans laquelle en particulier le logiciel exécute les étapes suivantes qui consistent :
    à activer, dans une opération de travail de la grue, au moins un composant de grue ;
    à désactiver dans une opération sans charge de la grue, l'au moins un composant de grue ; et
    à commander le fonctionnement de la grue de sorte que, lors d'un fonctionnement intermittent, un rapport entre la période de fonctionnement dans l'opération de travail et la période de fonctionnement dans l'opération sans charge soit d'au plus 0,3, dans laquelle en particulier le logiciel exécute l'étape consistant à fournir la fraction d'utilisation d'énergie à l'au moins un composant de grue en provoquant l'alimentation en énergie du système consommateur de puissance, dans laquelle en particulier l'unité de commande détermine une fraction d'énergie en excès de sorte qu'une somme de la fraction d'utilisation d'énergie et d'une fraction de stockage d'énergie maximale soit égale à une somme de la fraction d'énergie en excès et de la quantité d'énergie totale, dans laquelle en particulier l'unité de commande commande la réduction de la fraction d'énergie en excès en convertissant l'énergie obtenue à partir de résistances de freinage supplémentaires en énergie thermique, un retour de l'énergie thermique à la grue étant utilisé pour chauffer une cabine de grue (7), dans laquelle en particulier le logiciel exécute l'étape suivante consistant à amener l'énergie devant être fournie à correspondre à la fraction d'utilisation d'énergie provenant de l'unité de stockage d'énergie plutôt que l'énergie fournie à partir de la source d'énergie primaire, dans laquelle en particulier le logiciel comprend l'étape consistant à commander la fourniture d'énergie à des composants de grue prédéterminés plutôt qu'à d'autres composants de grue prédéterminés.
  11. Grue selon la revendication 1, dans laquelle l'unité de commande (120) est capable de commander de manière sélective le fonctionnement de la grue dans quatre modes, les quatre modes étant un mode d'attente, un mode semi-hybride, un mode entièrement hybride, et un mode entièrement électrique, dans laquelle en particulier dans le mode d'attente, au moins une fonction auxiliaire peut être activée par la source d'énergie secondaire pendant une fonction d'arrêt lorsque la source d'énergie primaire est désactivée, dans laquelle en particulier dans le mode semi-hybride, à la fois la source d'énergie primaire et des dispositifs d'entraînement électriques pour l'au moins un composant de grue sont utilisés pour générer de l'énergie devant être utilisée pour faire fonctionner la grue, dans laquelle en particulier dans le mode entièrement hybride, des réserves d'énergie stockées dans l'unité de stockage d'énergie ou de l'énergie électrique provenant des sources d'énergie secondaires sont utilisées plutôt que l'énergie fournie à partir de la source d'énergie primaire pour faire fonctionner la grue, dans laquelle en particulier dans le mode entièrement électrique, uniquement des sources d'énergie électrique sont utilisées pour faire fonctionner la grue, en particulier comprenant en outre une interface d'opérateur pour permettre à un opérateur de grue de commuter entre les quatre modes, dans laquelle en particulier l'unité de commande comprend un module pour déterminer automatiquement lequel des quatre modes doit être utilisé et pour amener l'unité de commande à commuter vers le mode prédéterminé.
  12. Procédé de fonctionnement d'une grue, le procédé comprenant le fait :
    d'activer, dans une opération de travail de la grue (1), au moins un composant de grue ;
    de désactiver, dans une opération sans charge de la grue, l'au moins un composant de grue ;
    de commander le fonctionnement de la grue de sorte que, lors d'un fonctionnement intermittent, un rapport entre la période de fonctionnement dans l'opération de travail et la période de fonctionnement dans l'opération sans charge soit d'au plus 0,3 ;
    de fournir une quantité d'énergie totale (121) comprenant au moins l'une d'une énergie primaire générée au moyen d'une source d'énergie primaire et d'une énergie secondaire générée au moyen d'au moins une source d'énergie secondaire ;
    de déterminer une fraction d'utilisation d'énergie (122) demandée par l'au moins un composant de grue,
    dans lequel l'au moins un composant de grue est configuré en tant que source d'énergie secondaire pour la récupération d'énergie ; et
    de stocker localement une fraction de stockage d'énergie (126) dans l'au moins une unité de stockage d'énergie agencée localement,
    dans lequel la quantité d'énergie totale comprend la fraction d'utilisation d'énergie et la fraction de stockage d'énergie, et dans lequel l'énergie secondaire est l'énergie renvoyée par des opérations exécutées par l'au moins un composant de grue ;
    caractérisé par le fait
    de fournir la fraction d'utilisation d'énergie à l'au moins un composant de grue par l'alimentation en énergie du système consommateur de puissance ;
    de fournir la fraction d'utilisation d'énergie à l'au moins un composant de grue en utilisant au moins un convertisseur d'énergie relié à l'au moins un composant de grue pour convertir l'énergie provenant du fonctionnement de l'au moins un composant de grue en puissance ;
    de commander un rapport entre la fraction d'utilisation d'énergie et la fraction de stockage d'énergie au moyen d'une unité de commande ;
