EP3256415B1 - Grue ainsi que procédé pour surveiller la protection contre la surcharge d'une telle grue - Google Patents

Grue ainsi que procédé pour surveiller la protection contre la surcharge d'une telle grue Download PDF

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Publication number
EP3256415B1
EP3256415B1 EP16703432.1A EP16703432A EP3256415B1 EP 3256415 B1 EP3256415 B1 EP 3256415B1 EP 16703432 A EP16703432 A EP 16703432A EP 3256415 B1 EP3256415 B1 EP 3256415B1
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EP
European Patent Office
Prior art keywords
boom
crane
load
torque
dead
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
EP16703432.1A
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German (de)
English (en)
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EP3256415A1 (fr
Inventor
Simon WIEST
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.)
Liebherr Components Biberach GmbH
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Liebherr Components Biberach GmbH
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Publication of EP3256415A1 publication Critical patent/EP3256415A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • 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
    • B66C15/00—Safety gear
    • B66C15/06—Arrangements or use of warning devices
    • B66C15/065—Arrangements or use of warning devices electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B66C23/821—Bracing equipment for booms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment

Definitions

  • the present invention relates to a crane with a boom, on which at least one load suspension device can be raised and lowered, an overload protection device having detection means for detecting the radius and the load on the at least one load suspension device, and a monitoring device for monitoring the overload protection device being provided and Determination means for determining a guy holding the boom and / or induced in a guy.
  • the invention also relates to a method for monitoring the overload protection device of such a crane.
  • the crane load is usually monitored by means of a crane control or an overload protection device implemented therein to determine whether a critical load limit has been reached, so that the crane threatens to topple over or is otherwise endangered in order to then switch off the corresponding drive devices of the crane in good time if necessary.
  • an overload protection device usually works with stored load curves, which are the permissible load for a respective radius Specify, where the actual outreach and the actual load are recorded on the crane by means of sensors and compared with the load for the respective outreach permitted by the stored load curve.
  • the crane drives are switched off by the overload protection device or at least slowed down and / or a corresponding warning signal is displayed.
  • the actual load can be determined, for example, from the hoist cable taking into account the reeving, for example by means of a lifting force sensor indicating the driving force of the hoisting winch or also force sensors assigned to deflection rollers or cylinders.
  • the outreach i.e.
  • the horizontal distance from an assumed tipping axis, in particular from the articulation or luffing axis of the jib can be determined in different ways depending on the type of crane, for example by means of a position sensor which indicates the position of a trolley cable winch, or an angular position transmitter which Indicates the angle of attack of the boom or other suitable projection sensors, it also being possible to provide a plurality of such sensors or detection means in combination with one another.
  • an overload protection device can only work safely and reliably if the said detection means actually detect the overhang and the load correctly and precisely and do not supply incorrect values.
  • angle sensors that are intended to detect the jib angle of attack slip, or the load detection means incorrectly detect the actual load because they are based on incorrect rope reeving. If, for example, the load hook is operated with a double reeving, but the overload protection device assumes only a single reeving, the load hook actually hangs a load twice as large as specified by the load detection means.
  • the overload protection device would assume incorrect values of the actual throat and / or the actual load, so that despite The stability of the crane may be jeopardized in comparison with the permissible load value for the corresponding radius according to the stored load curve.
  • a tower crane is known whose overload protection calculates a product corresponding to the load moment from the measured load and the outreach.
  • the load torque is measured directly using a load torque sensor that detects the deformation of a corner post of the tower top.
  • the immediately measured load torque is compared with the calculated product, a signal being emitted if the immediately measured load torque deviates from the product by a predetermined value.
