EP3134344A1 - Procédé et dispositif pour faire fonctionner une grue mobile et grue mobile - Google Patents

Procédé et dispositif pour faire fonctionner une grue mobile et grue mobile

Info

Publication number
EP3134344A1
EP3134344A1 EP15717490.5A EP15717490A EP3134344A1 EP 3134344 A1 EP3134344 A1 EP 3134344A1 EP 15717490 A EP15717490 A EP 15717490A EP 3134344 A1 EP3134344 A1 EP 3134344A1
Authority
EP
European Patent Office
Prior art keywords
load
boom
maximum permissible
determined
positions
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.)
Granted
Application number
EP15717490.5A
Other languages
German (de)
English (en)
Other versions
EP3134344B2 (fr
EP3134344B1 (fr
Inventor
Matthias Braun
Stefan Maass
Markus Stöhr
Matthias Roth
Heiko Heintz
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 Global 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
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Application filed by Terex Global GmbH filed Critical Terex Global GmbH
Publication of EP3134344A1 publication Critical patent/EP3134344A1/fr
Application granted granted Critical
Publication of EP3134344B1 publication Critical patent/EP3134344B1/fr
Publication of EP3134344B2 publication Critical patent/EP3134344B2/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/16—Applications of indicating, registering, or weighing devices
    • 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
    • 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