    de déterminer une fraction d'énergie en excès au moyen de l'unité de commande de sorte qu'une somme de la fraction d'utilisation d'énergie et d'une fraction de stockage d'énergie maximale soit égale à une somme de la fraction d'énergie en excès et de la quantité d'énergie totale ; et
    de commander la réduction de la fraction d'énergie en excès par conversion de l'énergie obtenue à partir de résistances de freinage supplémentaires en énergie thermique, un retour de l'énergie thermique à la grue étant utilisé pour chauffer une cabine de grue.
  13. Procédé selon la revendication 12, comprenant en outre le fait :
    de fournir de l'énergie à au moins un composant de grue en utilisant un système consommateur de puissance (31),
    d'alimenter en énergie primaire le système consommateur de puissance en utilisant une source d'énergie primaire ;
    de faire fonctionner l'au moins un composant de grue en utilisant au moins un moteur d'entraînement relié au système consommateur de puissance ;
    d'alimenter en énergie secondaire le système consommateur de puissance en récupérant l'énergie secondaire provenant du fonctionnement de l'au moins un composant de grue en tant que source d'énergie secondaire (25), pouvant être commandée indépendamment de la source d'énergie primaire ; et
    de stocker au moins l'une d'une énergie primaire et d'une énergie secondaire en utilisant au moins une unité de stockage d'énergie agencée localement sur la grue et reliée au système consommateur de puissance.
  14. Procédé selon la revendication 12, la grue comprenant au moins un composant de grue, une source d'énergie primaire, au moins une source d'énergie secondaire, et un système consommateur de puissance relié à l'au moins un composant de grue, à la source d'énergie primaire (12) et à l'au moins une source d'énergie secondaire pour fournir de l'énergie à partir d'au moins l'une de la source d'énergie primaire et de l'au moins une source d'énergie secondaire (25) à l'au moins un composant de grue, le procédé comprenant les étapes suivantes qui consistent :
    à fournir une quantité d'énergie totale comprenant au moins l'une d'une énergie primaire générée au moyen d'une source d'énergie primaire et d'une énergie secondaire générée au moyen d'au moins une source d'énergie secondaire ;
    à déterminer une fraction d'utilisation d'énergie (122) demandée par l'au moins un composant de grue ; et
    à stocker une fraction de stockage d'énergie dans au moins une unité de stockage d'énergie,
    dans lequel la quantité d'énergie totale comprend la fraction d'utilisation d'énergie et la fraction de stockage d'énergie, et dans lequel l'énergie secondaire est l'énergie renvoyée par des opérations exécutées par l'au moins un composant de grue, comprenant en outre en particulier les étapes suivantes qui consistent :
    à activer, dans une opération de travail de la grue, au moins un composant de grue ;
    à désactiver dans une opération sans charge de la grue, l'au moins un composant de grue ; et
    à commander le fonctionnement de la grue de sorte que, lors d'un fonctionnement intermittent, un rapport entre la période de fonctionnement dans l'opération de travail et la période de fonctionnement dans l'opération sans charge soit d'au plus 0,3, en particulier comprenant en outre l'étape consistant à fournir la fraction d'utilisation d'énergie à l'au moins un composant de grue en provoquant l'alimentation en énergie du système consommateur de puissance, en particulier comprenant en outre les étapes qui consistent :
    à convertir l'énergie provenant du fonctionnement de l'au moins un composant de grue en puissance en utilisant au moins un convertisseur d'énergie relié à l'au moins un composant de grue, et
    à fournir la fraction d'utilisation d'énergie à l'au moins un composant de grue en utilisant la puissance provenant de l'au moins un convertisseur d'énergie, en particulier comprenant en outre l'étape consistant à commander la fourniture d'énergie à l'au moins un composant de grue en commandant un rapport entre la fraction d'utilisation d'énergie et la fraction de stockage d'énergie, en particulier comprenant en outre l'étape consistant à déterminer une fraction d'énergie en excès de sorte qu'une somme de la fraction d'utilisation d'énergie et d'une fraction de stockage d'énergie maximale soit égale à une somme de la fraction d'énergie en excès et de la quantité d'énergie totale, en particulier comprenant en outre l'étape consistant à réduire la fraction d'énergie en excès en convertissant l'énergie obtenue à partir de résistances de freinage supplémentaires en énergie thermique, un retour de l'énergie thermique à la grue étant utilisé pour chauffer une cabine de grue.
EP11794121.1A 2010-12-22 2011-12-07 Grue et procédé destiné à faire fonctionner une grue grâce à la récupération de l'énergie issue d'opérations de grutage servant de source d'énergie secondaire Revoked EP2655241B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102010063911A DE102010063911A1 (de) 2010-12-22 2010-12-22 Kran
US12/976,403 US8857635B2 (en) 2010-12-22 2010-12-22 Crane and method for operating a crane using recovery of energy from crane operations as a secondary energy source
PCT/EP2011/071983 WO2012084508A2 (fr) 2010-12-22 2011-12-07 Grue et procédé destiné à faire fonctionner une grue grâce à la récupération de l'énergie issue d'opérations de grutage servant de source d'énergie secondaire