  • the present invention is therefore based on the object of specifying an improved crane and an improved method for monitoring the overload protection device, avoiding the disadvantages of the prior art and developing the latter in an advantageous manner.
  • precise and permanently reliable monitoring of the overload protection device and its load and unloading detection means are to be created without complex scaling processes.
  • the monitoring device determines an anchoring torque online in crane operation from the continuously determined anchoring force, determines a load moment from the continuously measured radius and the continuously detected load, determines a dead moment with the aid of stored crane data, the sum of the mentioned load moment and the compares said dead torque with said tensioning torque and, if a deviation determined during the adjustment exceeds a tolerance threshold, emits an error and / or shutdown signal.
  • the evaluation unit determines that the tensioning torque calculated by the torque calculator does not correspond to the sum of the opposing load and dead moments or deviates too much from it, it can be assumed that the sensor or the detection means of the overload protection device detects the load and detect the outreach, something is wrong or the overload protection device is incorrectly calculating.
  • the tolerance threshold mentioned can be set appropriately in order to take into account variable secondary loads such as, for example, wind forces, retrospectively attached billboards on the boom or other disturbance variables such as, for example, customary measurement tolerances.
  • the monitoring can be carried out much more precisely and precisely and even minor errors, for example by slipping angle sensors, can be noticed, whereby by the determination of the dead torque with the help of stored crane data is no longer a complex scaling process or the operator no longer has to configure any special parameters when scaling, ie adjusting the crane.
  • the data required for monitoring can be loaded semi-automatically or fully automatically in the background when setting up the crane.
  • the monitoring device mentioned can in particular also be used to monitor a crane with a luffing jib and the angle detector of the overload protection device provided for determining the jib angle of attack.
  • the angle detector mentioned can in principle be designed differently, for example an angle position sensor which is attached in the region of the luffing axis of the boom.
  • a drum position and / or drive position sensor can also be provided as the angle detector, which is assigned to a retraction mechanism and / or detects the position of the guy rope and / or linkage for the boom and thus the boom angle.
  • the boom angle of attack determined with the aid of the mentioned angle of inclination or luffing angle is taken into account both when determining the load moment and when determining the dead moment, since a change in the angle of the boom means both the unloading of the load suspension device and the lever arm or the unloading of the center of gravity of the dead leg mass can influence.
  • the monitoring device or its torque calculator can calculate the aforementioned dead torque on the basis of the stored crane data, which can include the boom weight, the boom length, the center of gravity and / or the center of gravity distance from the luffing axis of the boom, taking into account the aforementioned boom angle or luffing angle.
  • the fact that the lever arm of the dead mass and thus the dead moment becomes smaller with an increasingly steeper boom can be taken into account by taking the boom luffing angle into account.
  • the torque calculator can also take the angle of attack into account for the load torque, since the lever arm or the outreach of the load suspension device and thus the resulting load torque becomes smaller with an increasingly steeper boom.
  • the boom angle of attack determined by the named angle detector or luffing angle sensor can, however, not only be taken into account when calculating the dead moment and the load moment, but also when calculating the guying torque rotating in the opposite direction, since the effective lever arm of the guying usually also changes by adjusting the angle of the boom.
  • the monitoring device or its torque calculator calculates a lever arm of the anchoring force on the jib, the outreach of the at least one load-carrying device and the lever arm of the dead load of the jib, from the respectively determined jib angle of attack or luffing angle, in order then to additionally use the respectively determined anchoring force, the respective to determine the specific torque and the stored boom dead weight and to compare the torque rotating clockwise and counterclockwise.
  • the multiple load handlers can each individual lever arms are determined or projections are taken into account in order to precisely determine the load moments generated in each case.
  • the monitoring device can advantageously assume that the lever arm can be related to a common tilt axis.
  • the monitoring device can relate all lever arms of the guying, load and dead load forces to the luffing axis of the boom, whereby a simple yet sufficiently precise torque calculation can be achieved.
