EP3134344B1 - Procédé et appareil pour faire fonctionner une grue mobile ainsi que la grue mobile - Google Patents

Procédé et appareil pour faire fonctionner une grue mobile ainsi que la grue mobile Download PDF

Info

Publication number
EP3134344B1
EP3134344B1 EP15717490.5A EP15717490A EP3134344B1 EP 3134344 B1 EP3134344 B1 EP 3134344B1 EP 15717490 A EP15717490 A EP 15717490A EP 3134344 B1 EP3134344 B1 EP 3134344B1
Authority
EP
European Patent Office
Prior art keywords
load
boom
positions
maximum permissible
determined
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP15717490.5A
Other languages
German (de)
English (en)
Other versions
EP3134344A1 (fr
EP3134344B2 (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
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=52991734&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP3134344(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Terex Global GmbH filed Critical Terex Global GmbH
Publication of EP3134344A1 publication Critical patent/EP3134344A1/fr
Publication of EP3134344B1 publication Critical patent/EP3134344B1/fr
Application granted granted Critical
Publication of EP3134344B2 publication Critical patent/EP3134344B2/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—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 additional parameters. B. consider the carrying capacity of the load rope into consideration.
  • the maximum load capacities are usually shown as a function of various parameters, in particular the load radius, as well as depending on the respective configuration.
  • a crane operator can thus determine in advance the crane operation, in particular configuration and possible stroke paths of a load to be lifted.
  • a vehicle crane is known in which in an electronic control device based on one of the parameters load and load radius and size of a counterweight and counterweight radius, a working field can be graphically displayed on a display.
  • 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 for the purpose of ensuring the safety of the crane operation or may only be exceeded by emitting an alarm signal. Furthermore, the mobile crane has means for ensuring crane safety, which are designed in such a way that they exceed the individual limit curves or limit values of the various parameters monitor.
  • 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 is known with a rotatable boom, wherein a total 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 publication 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.
  • the publication DE 20 2010 014 309 U1 discloses a crane, in particular caterpillar or mobile crane, with at least one monitoring and simulation means by means of which a condition of the crane can be monitored and / or simulated, wherein the monitoring and simulation means comprises at least one input means and at least one output means and wherein by means of the monitoring and simulation means the state profile, in particular the load capacity curve of the crane at any time, in particular during movement of the crane and / or the jib of the crane displayed and / or a possible state and / or possible state of the state Cranes, especially the load capacity curve of the crane, can be simulated and / or displayed.
  • the publication EP 0539207 A1 discloses a safety device for a construction vehicle with a boom to which a load is attachable. From the attached load and a boom-position-dependent rated load, a load factor can be determined. A safety operation is performed depending on the load factor.
  • the publication WO2012135882A1 discloses a method for monitoring at least one stability parameter of a loading crane mounted on a vehicle, wherein the vehicle is supported in the crane operation via wheels and on the support separate from the wheels on the ground, characterized in that both contributions of the wheels and contributions of the support elements to a size of the stability parameter and this variable is compared with at least one predetermined limit value.
  • 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. In particular, the above method makes it possible to detect those boom positions in which a local load limit is reached or exceeded in 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 using 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 considered in order to determine the maximum permissible loads, wherein a displacement speed of the boom depending on one thereby determined Course of a load limit in the specified 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.
  • 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
  • FIGS. 1a and 1b 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 ⁇ , 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 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.
  • 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 In the area of the front and rear corners of the mobile crane 1 (four) support means 10 are provided.
  • the support devices 10 each have an extendable support spar 11 which can be telescoped out and retracted with several telescoping cylinders.
  • the support beams 11 are 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 support bars 11 are not fully extended.
  • the maximum permissible load of the mobile crane 1 is regularly determined not only on the basis of the boom strength determined boom strength and restrictions with respect to other parameters, but also significantly on the basis of a load limit, 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 Abstweilholmen 11 of the support means 10.
  • the respective degree of extension of the support bars 11 defines the four (or possibly only three) support positions of the support cylinders 12 on which, as a rule, the entire weight of the mobile crane 1, including the attached load, 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 can be determined from a product of the weight of the mobile crane 1 and the distance of the center of mass of the respective tipping line KL of Abst Reifengeometrie.
  • the difference between the load tilting moment and the stationary 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 load limiting which can be determined 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 rocking angle ⁇ can be determined.
  • 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 rotation angle ⁇ of the boom 5, the tilt angle ⁇ of the boom 5, and the weight of the attached ones To receive 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 in terms of boom rigidity, Abstützgeometrie and with respect to one or more of the other and / or limiting parameters determined and linked together by minimum formation in order for the respective positions of the boom 5 to obtain the total maximum allowable 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 indicates the value of the maximum permissible load in different colors, brightness or shading for different positions of the suspended load about the boom rotation axis. 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 representation possibility based on the current load position, a segment view of the surrounding area about a current load position P.
  • a segment view of the surrounding area For example, based on the current angular position of the boom 5, an angular range of ⁇ 30 ° of the rotation angle ⁇ (other angular ranges are possible) and the entire radius range in a segment representation are displayed.
  • 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). However, 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 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, B. 90% of the maximum 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.
  • Setting the adjustment speed as a function of the gradient of the curve of the maximum permissible load in the direction of the desired adjustment movement has the advantage that an approach to the payload limit is carried out so slowly that an overshoot of the boom 5 or the attached load beyond the load limit is avoided can be.
  • FIG. 4 a flowchart illustrating a method for operating the mobile crane 1 is shown.
  • 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 based on the boom strength table and respectively the one or more function-based load limits based on the other parameters are determined in step S4 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 payload ranges distinguished by different optical design, so that a user can intuitively recognize permissible crane movements for the suspended load.