Publications (2)

Publication Number Publication Date
EP2655241A2 EP2655241A2 (fr) 2013-10-30
EP2655241B1 true EP2655241B1 (fr) 2015-02-11

Family

ID=45315779

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11794121.1A Revoked EP2655241B1 (fr) 2010-12-22 2011-12-07 Grue et procédé destiné à faire fonctionner une grue grâce à la récupération de l'énergie issue d'opérations de grutage servant de source d'énergie secondaire

Country Status (3)

Country Link
EP (1) EP2655241B1 (fr)
CN (1) CN103443016B (fr)
WO (1) WO2012084508A2 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3136458A1 (fr) * 2022-06-14 2023-12-15 Manitou Bf Machine de manutention comportant un châssis rotatif et une pile à combustible
WO2024083975A1 (fr) * 2022-10-21 2024-04-25 Liebherr-Werk Biberach Gmbh Machine de construction et/ou de manipulation de matériaux électrique, en particulier grue

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6121663B2 (ja) * 2012-07-10 2017-04-26 株式会社タダノ 作業車両
US9987934B2 (en) 2015-04-07 2018-06-05 Mi-Jack Products, Inc. Electric power system for one or more electric cranes
CN106560439B (zh) * 2016-03-31 2023-04-07 江苏徐工工程机械研究院有限公司 势能回收利用系统、控制方法及工程机械设备
DE102016109295A1 (de) * 2016-05-20 2017-11-23 Terex Mhps Gmbh Hubwerk und Verfahren zum Betreiben eines Hubwerks
CN107458970B (zh) * 2016-06-06 2020-07-07 台湾积体电路制造股份有限公司 天车输送系统以及天车输送系统的输送车和控制方法
CN109292626A (zh) * 2018-10-17 2019-02-01 青岛港国际股份有限公司 一种轨道吊直流供电系统和方法
DE102018126632A1 (de) * 2018-10-25 2020-04-30 Liebherr-Werk Biberach Gmbh Mobilbaukran mit einem Ober- und Unterwagen sowie ein oder mehreren elektrischen Verbrauchern
DE102018127124A1 (de) * 2018-10-30 2020-04-30 Konecranes Global Corp. Hafenmobilkran mit einem verbesserten Energieversorgungssystem
GB2582261B (en) 2019-03-01 2023-06-21 Bamford Excavators Ltd Working machine
GB201903399D0 (en) 2019-03-01 2019-04-24 Bamford Excavators Ltd A working machine and a controller
GB2582260B (en) * 2019-03-01 2023-03-08 Bamford Excavators Ltd Working machine
GB2611700B (en) * 2019-03-01 2023-09-06 Bamford Excavators Ltd Working machine
CN110417107A (zh) * 2019-07-29 2019-11-05 上海海事大学 光伏混合动力龙门起重机的能量管理系统和管理方法
CN111817330B (zh) * 2020-07-22 2021-12-07 佛山维可特科技有限公司 起重机储能监控调度系统及其调度方法
FR3120619B1 (fr) * 2021-03-10 2023-12-01 Manitowoc Crane Group France Procédé de répartition d’une puissance électrique sur des équipements d’une grue
