EP3378823A1 - Crane - Google Patents

Abstract

Crane (1) with - At least one crane arm with a crane tip (2), wherein at the crane tip (2) a working device (3) can be arranged, wherein the working device (3) and / or at least a part of the working device (3) relative to the crane tip (2) movable is and - A crane control (4) for controlling the at least one crane arm and the working device (3) and / or the at least a part of the working device (3), wherein the crane control (4) in a first operating mode for the delivery of control commands from a user for movement the at least one crane arm and for moving the working device (3) and / or for moving the at least one part of the working device (3) is formed, wherein the crane control system (4) has an activatable further operating mode in which the crane control system (4) is designed, with a working device (3) arranged on the crane tip (2), upon delivery of predetermined control commands by a user to move the crane tip (2) arranged working device (3) and / or for moving the at least part of the at the crane tip (2) arranged working device (3) of the crane control (4) for at least partial compensation of at least one component of the movement of the working device (3) and / or Movement of at least part of the implement (3) additional control commands for moving the at least one crane arm can be output.

Description

The invention relates to a crane having the features of the preamble of claim 1.

In a generic crane, the crane arm as well as a work implement arranged at the crane tip or a part of a work implement arranged at the crane tip can be moved relative to the crane arm by issuing corresponding control commands by a user by means of the crane control. In this case, a coordination of certain movements of the crane arm and certain movements of the implement or parts of the implement can make high demands on the user of the crane and be associated with increased operating and slowed down speed. Also, incorrect operation, for example, by an insufficiently trained user or carelessness, in a coordination of certain movements of the crane arm and certain movements of the implement or parts of the implement - but also in an unfavorable movement of the implement or parts of the implement - Damage to Crane, on the implement, on a possibly to be lifted load or on the ground, which serves the crane as footprint or possibly lifting load as a storage area arise.

The object of the invention is to provide a crane that has easier operation and increased security against incorrect operation.

This object is achieved by a crane having the features of claim 1. Advantageous embodiments of the invention are defined in the dependent claims.

As in the case of a generic crane, the crane according to the invention initially also has at least one crane arm with a crane tip, wherein a working device can be arranged on the crane tip. As a crane tip, for example, a free end of the crane arm can be understood. The implement itself and / or at least a portion of the implement is movable relative to the crane tip. As a working device can basically be arranged on the crane tip attachment for the manipulation of objects or objects, such as a load to be lifted understood. By means of a crane control, it is possible to control the at least one crane arm and the implement and / or the at least one part of the implement, wherein the crane controller is in a first operating mode for issuing control commands from a user for moving the at least one crane arm and moving the implement and / or or is designed for movement of the at least one part of the working device. In other words, a user in the first mode of operation of the crane control by means of these control commands to the crane arm and the implement (or the at least one movable part of the implement) deliver. In this case, the crane arm and the implement (or the at least one movable part of the implement) can be controlled separately from each other or together by issuing appropriate control commands by the user. The crane arm of the crane or the crane tip of the crane arm can be moved substantially freely in the first operating mode of the crane control system - within the possible structurally related range of motion and, if appropriate, including the stability of the crane.

In contrast to cranes known in the prior art, the crane control of the crane according to the invention has an activatable further operating mode in which the crane control is designed so that arranged at the crane tip working device on delivery of predetermined control commands by a user to move the arranged on the crane tip Working device and / or for moving the at least a portion of the arranged on the crane tip implement from the crane control to at least partial compensation of at least one component of the movement of the working device and / or the movement of the at least one part of the implement additional control commands for moving the at least one crane arm can be output.

For example, the further mode of operation may be activated by the user prior to, or when performing certain operations with the implement, i. which are switched by the user crane control in the further operating mode. However, the activation of the further operating mode can also be done automatically, for example, when a detection of a performance of certain operations with the implement is detected. In principle, the crane arm of the crane or the crane tip of the crane arm can also be moved freely in the second operating mode of the crane control system - within the possible, structurally related range of motion and possibly including the stability of the crane.

Predetermined control commands for moving the work implement arranged on the crane tip and / or for moving the at least one part of the working implement arranged at the crane tip may be understood to mean possible working movements of the work implement. Thus, in an exemplary embodiment of the implement as a gripper with two or more gripper jaws or gripper shells movable relative to each other, the predetermined control commands may include control commands for opening and / or closing movement of the gripper jaws or gripper shells. In the case of a further exemplary embodiment of the implement as a bucket (also called excavator bucket or bucket), the predetermined control commands may include control commands issued by the user for relative movement of the bucket to the crane arm or crane tip.