Landscapes

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

Claims (12)

  1. Procédé d'exploitation d'une grue mobile (1) comportant une flèche (5), le procédé comprenant les étapes suivantes :
    - déterminer les charges admissibles maximales pour plusieurs positions dans une plage de positions prédéfinies de la flèche (5) ;
    - déterminer une allure d'une limite de charge et/ou une ou plusieurs plages de charge sur la base d'une charge suspendue et des charges admissibles maximales pour les plusieurs positions de la plage de positions prédéfinie de la flèche (5), l'allure de la limite de charge correspondant aux positions de la flèche ou aux positions de la charge, auxquelles la charge actuellement suspendue est égale à la charge admissible maximale, les plages de charge indiquant les positions de la flèche ou les positions de charge, auxquelles un rapport de la charge suspendue à la charge admissible maximale se trouve dans une plage prédéfinie ; et
    - exploiter la grue mobile (1) en fonction de l'allure déterminée de la limite de charge et/ou de la ou des plusieurs plages de charge déterminées.
  2. Procédé selon la revendication 1, dans lequel les charges admissibles maximales pour la plage de positions prédéfinie de la flèche (5) sont déterminées à l'aide d'un tableau de résistance de flèche ainsi que sur a base d'une géométrie de support de dispositifs de support (10), dans lequel des limitations de charge respectives sont notamment déterminées par le tableau de résistance de flèche et la géométrie de support pour chacune des plusieurs positions de la flèche (5), dans lequel les charges admissibles maximales sont déterminées grâce à la détermination du minimum des limites de charge déterminées par le tableau de résistance de flèche et par la géométrie de support.
  3. Procédé selon la revendication 2, dans lequel les limitations de charge déterminées par la géométrie de support pour les plusieurs positions de la flèche (5) dans la plage de positions prédéfinie sont déterminées à l'aide d'un bilan des couples autour d'une ou plusieurs lignes de basculement (KL) déterminées par la géométrie de support.
  4. Procédé selon la revendication 2 ou 3, dans lequel les charges admissibles maximales pour les positions dans la plage de positions prédéfinie de la flèche (5) sont déterminées à l'aide de limitations de charge qui sont déterminées par un ou plusieurs modèles de capacité de charge basés sur des diagrammes caractéristiques, basés sur des fonctions ou dépendants d'un ou plusieurs autres paramètres ou par un ou plusieurs paramètres limitatifs.
  5. Procédé selon l'une des revendications 1 à 4, dans lequel, pour l'exploitation de la grue mobile (1), les plusieurs positions de la flèche (5) dans la plage de positions prédéfinie sont prises en compte dans un environnement géométrique déterminé pour la position momentanée de la flèche (5), afin de déterminer les charges admissibles maximales correspondantes, dans lequel une vitesse de déplacement de la flèche (5) est sélectionnée en fonction d'une allure ainsi déterminée d'une limite de charge dans la plage de positions prédéfinie de la flèche (5).
  6. Procédé selon la revendication 5, dans lequel la vitesse de déplacement de la flèche (5) est réglée en fonction d'une charge suspendue et en fonction d'une distance entre une position de la charge suspendue et la limite de charge, dans lequel la limite de charge correspond aux positions de la charge auxquelles la charge suspendue atteint la charge admissible maximale lorsque celle-ci est déplacée dans une direction de déplacement, dans lequel la vitesse de déplacement est en particulier réglée en fonction d'un gradient de l'allure de la charge admissible maximale relative à la direction de déplacement.