FR3120618B1 (fr) * 2021-03-10 2023-11-03 Manitowoc Crane Group France Procédé de gestion d’alimentation électrique d’une grue à partir d’une source primaire et d’une source secondaire rechargeable
EP4086216B1 (fr) * 2021-05-04 2023-11-29 Hiab AB Grue économe en énergie et procédé de la grue
CN113958474B (zh) * 2021-09-30 2023-06-13 三一汽车起重机械有限公司 能量消耗方法、装置及作业机械
CN114180478B (zh) * 2021-11-09 2023-02-07 中联重科股份有限公司 用于卷扬机构的方法、处理器、装置、卷扬机构及起重机
ES2946361A1 (es) * 2022-01-14 2023-07-17 H2Vector Energy Technoligies Sl Sistema de transmisión mixto de hidrógeno para el accionamiento de grúas hidráulicas
CN117486041A (zh) * 2022-07-02 2024-02-02 福建力霸机械科技股份有限公司 节能型电梯的配重系统

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4008370A1 (de) 1990-03-15 1991-09-19 Siemens Ag Energieversorgung bei krananlagen, insbesondere bei kabelkranen
US5936375A (en) * 1997-11-05 1999-08-10 Paceco Corp. Method for energy storage for load hoisting machinery
IT246770Y1 (it) 1999-06-07 2002-04-10 Valla Spa Struttura di gru semovente
DE19948831B4 (de) 1999-10-06 2005-06-30 Terex-Demag Gmbh & Co. Kg Fahrzeugkran
JP2001163574A (ja) 1999-12-10 2001-06-19 Mitsubishi Heavy Ind Ltd クレーン装置
DE102004010988A1 (de) 2004-03-03 2005-09-29 Noell Mobile Systems & Cranes Gmbh Hybridantriebssystem für einen Portalhubstapler
DE102004028353A1 (de) 2004-06-11 2006-01-12 Siemens Ag Energiemanagementsystem einer Transporteinrichtung
DE102006010488A1 (de) * 2005-11-17 2007-05-24 Terex-Demag Gmbh & Co. Kg Modularer Gegengewichtswagen für Krane, insbesondere für Großkrane
CN100408466C (zh) 2006-01-27 2008-08-06 上海振华港口机械（集团）股份有限公司 轮胎式龙门集装箱起重机的节能控制系统
EP2032493A4 (fr) * 2006-06-13 2010-09-01 Railpower Llc Appareil de levage de charge et procédé de stockage d'énergie pour celui-ci
DE102007046696A1 (de) 2007-09-28 2009-04-09 Liebherr-Werk Nenzing Gmbh Hydraulisches Antriebssystem
GB2455499A (en) * 2007-12-01 2009-06-17 Airmax Group Plc Operating an energy efficient crane
DE202008004985U1 (de) * 2008-04-10 2009-08-13 Liebherr-Werk Biberach Gmbh Winde
SG10201400316TA (en) * 2009-03-02 2014-06-27 Gen Electric Drive assembly and apparatus for hoist
DE102009057240A1 (de) * 2009-12-08 2011-06-09 Pa-Id Automation & Vermarktung Gmbh Antriebseinheit als Antriebsaggregat
US20110180770A1 (en) * 2010-01-27 2011-07-28 Warn Industries, Inc. Light Weight Winch