  • the calculation model used for this purpose, which the monitoring device uses, is hereby significantly simplified without losing accuracy.
  • the torque calculation can also be based on different or other tilting axes, for example the base of the tower of a tower crane or an undercarriage support point located under the boom.
  • the aforementioned calculation of the lever arms based on the luffing axis of the boom noticeably simplifies the moment calculation.
  • determining means for determining the guying force holding the boom or induced in the guying can basically be designed differently.
  • a force transmitter can be assigned to the neck rope or the neck tensioning rod that holds the boom in order to measure the tensioning force directly.
  • at least one force transmitter can also be assigned to a guy strut or support, for example in the form of a spire over which the guy rope runs, in order to detect reaction forces induced by the guy rope or linkage in the guy support.
  • force and / or expansion and / or bending deformation sensors can also be assigned to a structural part of the crane, which is subjected to a corresponding deformation due to the anchoring force.
  • a structural part of the crane which is subjected to a corresponding deformation due to the anchoring force.
  • the bending moment introduced into the tower or the bending and / or expansion load resulting in the tower can be recorded, which is a measure of the bracing or reaction torque counteracting the load and dead moments.
  • the anchoring force used in the context of the present invention can mean the force directly induced in an anchoring or holding the boom or an associated reaction force that occurs in a structural part of the crane and a measure of the anchoring counteracting the load and dead moments. or reaction moment.
  • the crane 1 can be designed as a construction crane or tower crane, which comprises a tower 2, which can be supported on a rotating platform 3, which is seated on an undercarriage and can be rotated about an upright axis of rotation.
  • a top-slewing tower 2 When trained as a top-slewing tower 2 can also be anchored in a rotationally fixed manner.
  • the aforementioned undercarriage can be designed as a truck, caterpillar carriage or can be moved in some other way, but can also be a firmly anchored or firmly supported support base.
  • Said tower 2 can carry a boom 3 which can be rocked up and down about a horizontal rocking axis 4, which can extend at the foot of the boom 3 or between tower 2 and boom 3.
  • a top-slewing boom 3 When designed as a top-slewing boom 3 can also be rotated about an upright axis, in particular the longitudinal axis of the tower around the tower 2.
  • the cantilever 3 is anchored by means of anchoring 5, said anchoring 5 can have a neck rope 7 which can be adjusted by a retractor 7, by the rocking angle or the angle of attack of the cantilever 3 preferably to be able to adjust continuously.
  • the mentioned neck rope 7 can in this case be guided or deflected over a tower tip 8 which is only indicated, but alternatively or additionally also other support struts and in particular instead of a guy rope also a guy rod can be provided.
  • a lifting cable with a load hook 9 articulated thereon can run off via a corresponding deflection roller in the area of the boom tip, wherein said load hook 9 or the lifting cable connected thereto could also be guided over a trolley which runs along the boom 3 in a manner known per se can be moved.
  • a boom extension 10 in the form of a flyjib can be attached to the boom 3, it being possible for a further lifting device in the form of a load hook 11 to run off the flyjib on a corresponding lifting rope.
  • Fig. 1 illustrates, act on the boom 3 several useful and dead load forces, which have different lever arms and according Fig. 1 exert clockwise rotating moments on the boom 3.
  • the load hooks 9 and 11 running from the boom 3 or the boom extension 10 pull the boom 3 accordingly Fig. 1 clockwise downwards, whereby the forces F G + S and F * G + S each result from the payload attached to the load hook 9 or 11 and the rope and hook weight.
  • the horizontal radius of the forces F G + S and F * G + S determines their lever arm I G + S and I FJ with respect to the luffing axis 4 of the boom 3, which can be regarded as a tilting axis.
  • the dead load of the boom 3 tries this boom 3 with the force F A according to Fig. 1 pull clockwise downwards, the dead load mentioned being composed of the dead weight of the boom 3, the dead weight of the flyjib or the boom extension 10 and any additional components attached to it, such as a trolley rope, deflection pulleys, headlights, winches, actuators and other attachments can.
  • the dead load representative dead load force F A can be regarded as attacking in the center of gravity S, cf. Fig. 1 .
  • the dead loads or weight forces mentioned and the geometry of the boom including the distance of the center of gravity S from the luffing axis 4 can be stored in the form of crane data in a memory 12 of the crane control 13.