  7. Procédé selon l'une des revendications 1 à 6, dans lequel, pour la plage de positions prédéfinie de la flèche (5), les charges admissibles maximales sont représentées dans la plage de positions prédéfinie sur un affichage (22) en tant que valeur absolue ou relative qui indiquent le rapport de la charge suspendue à la charge admissible maximale présente dans la plage de positions prédéfinie pour une position visée de la flèche (5).
  8. Procédé selon la revendication 7, dans lequel la valeur absolue ou relative de la charge admissible maximale est représentée sur l'affichage afin d'être distinguée visuellement, en particulier par une coloration, une luminosité ou une nuance respectivement associée.
  9. Unité de commande (20) pour exploiter une grue mobile (1) comportant une flèche (5), dans laquelle l'unité de commande (20) est conçue pour effectuer des calculs afin de
    - déterminer des charges admissibles maximales pour plusieurs positions dans une plage de positions prédéfinie de la flèche (5) ;
    - déterminer une allure de la limite de charge et/ou une ou plusieurs plages de charge sur la base d'une charge suspendue et des charges admissibles maximales pour les plusieurs positions de la plage de positions prédéfinie de la flèche (5), l'allure de la limite de charge correspondant aux positions de la flèche ou aux positions de la charge auxquelles la charge actuellement suspendue est égale à la charge admissible maximale, les plages de charge indiquant les positions du cantilever ou les positions de charge auxquelles un rapport de la charge suspendue à la charge admissible maximale se trouve dans une plage prédéfinie ; et
    - exploiter la grue mobile (1) en fonction de l'allure de la limite de charge déterminée et/ou de la ou des plages de charge déterminées.
  10. Système de grue mobile (1) comprenant
    - une unité de commande (20) selon la revendication 9 ; et
    - un dispositif d'affichage (21) pour la représentation visuelle d'un affichage (22) afin de représenter, dans la plage de positions prédéfinie de la flèche (5), des charges admissibles maximales en tant que valeurs absolues ou relatives, qui indiquent le rapport de la charge suspendue à la charge admissible maximale présente dans une position de la flèche (5), pour des positions de la flèche (5) dans une plage de positions prédéfinie.
  11. Système de grue mobile (1) comprenant
    - une unité de commande (20) selon la revendication 9 ; et
    - un dispositif d'affichage (21) pour la représentation visuelle d'un affichage (22) afin de représenter, pour la plage de positions prédéfinie, la plage de charge autour d'une position de charge momentanée correspondant à une position momentanée de la flèche.
  12. Système selon la revendication 11, dans lequel le dispositif d'affichage (21) est conçu pour représenter les plages de charge en deux dimensions en tant que plages pouvant être distinguées les unes des autres visuellement, en particulier en tant que plages pouvant être distinguées par leurs couleurs et/ou par leurs luminosités.
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 EP3134344A1 (fr) 2017-03-01
EP3134344B1 true 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)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3362399B1 (fr) 2015-10-16 2019-08-21 Palfinger AG Arrangement d'un dispositif de commande et un module de commande mobile