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3136458A1 (fr) * 2022-06-14 2023-12-15 Manitou Bf Machine de manutention comportant un châssis rotatif et une pile à combustible
WO2024083975A1 (fr) * 2022-10-21 2024-04-25 Liebherr-Werk Biberach Gmbh Machine de construction et/ou de manipulation de matériaux électrique, en particulier grue

Also Published As

Publication number Publication date
CN103443016A (zh) 2013-12-11
WO2012084508A2 (fr) 2012-06-28
EP2655241A2 (fr) 2013-10-30
WO2012084508A3 (fr) 2012-09-07
CN103443016B (zh) 2015-06-03

Similar Documents

Publication Publication Date Title
EP2655241B1 (fr) Grue et procédé destiné à faire fonctionner une grue grâce à la récupération de l'énergie issue d'opérations de grutage servant de source d'énergie secondaire
US8857635B2 (en) Crane and method for operating a crane using recovery of energy from crane operations as a secondary energy source
DE102010063911A1 (de) Kran
EP3153396B1 (fr) Flèche principale et flèche articulée
CN102897033B (zh) 用于起重机的驱动装置
JP4402678B2 (ja) 制御装置
FI125208B (fi) Kallionporauslaite ja menetelmä alamäkiajoon
JP5800159B2 (ja) クレーン装置及びその制御方法
EP2065331A2 (fr) Procédé et appareil pour faire fonctionner une grue et améliorations portant sur ou en relation avec la génération d'électricité
US10696166B2 (en) Electrically driven machine with reverse power storage
KR20120130084A (ko) 하이브리드 구동 시스템을 가진 크레인, 특히 모바일 부두 크레인
JP2009023816A (ja) クレーン装置
JP5746594B2 (ja) クレーンのウィンチ動作制御装置
CN116927267A (zh) 自主换电式装载机和换电方法
CN103112806A (zh) 全回转液压升降平台车
JP6819997B2 (ja) スパッド係船設備
WO2022205684A1 (fr) Système d'alimentation et grue
CN209127952U (zh) 全方位集装箱搬运车
CN210768647U (zh) 液压修井机
JP5412842B2 (ja) クレーンシステム及びその制御方法
CN218952149U (zh) 一种强夯机混合动力系统
Hu et al. Rubber Tyred Cranes
CN220334595U (zh) 一种节能型起重机
JP2550614Y2 (ja) 作業車の安全装置
CN215798028U (zh) 一种汽车起重机

Legal Events

Date Code Title Description
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