  • the anchoring force F N acts on the cantilever 3, which can be applied by the aforementioned neck rope of the anchoring 5 and according to Fig. 1 tries to pull the boom 3 counterclockwise.
  • the above-mentioned bracing force F N has the in Fig. 1 visible lever arm I N , which forms a straight line through the rocking axis 4 perpendicular to the neck rope 7.
  • the lever arms I A , I G + S and I FJ of the payloads and dead loads and also the lever arm I N of the guying force F N are influenced by the luffing angle or angle of attack of the boom 3, the lever arms I A , I G + S and I FJ of dead loads and payloads change significantly more when the angle of attack of the boom 3 changes than the lever arm I N of the tensioning force F N , at least in the usual angle of attack of the boom 3, which is between a horizontal orientation of the boom 3 and an orientation of the boom 3 pointing upwards at an acute angle to the vertical can be enough.
  • the lesser influence on the lever arm I N of the guying force F N is essentially due to the geometry of the guying, since the guying angle of the neck rope 6 to the jib 3 is adjusted relatively weakly when the jib 3 is rocked, if the jib 3 is in a conventional manner is quite long in relation to the height of the spire.
  • An overload protection device 14 implemented in the crane control 13 determines the unloading of the payloads F G + S and F * G + S as well as the payloads themselves using suitable detection means 15 and 16.
  • an angle transmitter 17 can detect the luffing or pitching angle of the boom 3 , so that the outreach, ie the lever arms I G + S and I FJ, can be determined using the stored crane geometry or boom geometry data. If a trolley can be moved on the boom 3, a trolley position transmitter can also be provided.
  • the lifting cables leading to the load hooks 9 and 11 can be provided with lifting force transmitters 18, which can be assigned to the lifting winch drives or deflection roller suspensions in order to determine the lifting cable forces.
  • the overload protection device 14 mentioned can carry out a comparison with one or more load curves, which can / can be stored in the memory of the crane control 13.
  • load curve 23 is shown by way of example in FIG. 4.
  • a monitoring device 19 which consists of the aforementioned payloads and dead loads F G + S , F * G + S and F A and the associated overhang values or lever arms I G + S , I FJ and I A calculates the payload and dead load moments acting on the boom 3. These useful and dead load moments all act clockwise Fig. 1 and Fig. 2 ,
  • the above-mentioned monitoring device 19 or the torque computer 20 implemented therein calculates this in the counterclockwise direction Fig. 1 and Fig. 2 on the boom 3 acting torque, which results from the Anchoring force F N and the associated lever arm I N results.
  • the angle of attack of the boom 3, which is measured by the aforementioned angle sensor 17, is taken into account in the torque calculation, more precisely in the determination of the lever arms.
  • An evaluation unit 21 of the monitoring device 19 compares the above-mentioned tensioning torque which rotates counterclockwise with the sum of the load and dead load torques rotating clockwise, cf. Fig. 2 , To be more precise, said evaluation unit 21 determines the difference between said tensioning torque rotating counterclockwise and the sum of the load and dead load torques rotating clockwise. If the resulting difference exceeds a certain tolerance threshold, the evaluation unit 21 concludes that the overload protection device 14, in particular its detection means 15 and 16, is not working properly.
  • the evaluation unit 21 can on the one hand issue an error message, which can be output on a display device in the crane cabin and / or on a display device on the radio terminal.
  • the evaluation unit 21 can also output a shutdown signal in order to shutdown actuators, in particular a main linkage drive and / or a flyjib winch drive and / or a retracting gear drive.
  • the tolerance threshold mentioned serves to take into account disturbance variables such as wind forces, retrospectively attached advertising signs on the boom or other disturbance variables and can be stored in the memory 12 of the crane control 13 in the form of a fixed, predetermined threshold value.
  • the tolerance threshold mentioned can also be adapted to the resulting disturbance variables, for example depending on a wind measurement signal, in particular in such a way that the tolerance threshold is lowered when there is little or no wind and the tolerance threshold is increased with increasingly larger, stronger winds.
  • An adaptation of the tolerance threshold depending on other influencing variables is conceivable.
  • the monitoring device 19 can determine the tensioning force F N by means of a force transmitter 24 or detect it by sensors, wherein the said force transmitter 24 can be directly assigned to the tensioning 5 or the neck rope 6.
  • the force transmitter 24 can detect the winch torque of the pull-in unit 7 on which the neck rope 6 is wound.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jib Cranes (AREA)