Definitions

  • the invention relates to mobile cranes, in particular mobile cranes with variable Abst Reifengeometrien. Furthermore, the present invention relates to methods for determining a maximum load capacity, measures to secure the stability of the mobile crane and means for displaying safe working positions.
  • Mobile cranes are usually provided with a support device to improve the stability or to increase the load capacity.
  • a support device comprises laterally projecting from the mobile crane Abstützholme, where support cylinders are provided. With the support cylinders, a protruding end can be supported on a footprint of the mobile crane and thereby increases the effective footprint. With the increased effective footprint, the load capacity, i. H. the maximum permissible load of the mobile crane can be improved.
  • load tables are provided in which the maximum permissible load based on possible degrees of freedom is specified for the respective configuration of the mobile crane.
  • the load tables take into account the length or configuration, as well as, for example, the angle of rotation of the boom (in the Rule 0-360 °).
  • the map-based determination of the maximum permissible load based on the load tables can furthermore be supplemented by function-based models, which take into account further parameters. B. consider the carrying capacity of the load rope into consideration.
  • EP 1 444 1 62 B1 discloses a vehicle crane in which an operating field can be displayed graphically on a display in an electronic control device on the basis of one of the parameters load and load radius and size of a counterweight and counterweight radius.
  • a mobile crane is known in which individual limit curves or limit values are stored for various parameters of the crane, which may not be exceeded or only by issuing an alarm signal to ensure the safety of the crane operation. Furthermore, the mobile crane has means for ensuring crane safety, which are designed in such a way that they can be adjusted to the individual limit curves or limit values of the various parameters. monitor the progress.
  • One of the limit curves represents the dependence of the cantilever strength on the geometrical degrees of freedom of the cantilever or is based on this dependence.
  • a mobile crane with a rotatable jib wherein an overall center of gravity of the crane and one or more tipping lines are determined.
  • the stability of the crane is monitored.
  • a signal is emitted and / or the further movement of the crane is prevented or changed when the distance of the center of gravity from a tipping line approaches or reaches a limit and / or if the ratio of the distance of the center of gravity from the center of the turntable to the distance of the tipping line from the center of the turntable in the direction of the overall center of gravity approaches or reaches a limit.
  • the document EP 2 674 384 A1 discloses a method for monitoring the crane safety of a crane with a variable support base and a monitoring unit. Several safety criteria are monitored during crane operation by calculating and monitoring for compliance with each criterion that depends on at least one parameter relating to the crane configuration or crane movement during crane operation, during crane operation.
  • a method for operating a mobile crane with a boom comprising the following steps:
  • One idea of the above method is to take into account several possible positions of the boom in the predetermined position range, as independent as possible of a current direction of movement of the boom and the applicable maximum permissible loads in the deployment planning or operation of a mobile crane. This allows safer operation of the mobile crane and better deployment planning with the best possible utilization of the load bearing area, ie under optimal utilization of the load capacity at each load position in the work area, up to the maximum load limits defined by the maximum load capacity.
  • the above method allows the detection of those boom positions in which a local load limit is reached or exceeded at the currently attached load.
  • the maximum allowable payloads for the multiple positions in the predetermined boom position range can be determined using a cantilever strength table and based on a support geometry of support devices.
  • respective load limitations may be determined by the cantilever strength table, which indicates cantilever strength-related payload limitations, and the support geometry for each of the plurality of cantilever positions.
  • the maximum allowable payloads can then be determined by determining the minimum of payload limits determined by the cantilever strength table and by the support geometry.
  • the load limits determined by the support geometry for the multiple positions of the boom in the predetermined position range can be determined by means of a torque balance by one or more tilting lines determined by the support geometry.
  • the maximum allowable payloads for different positions in the predetermined position range of the boom can be determined by means of load limits that are determined by one or more, in particular one or more other parameters dependent, map-based or function-based load capacity models.
  • the several other parameters may be limiting criteria, such as e.g. the maximum load on the support cylinders, the slewing ring, the luffing cylinder and other crane parts located in the power flow of the boom and its displacement on the crane uppercarriage. From the aforementioned effect relationships, the limiting criteria are derived directly or indirectly from the respective support geometry in a manner known per se.
  • the multiple positions of the boom in a given geometric environment of the current position of the boom can be taken into account in order to determine the maximum permissible load, wherein a displacement speed of the boom depending on a thereby achieved Average course of a load limit in the predetermined position range of the boom is selected, set and limited.
  • the adjustment speeds of the boom can be adjusted in all directions of movement depending on a distance of the current load position and a load limit.
  • the load limit corresponds to the positions of the load at which the attached load reaches the maximum permissible load when it is moved in an adjustment direction.
  • the adjustment speed can be adjusted in particular as a function of a gradient of the profile of the maximum permissible load with respect to the adjustment direction.
  • the maximum permissible load as an absolute value or as a relative value, which indicates the ratio of the attached load to the maximum permissible load, be displayed in the predetermined position range on a display.
  • the crane operator can be provided with an indication as to how far he can move a predefined load out at a predetermined safe starting position, in an uncritical direction, into an at least second, safe target position.