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6309847B2 (ja) * 2014-07-14 2018-04-11 ファナック株式会社 定格ワークパラメータを超えるワークを搬送可能なロボット制御装置
DE102016104358B4 (de) 2016-03-10 2019-11-07 Manitowoc Crane Group France Sas Verfahren zum Ermitteln der Tragfähigkeit eines Krans sowie Kran
DE102016003566A1 (de) * 2016-03-23 2017-09-28 Liebherr-Werk Biberach Gmbh Verfahren zur Überwachung einer Arbeitsmaschine
US10676328B2 (en) 2016-08-24 2020-06-09 Manitowoc Crane Companies, Llc Crane function performance enhancement for non-symmetrical outrigger arrangements
US10710849B2 (en) 2016-09-15 2020-07-14 Terex Australia Pty Ltd Crane counterweight and suspension
US10549970B2 (en) * 2017-08-02 2020-02-04 Jlg Industries, Inc. Telehandler with cantilever boom mounting
JP6620798B2 (ja) * 2017-08-08 2019-12-18 株式会社タダノ 過負荷防止装置
US11142438B2 (en) 2017-08-28 2021-10-12 Manitowoc Crane Companies, Llc Graphical working range diagrams for displaying allowable and projected loads
IT201700115700A1 (it) * 2017-10-13 2019-04-13 Hyva Holding Bv A predictive stability control method and system for self-propelled work machines
IT201800001688A1 (it) 2018-01-23 2019-07-23 Effer S P A Gru
DE102018129352A1 (de) * 2018-11-21 2020-05-28 Liebherr-Werk Biberach Gmbh Kran sowie Verfahren zum Überwachen des Betriebs eines solchen Krans
EP3722512B1 (fr) * 2019-04-08 2022-06-08 BAUER Maschinen GmbH Appareil de travaux de génie civil en profondeur et son procédé de fonctionnement
JP7416065B2 (ja) * 2019-06-20 2024-01-17 株式会社タダノ 可動範囲表示システムおよび可動範囲表示システムを備えるクレーン
DE102019118902A1 (de) * 2019-07-12 2021-01-14 Putzmeister Engineering Gmbh Fahrbare Betonpumpe
DE102019121628B3 (de) * 2019-08-12 2020-08-20 Franka Emika Gmbh Verfahren zum Betreiben eines Robotermanipulators mit erhöhter Masse einer Last
WO2021072503A1 (fr) * 2019-10-17 2021-04-22 Terex Australia Pty Ltd Commande d'opération de grue mobile
IT202000006757A1 (it) 2020-03-31 2021-10-01 Manitou Italia Srl Simulatore per telehandler.
FI20205576A1 (fi) * 2020-06-03 2021-12-04 Ponsse Oyj Työkoneen puomiston ohjaaminen
IT202100023042A1 (it) * 2021-09-07 2023-03-07 Magni Real Estate S R L Procedimento di generazione di diagrammi di carico per sollevatori telescopici
CN114044452B (zh) * 2021-10-27 2023-06-23 浙江三一装备有限公司 作业机械作业控制方法、装置及作业机械

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0539207A1 (fr) 1991-10-24 1993-04-28 Kabushiki Kaisha Kobe Seiko Sho Dispositif de sécurité pour engin de construction
US5730305A (en) 1988-12-27 1998-03-24 Kato Works Co., Ltd. Crane safety apparatus
US5823370A (en) 1995-03-03 1998-10-20 Komatsu Ltd. Movable range indicating apparatus for mobile crane vehicle
DE19933917A1 (de) 1998-07-21 2000-02-03 Kobe Steel Ltd Arbeitsmaschine in Schwenkart und Verfahren zum Einstellen eines Sicherheitsarbeitsbereiches und einer Nennlast bei dieser
DE202010014309U1 (de) 2010-10-14 2012-01-18 Liebherr-Werk Ehingen Gmbh Kran, insbesondere Raupen- oder Mobilkran
DE202010014310U1 (de) 2010-10-14 2012-01-18 Liebherr-Werk Ehingen Gmbh Kran, insbesondere Raupen- oder Mobilkran
WO2012135882A1 (fr) 2011-04-08 2012-10-11 Palfinger Ag Procédé et dispositif pour la surveillance de la stabilité au renversement d'une grue de chargement montée sur un véhicule
EP2674384A1 (fr) 2012-06-13 2013-12-18 Liebherr-Werk Ehingen GmbH Procédé de surveillance de la sécurité d'une grue et grue

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH03130291U (fr) * 1990-04-10 1991-12-27
JPH07125987A (ja) * 1993-11-08 1995-05-16 Komatsu Mec Corp 移動式クレーンの吊り荷重、転倒モーメント検出装置
US6028354A (en) 1997-10-14 2000-02-22 Amkor Technology, Inc. Microelectronic device package having a heat sink structure for increasing the thermal conductivity of the package
JP2002250055A (ja) * 2001-02-23 2002-09-06 Komatsu Ltd 建設機械車両とその表示装置
DE10155006B4 (de) 2001-11-06 2004-12-16 Terex-Demag Gmbh & Co. Kg Fahrzeugkran mit Superlifteinrichtung
DE202006017730U1 (de) 2006-11-21 2008-04-03 Liebherr-Werk Ehingen Gmbh Mobilkran
DE102010025022A1 (de) * 2010-06-24 2011-12-29 Hirschmann Automation And Control Gmbh Verfahren zur Lastmomentbegrenzung eines Arbeitsfahrzeuges mit einem Ausleger
DE102012011726C5 (de) * 2012-06-13 2024-06-13 Liebherr-Werk Ehingen Gmbh Verfahren zum Betreiben eines Krans mit Überwachungseinheit sowie Kran