Claims (7)

  1. Grue avec une flèche (3), au niveau de laquelle est installé de manière à pouvoir être relevé et abaissé au moins un moyen de réception de charges (9, 11), dans lequel un dispositif de sécurité anti-surcharge (14) présente des moyens de détection (15, 16) servant à détecter le porte-à-faux et la charge au niveau de l'au moins un moyen de réception de charges (9, 11) et est réalisé pour compenser la charge détectée et le porte-à-faux détecté avec une courbe de charge sauvegardée et pour désactiver et/ou ralentir, lorsque la courbe de charge est atteinte ou dépassée, un entraînement de grue, et dans lequel un dispositif de surveillance (19) est prévu pour surveiller le dispositif de sécurité anti-surcharge (14) et présente des moyens de définition (22) servant à définir une force de haubanage maintenant la flèche (3) et/ou induite dans un haubanage (5), dans lequel le dispositif de surveillance (19) est réalisé pour définir à partir du porte-à-faux (IG+S, IFJ) détecté et de la charge (FG+S, F*G+S) détectée un couple de charge (FG+S x IG+S + F*G+S x IFJ), caractérisé en ce que le dispositif de surveillance (19) est réalisé pour définir en ligne lors du fonctionnement de la grue à partir de la force de haubanage (FN) définie un couple de haubanage (FN x IN), pour définir en recourant à des données de grue mémorisées un couple mort (FA x IA), pour compenser la somme dudit couple de charge (FG+S x IG+S + F*G+S x IFJ) et dudit couple mort (FA x IA) avec le couple de haubanage (FN x IN) puis pour émettre un signal d'erreur et/ou de désactivation quand un écart entre le couple de haubanage et ladite somme du couple de charge et du couple mort dépasse un seuil de tolérance.
  2. Grue selon la revendication précédente, dans laquelle la flèche (3) est montée de manière à pouvoir basculer autour d'un axe de basculement (4) horizontal et les moyens de détection (15) du dispositif de protection anti-surcharge (14) servant à détecter le porte-à-faux présentent un émetteur d'angle de basculement (17) servant à définir un angle de basculement de flèche ou d'attaque de flèche (β), dans laquelle le dispositif de surveillance (19) est réalisé pour prendre en compte l'angle d'attaque de flèche (β) défini par l'émetteur d'angle de basculement (17) à la fois lors de la définition du couple de charge et du couple mort et lors de la définition du couple de haubanage.
  3. Grue selon la revendication précédente, dans laquelle le dispositif de surveillance (19) peut calculer à partir de l'angle d'attaque de flèche (β) défini par l'émetteur d'angle de basculement (17) un bras de levier (IN) de la force de haubanage (FN) sur la flèche (3), le porte-à-faux (IG+S, IFJ) de l'au moins un moyen de réception de charges (9, 11) et le bras de levier (IA) de la force de charge morte (FA) de la flèche (3).
  4. Grue selon l'une quelconque des revendications précédentes, dans laquelle le dispositif de surveillance (19) est réalisé pour fournir et/ou calculer par rapport à l'axe de basculement commun mentionné le bras de levier (IN) de la force de haubanage (FN), le porte-à-faux (IG+S, IFJ) de l'au moins un moyen de réception de charges (9, 11) et le bras de levier (IA) de la force de charge morte (FA) de la flèche (3) sur un axe de basculement commun, en particulier l'axe de basculement (4) de la flèche (3).
  5. Grue selon l'une quelconque des revendications précédentes, dans laquelle les moyens de définition (22) servant à définir la force de haubanage (FN) présentent un émetteur de force servant à détecter la force de traction dans un câble ou une tringle d'encolure (6) et/ou sont associés audit câble ou ladite tringle d'encolure (6).
  6. Grue selon l'une quelconque des revendications précédentes, dans laquelle les données de grue mémorisées comprennent le poids de la flèche (3) et/ou le poids d'une rallonge de flèche (10) et/ou la longueur de la flèche (3) et/ou la longueur de la rallonge de flèche (10) et/ou l'espacement du centre de gravité (S) de la flèche (3) par rapport à un axe de basculement de flèche (4) et/ou l'espacement du centre de gravité de la rallonge de flèche (10) par rapport à l'axe de basculement de flèche (4).
  7. Procédé servant à surveiller le dispositif de sécurité anti-surcharge (14) d'une grue (1), qui détecte au moyen de moyens de détection (15, 16) la charge utile agissant au niveau d'au moins un moyen de réception de charges (9, 11) et le porte-à-faux de l'au moins un moyen de réception de charges et la compare à une valeur de charge admise pour le porte-à-faux respectif, issue d'une courbe de charge sauvegardée et émet, lorsque la valeur de charge admise est atteinte ou dépassée, un signal d'alerte et/ou désactive et/ou ralentit au moins un entraînement de grue, dans lequel le bon fonctionnement du dispositif de sécurité anti-surcharge (14) est surveillé par un dispositif de surveillance (19), caractérisé en ce qu'un couple de haubanage est défini par le dispositif de surveillance (19) en continu également lors du fonctionnement de grue à partir d'une force de haubanage définie constamment, un couple de charge est défini à partir du porte-à-faux détecté et de la charge utile détectée, un couple mort est défini à partir de données de grue mémorisées, la différence entre le couple de haubanage défini et la somme dudit couple de charge et du couple mort est obtenue et un signal d'erreur et/ou de désactivation est émis en cas de dépassement d'un seuil de tolérance par ladite différence.
EP16703432.1A 2015-02-09 2016-02-04 Grue ainsi que procédé pour surveiller la protection contre la surcharge d'une telle grue Active EP3256415B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202015001023.7U DE202015001023U1 (de) 2015-02-09 2015-02-09 Kran
PCT/EP2016/000188 WO2016128122A1 (fr) 2015-02-09 2016-02-04 Grue et procédé pour surveiller la sécurité de surcharge d'une telle grue