  • a movement space display can be generated which, starting from the instantaneous position of the arm (at least defined by the angle of rotation and the load radius), provides an environment representation of the stroke to the crane operator.
  • the surrounding view makes it possible to instantaneously and visually recognize a position of the suspended load and a course of other positions of the load at which the maximum permissible load is exceeded, in the vicinity of the position of the attached load.
  • a crane operator can be given an opportunity to immediately detect possible remaining degrees of freedom of the movements of the boom with the attached load by viewing the environment representation on the display and thus to put the boom in other positions to a safe operating limit.
  • the absolute value specification or the relative value specification of the maximum permissible load loads can be visually distinguishable, in particular by an associated coloration and / or brightness and / or shading, displayed on the display. This type of presentation facilitates the intuitive recording of the load-bearing curve in the entire work area or in the immediate vicinity of the current load position.
  • the payload ranges may indicate those positions of the boom or those load positions at which a ratio of the suspended load to the maximum allowable load is within a predetermined range.
  • a control unit for operating a mobile crane with a boom wherein the control unit is designed to:
  • a system for a mobile crane comprising:
  • a system for a mobile crane comprising
  • a display device for visually displaying a display, for the predetermined position range, the payload areas to a current load position, which corresponds to a current position of the boom visually represent.
  • the display device can be designed to represent the load-bearing areas flat as regions which can be visually distinguished from one another, in particular as areas that are distinguishable by color and / or structure and / or by their brightnesses
  • Figures 1 a and 1 b is a schematic plan view and a side view of a
  • Figure 2 is a graphical representation of the maximum allowable loads of a boom in the entire surrounding area of the mobile crane.
  • FIG. 3 is an illustration of a partial environmental area of the position of the load attached to the boom as well as the noncritical, critical and impermissible load ranges in the surrounding area.
  • FIG. 4 shows a flowchart for illustrating a method for determining the maximum permissible load, the load limit and for outputting a representation of the load-bearing areas surrounding the instantaneous load position.
  • FIG. 1 a and 1 b schematic views of a mobile crane 1 in a plan view and a side view are shown.
  • the mobile crane 1 has a driver's cab 2 and a crane superstructure 3, on which a revolving slewing ring 4 rotatable in a horizontal plane is arranged with a boom 5 mounted thereon.
  • the turntable 4 allows a 360 ° -Verschwenkung of the boom mounted thereon 5.
  • a rotation angle ⁇ of the boom 5 can be arbitrarily set in the entire range of rotation of the boom 5.
  • a counterweight may be mounted on the crane top 3 on the turntable 4 (not shown here), which is arranged on a side opposite the boom 5 side.
  • a hydraulic luffing cylinder 6 is arranged on the turntable 4, by which it is possible, the boom 5 in a rocking angle ß, d. H. a vertical angle perpendicular to the horizontal, to adjust.
  • the boom 5 may be provided with boom segments (boom boxes) 51, which may be telescopically slidable to adjust depending on the desired boom configuration, the length of the boom 5 by retracting or extending the boom boxes 51 and.
  • boom segments (boom boxes) 51 At the upper end of the boom 5, a circulation roller 52 is provided for a load rope 8, at the end of a load hook 9 is provided, to which a load can be attached.
  • support means 10 are provided in the area of the front and rear corners of the mobile crane 1 (four) in the area of the front and rear corners of the mobile crane 1 (four) support means 10 are provided.
  • the support means 10 each have an extendable Abstützholm 1 1, which can telescope with a plurality of telescoping cylinders and retracted.
  • the support beams 1 1 are thereby extendable in a plane which is defined by (not shown) wheel axles or which may extend parallel to the footprint S.
  • a support cylinder 12 which can be extended in the direction of a footprint S of the mobile crane 1.
  • a support plate 13 which is placed on the footprint S, so that the support means 10 supports the mobile crane 1 there on the bottom side.
  • boom strength tables are used, which depend on a configuration, ie. H. indicate the selected length of the boom 5 and the extended boom segments 51 and depending on the load radius, a load limitation with respect to the boom resistance.
  • the cantilever strength tables thus define map-based limits for the attached load, which may not be exceeded or only with the issuance of a warning signal.
  • the cantilever strength tables can therefore be used to determine whether the load attached is less than, equal to or greater than the maximum allowable payload determined by the cantilever strength.
  • the outriggers 1 1 can not be fully extended. This means that the maximum load, which would be achieved at the maximum extended position of the support bars 1 1, can not be achieved.
  • the maximum permissible load of the mobile crane 1 is regularly determined not only on the basis of the boom strength determined by the cantilever resistance table and restrictions with respect to other parameters, but also significantly on the basis of a Lastbegren- tion, which is determined by the Abstützgeometrie defined by the support cylinder 12 support positions.
  • one or more additional parameters in particular the maximum allowable cylinder pressure of the luffing cylinder 6 and / or the support cylinders 12, the load capacity of the load rope 8, the load capacity of the turntable 4, and the like, may be determined by function-based load calculations as respective limitations on the allowable Cause or specify load.
  • the formation of the minimum of the determined load limits must limit the maximum permissible load overall to a value which can be less than the value of the load limit defined only by the arm strength.
  • a significant, reducing influence on the maximum permissible load can emanate from not fully extended Abstützholmen 1 1 of the support device 10.
  • the respective degree of extension of the support bars 1 1 defines the four (or possibly only three) support positions of the support cylinders 12, on which the entire weight of the mobile crane 1, including the attached load, usually rests.
  • the connection of the support positions with each other forms a so-called Abstweilgeometrie, which should be defined by tilting lines KL.