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5730305A (en) 1988-12-27 1998-03-24 Kato Works Co., Ltd. Crane safety apparatus
EP0539207A1 (fr) 1991-10-24 1993-04-28 Kabushiki Kaisha Kobe Seiko Sho Dispositif de sécurité pour engin de construction
US5823370A (en) 1995-03-03 1998-10-20 Komatsu Ltd. Movable range indicating apparatus for mobile crane vehicle
DE19933917A1 (de) 1998-07-21 2000-02-03 Kobe Steel Ltd Arbeitsmaschine in Schwenkart und Verfahren zum Einstellen eines Sicherheitsarbeitsbereiches und einer Nennlast bei dieser
DE202010014309U1 (de) 2010-10-14 2012-01-18 Liebherr-Werk Ehingen Gmbh Kran, insbesondere Raupen- oder Mobilkran
DE202010014310U1 (de) 2010-10-14 2012-01-18 Liebherr-Werk Ehingen Gmbh Kran, insbesondere Raupen- oder Mobilkran
WO2012135882A1 (fr) 2011-04-08 2012-10-11 Palfinger Ag Procédé et dispositif pour la surveillance de la stabilité au renversement d'une grue de chargement montée sur un véhicule
EP2674384A1 (fr) 2012-06-13 2013-12-18 Liebherr-Werk Ehingen GmbH Procédé de surveillance de la sécurité d'une grue et grue

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
ANONYMOUS: "Grove GCK 3045 Product Guide", MANITOWOC, 19 January 2009 (2009-01-19), pages 1 - 23, XP055613035
ANONYMOUS: "Grove GCK3045 Betriebsanleitung", MANITOWOC, 26 May 2010 (2010-05-26), pages 6-25, 6-28, 6-100 - 6-101, XP055613050
ANONYMOUS: "Grove GCK3045 Features and benefits", MANITOWOC, 2009, pages 9, XP055613046

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3362399B1 (fr) 2015-10-16 2019-08-21 Palfinger AG Arrangement d'un dispositif de commande et un module de commande mobile
EP3362399B2 (fr) † 2015-10-16 2024-02-14 Palfinger AG Arrangement d'un dispositif de commande et un module de commande mobile

Also Published As

Publication number Publication date
CN106715317B (zh) 2019-10-18
US10144621B2 (en) 2018-12-04
CN106715317A (zh) 2017-05-24
EP3134344A1 (fr) 2017-03-01
US20170036894A1 (en) 2017-02-09
JP2017513784A (ja) 2017-06-01
DE102014105618A1 (de) 2015-10-22
EP3134344B2 (fr) 2024-04-17
WO2015162096A1 (fr) 2015-10-29

Similar Documents

Publication Publication Date Title
EP3134344B1 (fr) Procédé et appareil pour faire fonctionner une grue mobile ainsi que la grue mobile
EP3219662B1 (fr) Procédé de détermination de la capacité de charge d'une grue et grue
EP1925585B1 (fr) Grue mobile
DE102011107754B4 (de) Winkelbezogenes Verfahren zur Überwachung der Kransicherheit während des Rüstvorgangs, sowie Kran und Kransteuerung
EP3470362B1 (fr) Procédé et dispositif pour la surveillance de la stabilité au renversement d'une grue de chargement montée sur un véhicule
EP2799386B1 (fr) Dispositif et procédé de détermination et de surveillance d'un contre-poids équipé sur une grue
EP1937913A1 (fr) Mat operationnel destine notamment a des manipulateurs de grandes dimensions et a des pompes a beton mobiles
EP2113481A1 (fr) Grue mobile avec système de supervision
EP1748021B2 (fr) Procédé de mésure de charge pour grue
EP3362399B1 (fr) Arrangement d'un dispositif de commande et un module de commande mobile
EP2686265B1 (fr) Dispositif de chargement utilisant un appareil de chargement télescopique
EP3856673B1 (fr) Grue et procédé pour surveiller le fonctionnement d'une telle grue
DE19931302B4 (de) Kontinuierlich verstellbarer Kran
DE102020125152A1 (de) Hubkapazitätssystem für Hebemaschinen
DE3711239A1 (de) Einrichtung zur sicherung von verfahrbaren ladegeraeten
EP2378054B1 (fr) Engin avec un dispositif de sécurité
DE112014002081B4 (de) Sensorbasierte Überwachung von Windrichtung und Wärmeeinstrahlung für ein mobiles Arbeitsgerät
EP3546414B1 (fr) Procédé de détermination du poids d'une charge reçue par une machine de chargement et machine de chargement associée
DE202013101202U1 (de) Standsicherheitskontrolleinrichtung sowie Nutzfahrzeug
DE102021128317A1 (de) Verfahren und System zur Planung eines Einsatzes zum Heben einer Last mit einem Kran
DE202019105397U1 (de) Sicherheitseinrichtung für Baumaschinen und dergleichen
DE102023123236A1 (de) Hubkraftleistungssysteme und verfahren für hebemaschinen
DE29924978U1 (de) Kontinuierlich verstellbarer Kran
DE102021133477A1 (de) Autobetonpumpe
DE102014112900A1 (de) Anzeigevorrichtung für ein Flurförderzeug