Publications (2)

Publication Number Publication Date
EP3256415A1 EP3256415A1 (fr) 2017-12-20
EP3256415B1 true EP3256415B1 (fr) 2020-01-08

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Country Status (8)

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US (1) US10597266B2 (fr)
EP (1) EP3256415B1 (fr)
CN (1) CN107207227B (fr)
BR (1) BR112017016438B1 (fr)
DE (1) DE202015001023U1 (fr)
ES (1) ES2775549T3 (fr)
RU (1) RU2709322C2 (fr)
WO (1) WO2016128122A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE202015001023U1 (de) 2015-02-09 2016-05-10 Liebherr-Components Biberach Gmbh Kran
DE202015001024U1 (de) * 2015-02-09 2016-05-10 Liebherr-Werk Biberach Gmbh Kran mit Überwachungsvorrichtung zum Überwachen der Überlastsicherung
DE102016104358B4 (de) * 2016-03-10 2019-11-07 Manitowoc Crane Group France Sas Verfahren zum Ermitteln der Tragfähigkeit eines Krans sowie Kran
DE102017113386A1 (de) * 2017-06-19 2018-12-20 Liebherr-Werk Nenzing Gmbh Hebezeug, insbesondere ein Mobilkran oder ein Seilbagger, mit einer Vorrichtung zur Überwachung des Aufricht- und Ablegevorganges eines Auslegersystems und entsprechendes Verfahren
CN109218126B (zh) * 2017-06-30 2023-10-17 中兴通讯股份有限公司 监测节点存活状态的方法、装置及系统
JP6956645B2 (ja) * 2018-02-06 2021-11-02 住友重機械建機クレーン株式会社 吊荷重演算装置
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WO2016128122A1 (fr) 2016-08-18
ES2775549T3 (es) 2020-07-27
US10597266B2 (en) 2020-03-24
CN107207227B (zh) 2019-03-29
DE202015001023U1 (de) 2016-05-10
BR112017016438B1 (pt) 2022-05-03
CN107207227A (zh) 2017-09-26
BR112017016438A2 (pt) 2018-04-10
RU2017131350A3 (fr) 2019-08-15
RU2017131350A (ru) 2019-03-11
EP3256415A1 (fr) 2017-12-20
US20170334687A1 (en) 2017-11-23
RU2709322C2 (ru) 2019-12-17

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