  • the tilting lines KL represent the straight-line connections between two adjacent support positions of the support devices 10 and thereby determine possible axes about which the mobile crane 1 can tip over in the event of an overload. The smaller the distance of the center of mass of the mobile crane 1 from the tipping line KL, the lower the maximum permissible load, which is decisively determined by the supporting geometry.
  • a load limitation ie a maximum allowable load for a given load position can be determined.
  • This calculation can provide for a torque balance around the tilting line KL for different load positions.
  • the distance of the considered load position which corresponds to a projection of the three-dimensional spatial position of the suspended load on the substantially horizontal footprint S of the mobile crane 1, to the relevant tilting line KL and the relevant tilting lines KL determined.
  • the relevant tipping lines are determined by the fact that by the attached load (in relation to the area enclosed by the creasing lines KL) outward moment is effected about the respective tipping line.
  • the calculation of the distance between the projected load position and the tipping line may be performed in a known manner using trigonometric functions. Due to the attached load and the distance of the projected load position on the substantially horizontal footprint S to the critical tilting line KL can be determined in a known manner, a load tilting moment.
  • an amount of a determined by the weight of the mobile crane 1 stalling moment with respect to the tilting lines defined by the support positions or calculated in the mobile crane 1 KL is determined.
  • the distance of the center of gravity of the mobile crane 1 of the respective tipping lines KL can be determined using known, such as trigonometric functions, so that the stall moment of a product of the weight of the mobile crane 1 and the distance of the center of gravity of the respective tipping line KL of Abst Reifengeometrie can be determined.
  • the difference between the load tilting moment and the stalling moment determines the stability of the mobile crane 1.
  • the load limits of the mobile crane 1 defined essentially by the boom position and the support geometry at a certain position (defined at least by rotation angle and Wippwinkel) of the boom 5 is determined by the fact that the difference between the load tilting moment and the stationary torque at a certain Abstweilgeometrie zero or when providing a predetermined tolerance corresponds to a certain predetermined value.
  • a course of the load limitation which can be determined in each case by an existing AbstNeillgeometrie and by an existing configuration of the mobile crane 1, for positions of the boom 5 depending on the rotation angle ⁇ and the luffing angle ß are determined.
  • the one or more function-based load limits based on the further parameters and optionally further limiting parameters, e.g. the load capacity of the luffing cylinder, the load capacity of the support cylinder 12 as a function of the respective Abstützgeometrie, the load capacity of the turntable and the like.
  • the maximum permissible load can be determined by minimum formation of the individually determined load limits for the relevant position of the boom 5.
  • determining the maximum permissible load for several load positions in the geometric environment of the current load position monitoring can be carried out such that a movement of the boom 5 at least in a critical direction (with reducing maximum allowable load) slowed down or is suppressed and / or an output of a warning signal occurs as soon as the load on the boom reaches, exceeds or approaches a critical limit of the maximum permissible load.
  • a control unit 20 is provided to perform the monitoring function and the described determination of the maximum allowable payloads, based on the individually determined load limits.
  • This control unit 20 may be implemented in the general crane control or be implemented as an independent control unit.
  • control unit 20 is coupled to various sensors (not shown) to determine the actual position of the support cylinders 12 based on the extension length of the support beams 11, the angle of rotation ⁇ of the boom 5, the tilt angle ⁇ of the boom 5, and the weight of the boom to receive attached load. Based on this information and on geometric specifications, such as the position of the center of gravity of the unloaded mobile crane 1 and the current configuration, in particular the boom configuration, the control unit 20 can carry out the calculations for determining the maximum permissible load.
  • the control unit 20 performs calculations in calculation cycles of a few milliseconds.
  • the respective maximum permissible loads for positions of the boom in a predetermined position range according to the above calculation scheme are determined cyclically for several positions of the boom 5.
  • resulting load limitations (with respect to cantilever strength, Abstützgeometrie and one or more o of more of the other and / or limiting parameters) determined and linked together by minimum formation to for the respective positions of the boom 5 to obtain the total maximum permissible loads.
  • the monitoring function of the control unit 20 can now be performed based on the current position of the boom 5 (or the current load position), the attached load and the maximum allowable loads for the positions of the boom 5 in the predetermined position range.
  • the local course of a load limit corresponds to those positions of the boom 5 or those positions of the load at which the currently attached load is equal to the maximum permissible load.
  • the monitoring may provide for slowing down, limiting, allowing or inhibiting a desired adjustment movement for the boom 5 as the load approaches or moves away from the payload limit.
  • the control unit 20 is preferably coupled to a display device 21 in order to provide a crane operator for deployment planning and operation of the mobile crane 1 via a display 22 with visual information about the maximum permissible load or the course of the load limit.
  • This visual information may relate to one or more subregions of the possible movements or positions of the boom 5.
  • the crane operator can be specified as an absolute value in the range of possible load positions for application planning in a currently set Abstützgeometrie and a current crane configuration, the respective maximum allowable load.
  • the positions of the respective maximum permissible load can be specified as the distance from a boom pivot axis.
  • FIG. 2 shows the value of the respective maximum permissible load in different colors, brightness or shading for different positions of the attached load about the boom axis of rotation. It can be seen for each position of a load existing load capacity there, ie the maximum load on the basis of the graphically displayed coloring, brightness or shading, so that a crane operator can make an operational planning according to his Hubplan abruptly.
  • FIG. 3 shows, as a further illustration possibility based on the instantaneous load position, a segmental view of the surrounding area about a momentary load position P.