17P Request for examination filed

Effective date: 20130705

AK Designated contracting states

Kind code of ref document: A2

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

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

INTG Intention to grant announced

Effective date: 20140821

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

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

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 709849

Country of ref document: AT

Kind code of ref document: T

Effective date: 20150315

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602011013683

Country of ref document: DE

Effective date: 20150326

REG Reference to a national code

Ref country code: NL

Ref legal event code: T3

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 709849

Country of ref document: AT

Kind code of ref document: T

Effective date: 20150211

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

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

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: 20150211

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: 20150211

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: 20150211

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: 20150211

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: 20150511

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: 20150211

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

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: 20150512

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: 20150211

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: 20150211

Ref country code: AT

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: 20150211

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: 20150611

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

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: 20150211

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: 20150211

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: 20150211

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: 20150211

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: 20150211

REG Reference to a national code

Ref country code: DE

Ref legal event code: R026

Ref document number: 602011013683

Country of ref document: DE

PLBI Opposition filed

Free format text: ORIGINAL CODE: 0009260

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

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: 20150211

PLAX Notice of opposition and request to file observation + time limit sent

Free format text: ORIGINAL CODE: EPIDOSNOBS2

26 Opposition filed

Opponent name: LIEBHERR-WERK NENZING GMBH

Effective date: 20151102

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 5

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

Ref country code: IT

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: 20150211

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: 20150211

PLBB Reply of patent proprietor to notice(s) of opposition received

Free format text: ORIGINAL CODE: EPIDOSNOBS3

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 FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20150211

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 602011013683

Country of ref document: DE

Representative=s name: RAU, SCHNECK & HUEBNER PATENTANWAELTE RECHTSAN, DE

Ref country code: DE

Ref legal event code: R082

Ref document number: 602011013683

Country of ref document: DE

Ref country code: DE

Ref legal event code: R082

Ref document number: 602011013683

Country of ref document: DE

Representative=s name: MOSER GOETZE & PARTNER PATENTANWAELTE MBB, DE

Ref country code: DE

Ref legal event code: R081

Ref document number: 602011013683

Country of ref document: DE

Owner name: TEREX GLOBAL GMBH, CH

Free format text: FORMER OWNER: TEREX CRANES GERMANY GMBH, 66482 ZWEIBRUECKEN, DE

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: 20150211

Ref country code: LU

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: 20151207

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20151207

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

Ref country code: GB

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

Effective date: 20151207

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 6

REG Reference to a national code

Ref country code: FR

Ref legal event code: TP

Owner name: TEREX GLOBAL GMBH, CH

Effective date: 20170102

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 602011013683

Country of ref document: DE

Representative=s name: MOSER GOETZE & PARTNER PATENTANWAELTE MBB, DE

Ref country code: DE

Ref legal event code: R082

Ref document number: 602011013683

Country of ref document: DE

REG Reference to a national code

Ref country code: NL

Ref legal event code: PD

Owner name: TEREX GLOBAL GMBH; CH

Free format text: DETAILS ASSIGNMENT: CHANGE OF OWNER(S), ASSIGNMENT; FORMER OWNER NAME: TEREX CRANES GERMANY GMBH

Effective date: 20170324

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 602011013683

Country of ref document: DE

Representative=s name: MOSER GOETZE & PARTNER PATENTANWAELTE MBB, DE

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

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20111207

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: 20150211

Ref country code: BG

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: 20150211

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

Ref country code: CY

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: 20150211

REG Reference to a national code

Ref country code: CH

Ref legal event code: NV

Representative=s name: ALDO ROEMPLER PATENTANWALT, CH

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

Ref country code: MT

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: 20150211

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 7

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

Ref country code: FR

Payment date: 20171221

Year of fee payment: 7

Ref country code: DE

Payment date: 20171211

Year of fee payment: 7

Ref country code: NL

Payment date: 20171219

Year of fee payment: 7

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

Ref country code: CH

Payment date: 20171220

Year of fee payment: 7

Ref country code: IE

Payment date: 20171221

Year of fee payment: 7

REG Reference to a national code

Ref country code: DE

Ref legal event code: R064

Ref document number: 602011013683

Country of ref document: DE

Ref country code: DE

Ref legal event code: R103

Ref document number: 602011013683

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: PUE

Owner name: TEREX GLOBAL GMBH, CH

Free format text: FORMER OWNER: TEREX CRANES GERMANY GMBH, DE

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

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: 20150211

Ref country code: MK

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: 20150211

RDAF Communication despatched that patent is revoked

Free format text: ORIGINAL CODE: EPIDOSNREV1

RDAG Patent revoked

Free format text: ORIGINAL CODE: 0009271

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

Free format text: STATUS: PATENT REVOKED

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

27W Patent revoked

Effective date: 20180309

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

Ref country code: AL

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: 20150211

Ref country code: TR

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: 20150211