Legal Events

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

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

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20161121

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: B66C 13/18 20060101ALI20180321BHEP

Ipc: B66C 23/90 20060101AFI20180321BHEP

Ipc: B66C 13/16 20060101ALI20180321BHEP

Ipc: B66C 23/36 20060101ALI20180321BHEP

INTG Intention to grant announced

Effective date: 20180425

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

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

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502015005836

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1040320

Country of ref document: AT

Kind code of ref document: T

Effective date: 20181015

REG Reference to a national code

Ref country code: NL

Ref legal event code: FP

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: 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: 20180912

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: 20180912

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: 20181212

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: 20180912

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: 20181212

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: 20181213

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: 20180912

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

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: 20180912

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: 20180912

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: 20180912

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: 20180912

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: 20180912

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: 20190112

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: 20180912

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: 20180912

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: 20180912

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

Ref country code: SM

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

Effective date: 20180912

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: 20190112

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: 20180912

REG Reference to a national code

Ref country code: DE

Ref legal event code: R026

Ref document number: 502015005836

Country of ref document: DE

PLBI Opposition filed

Free format text: ORIGINAL CODE: 0009260

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

Free format text: ORIGINAL CODE: EPIDOSNOBS2

26 Opposition filed

Opponent name: MANITOWOC CRANE GROUP GERMANY GMBH

Effective date: 20190612

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

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: 20180912

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: 20180912

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

Free format text: ORIGINAL CODE: EPIDOSNOBS3

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

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: 20180912

Ref country code: LU

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

Effective date: 20190420

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

Ref country code: CH

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

Effective date: 20190430

Ref country code: LI

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

Effective date: 20190430

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

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: 20180912

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

Ref country code: IE

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

Effective date: 20190420

RAP2 Party data changed (patent owner data changed or rights of a patent transferred)

Owner name: TADANO DEMAG GMBH

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: 20180912

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1040320

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200420

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: 20180912

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: 20150420

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

Ref country code: AT

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

Effective date: 20200420

APAH Appeal reference modified

Free format text: ORIGINAL CODE: EPIDOSCREFNO

APBM Appeal reference recorded

Free format text: ORIGINAL CODE: EPIDOSNREFNO

APBP Date of receipt of notice of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA2O

APBQ Date of receipt of statement of grounds of appeal recorded

Free format text: ORIGINAL CODE: EPIDOSNNOA3O

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

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: 20180912

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

Effective date: 20230530

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

Ref country code: IT

Payment date: 20230426

Year of fee payment: 9

Ref country code: FR

Payment date: 20230424

Year of fee payment: 9

Ref country code: DE

Payment date: 20230420

Year of fee payment: 9

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

Ref country code: BE

Payment date: 20230419

Year of fee payment: 9

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

Ref country code: GB

Payment date: 20230419

Year of fee payment: 9

APBU Appeal procedure closed

Free format text: ORIGINAL CODE: EPIDOSNNOA9O

PUAH Patent maintained in amended form

Free format text: ORIGINAL CODE: 0009272

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

Free format text: STATUS: PATENT MAINTAINED AS AMENDED

27A Patent maintained in amended form

Effective date: 20240417

AK Designated contracting states

Kind code of ref document: B2

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: DE

Ref legal event code: R102

Ref document number: 502015005836

Country of ref document: DE

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

Ref country code: NL

Payment date: 20240418

Year of fee payment: 10