  • an angular range of ⁇ 30 ° of the rotational angle ⁇ (other angular ranges are possible) and the entire Radius range are displayed in a segment representation.
  • the radius range is determined by the effective boom length based on the actual boom length and the possible rocking angles (rocking angle between the minimum and maximum possible rocking angles).
  • rocking angles rocking angle between the minimum and maximum possible rocking angles.
  • Other radius ranges are conceivable. These should preferably include the current load position and the course of the load limit, by reaching or exceeding the maximum permissible load by the currently attached load.
  • the segment representation shows, on a center axis M, the instantaneous load position P as a marking and, by differentiation in color, different payload areas which map the possible load positions in the geometrical environment of the instantaneous load position P.
  • three payload ranges are shown:
  • a third payload range C in which the attached load is equal to or greater than the maximum permissible load.
  • the payload ranges are defined by the progress of the load limit with respect to the load capacity utilization.
  • the first payload area A can indicate, by means of a green color, the range of the load positions in which the currently suspended load falls below a predetermined proportion of the maximum permissible load, such as, for example, For example, 90% of the ximal permissible load.
  • a second (critical) payload area B may have, by means of a yellow color, a critical range of load positions in which the attached load approximately reaches the maximum permissible load (eg between 90% and 100% of the maximum permissible load) (Impermissible) payload area C can indicate, for example by a red color, the range of load positions in which the currently attached load would exceed the maximum permissible load or the crane's stability due to its own weight is no longer guaranteed (eg rear stability) between the second payload area B and the third payload area C represents the load limit.
  • a critical range of load positions in which the attached load approximately reaches the maximum permissible load eg between 90% and 100% of the maximum permissible load
  • Impermissible payload area C can indicate, for example by a red color, the range of load positions in which the currently attached load would exceed the maximum permissible load or the crane's stability due to its own weight is no longer guaranteed (eg rear stability) between the second payload area B and the third payload area C represents the load
  • the control unit 20 calculates, for the respective instantaneous load position and for the positions of the boom 5, which correspond to the possible load positions surrounding the instantaneous load position, the corresponding maximum permissible loads and determines the corresponding proportion that the currently attached load has thereon. This proportion is shown in the segment representation depending on the position in a suitable manner by a flat optical design in color, etc.
  • the crane operator can recognize the distance between the instantaneous load position and a limit defined by the maximum permissible loads (ie, the limit by reaching or exceeding the maximum permissible load due to the attached load) so that it can judge which movements of the boom 5 are admissible and which bring about a critical approach to a load position where the attached load corresponds to the maximum permissible load.
  • a limit defined by the maximum permissible loads ie, the limit by reaching or exceeding the maximum permissible load due to the attached load
  • the control unit 20 can set a displacement speed of the boom depending on the course of the load limit, which indicates the positions of an attached load in which the maximum permissible load of the mobile crane 1 is exceeded by the attached load in the predetermined position range of the boom 5.
  • the displacement speed of the boom 5 may be adjusted depending on the suspended load and depending on a distance between a load position of the suspended load and a position where the attached load reaches the maximum allowable load.
  • the adjustment speed can be adjusted as a function of a gradient of the profile of the maximum permissible load with respect to the adjustment direction.
  • a reduction of the adjustment speed can be carried out depending on the ratio of the load to the maximum permissible load at the current load position.
  • the adjustment speed can be reduced relative to the user's request or the adjustment speed desired by the user can be limited if the gradient of the curve of the maximum permissible load in the direction of the desired adjustment movement is relatively large (eg greater than a predefined threshold value) and a minimum distance to the load limit is below.
  • the adjustment of the adjustment speed depending on the gradient of the curve of the maximum permissible load in the direction of the desired adjustment has the advantage that an approximation to the load limit is carried out so slowly that an overshoot of the boom 5 and the attached load on the carrying capacity limit avoided can be.
  • FIG. 4 shows a flow chart for illustrating a method for operating the mobile crane 1.
  • step S1 a current position of the boom 5 and the current load position is determined. Starting from the current load position, further positions of the boom 5 are defined, which define a surrounding area of possible load positions around the current load position.
  • step S2 a respective load limitation is determined for the current position of the boom 5 and the other positions of the boom 5, which depends on the Abst Reifengeometrie.
  • a load limit indicated by the boom payload capability is determined based on the boom strength table and in step S4 the one or more function-based load limits based on the other parameters and optionally determined with respect to further limiting parameters.
  • step S5 for the instantaneous position of the boom 5 and the further positions of the boom 5, a maximum permissible load capacity is determined by minimum formation of the load limits.
  • step S6 those positions of the boom 5 are determined from the above-given positions of the boom 5, where the attached load reaches or exceeds the maximum permissible load. These positions of the boom 5 define the load limit.
  • step S7 the load positions corresponding to the predetermined positions of the boom 5 are assigned to payload areas and plotted as described above.
  • the graphical representation may include the representation of the absolute values of the maximum permissible load for the entire payload range and / or the segment representation for representing the environment of the load position with respect to the payload limit.
  • the load-carrying area different from each other by different optical design, so that a user can intuitively recognize permissible crane movements for the suspended load.

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

Abstract

L'invention concerne un procédé, permettant de faire fonctionner une grue mobile (1) équipée d'une flèche (5), selon les étapes consistant à : - déterminer des charges maximales admissibles pour une pluralité de positions dans une gamme de positions prédéterminée de la flèche (5); - déterminer une limite de charge et/ou une ou plusieurs gammes de charges sur la base d'une charge suspendue et des charges maximales admissibles pour la pluralité de positions de la gamme de positions prédéterminée de la flèche (5); et - utiliser la grue mobile (1) en fonction de la limite de charge et/ou d'une ou de plusieurs gammes de charges.
EP15717490.5A 2014-04-22 2015-04-20 Procédé et appareil pour faire fonctionner une grue mobile ainsi que la grue mobile Active EP3134344B2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014105618.3A DE102014105618A1 (de) 2014-04-22 2014-04-22 Verfahren und Vorrichtung zum Betreiben eines Mobilkrans sowie Mobilkran
PCT/EP2015/058525 WO2015162096A1 (fr) 2014-04-22 2015-04-20 Procédé et dispositif pour faire fonctionner une grue mobile et grue mobile

Publications (3)

Publication Number Publication Date
EP3134344A1 true EP3134344A1 (fr) 2017-03-01
EP3134344B1 EP3134344B1 (fr) 2018-09-12
EP3134344B2 EP3134344B2 (fr) 2024-04-17

Family

ID=52991734

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15717490.5A Active EP3134344B2 (fr) 2014-04-22 2015-04-20 Procédé et appareil pour faire fonctionner une grue mobile ainsi que la grue mobile

Country Status (6)

Country Link
US (1) US10144621B2 (fr)
EP (1) EP3134344B2 (fr)
JP (1) JP2017513784A (fr)
CN (1) CN106715317B (fr)
DE (1) DE102014105618A1 (fr)
WO (1) WO2015162096A1 (fr)

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US10961087B2 (en) 2015-10-16 2021-03-30 Palfinger Ag Arrangement of a controller and a mobile control module

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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JP2017513784A (ja) 2017-06-01
US10144621B2 (en) 2018-12-04
EP3134344B2 (fr) 2024-04-17
EP3134344B1 (fr) 2018-09-12
DE102014105618A1 (de) 2015-10-22
US20170036894A1 (en) 2017-02-09
CN106715317B (zh) 2019-10-18
CN106715317A (zh) 2017-05-24

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