The crane control is now designed so that upon delivery of such exemplified, predetermined control commands by the user additional control commands for moving the at least one crane arm by the crane control can be dispensed. Thus, in addition to the control commands issued by the user to the implement, control commands for moving the crane arm or at least part of the crane arm can be output by the crane control. These additional control commands for moving the at least one crane arm serve to at least partially compensate for at least one component of the movement of the implement and / or the movement of the at least one part of the implement. Due to the additional control commands, therefore, parts of the movement of the working device can be compensated for at least proportionally by a movement of the crane arm.

In this case, it may be advantageous that the additional control commands can be output as a function of at least one parameter of the movement of the work implement arranged on the crane tip and / or of the movement of the at least one part of the work implement arranged on the crane tip. In this case, corresponding sensors for detecting the parameter of the movement of the working device or of the at least one movable part of the working device can be provided. The additional control commands may be output in proportion to the at least one parameter of the movement of the implement arranged on the crane tip and / or the movement of the at least one part of the implement arranged on the crane tip.

In principle, it can be advantageous that the additional control commands can be output by the crane control substantially simultaneously with the delivery of the predetermined control commands for moving the implement and / or the at least one part of the implement. Thus, the at least proportionate compensation of a part of the movement of the working device can take place simultaneously with the movement of the working device.

Further, it may be advantageous that during the movement of the crane arm by the additional control commands of the crane control the crane tip in a plane the crane arm is movable. In this case, the position of the crane arm or the position of parts of the crane arm to each other by the additional control commands can be changed.

It may also be advantageous that during the movement of the crane arm by the additional control commands of the crane control the crane tip - preferably along a straight line - in one direction of the at least one component is movable. The control of the crane arm by the additional control commands can be made such that the crane tip moves in a direction of the part of the movement to be compensated, wherein this preferably takes place along a straight line. The direction of movement of the crane tip can in this case run essentially opposite to the direction of the part of the movement of the working device to be compensated and / or the part of the movement to be compensated for the movement of the at least one movable part of the working device.

It can be provided that the movement of the working device and / or the at least one part of the working device is a pivoting movement relative to the crane tip. In this case, the implement itself can perform a pivoting movement relative to the crane tip and / or a movable part of the implement perform a pivoting movement relative to the crane tip.

It can be provided that the crane arm has at least one - preferably rotatable about a vertical axis of rotation - crane column and at least one - preferably about a first horizontal pivot axis - pivotally mounted on the crane column lifting arm, wherein the lifting arm preferably has at least one push arm.

It may be advantageous that the crane arm further at least one - preferably a second horizontal pivot axis - pivotally mounted on the lifting arm articulated, a so-called jib, wherein the articulated arm preferably has at least one push arm.

It may further be advantageous that the crane arm further comprises at least one Vorsatzknickarm pivotally mounted on the articulated arm preferably about a third horizontal pivot axis, a so-called jib-in-Jib configuration, wherein the Vorsatzknickarm preferably has at least one push arm.

It may in principle be provided that the crane control system has at least one memory for storing data specific to the crane and / or data that can be arranged on the crane. The data specific to the crane may include crane execution information such as arm lengths, number and length of thrust arms, and the like. Specific data for crane-mountable implements may include information about implement performance, such as the number and length of gripper jaws, in an exemplary embodiment of the implement as a gripper. The crane control can also comprise signal inputs for supplying sensor signals to sensors which can be arranged on the crane and / or sensors which can be arranged on a work unit arranged on the crane. By the sensors can be arranged on the crane, a position or geometry detection of the crane or crane arm can be made possible. Can be arranged on the implement sensors, the relative position of the implement to the crane tip or the position of the at least one movable part of the implement can be detected. Furthermore, the crane control can comprise signal outputs for outputting control signals for the at least one crane arm and / or the implement and / or the at least one part of the implement. The control signals output via the signal outputs can be output to control devices, such as control valves of the crane, for example, to implement the movement. In addition, the crane control by a user operable controls for generating or dispensing control commands for moving the at least one crane arm and / or the implement and / or the at least one part of the implement have.

The crane control can also have a computing unit for processing data from the memory and sensor signals and for generating control commands.

It can be advantageous that the crane control is designed so that the crane control can be predetermined by a user an implement arranged at the crane tip and / or a work implement arranged at the crane tip can be automatically recognized by the crane control. The crane control can be specified for a arranged at the crane tip implement specific information or they are automatically detected by the crane control. The output of the additional control commands can thus take place in dependence on the predetermined and / or recognized implement based on the information specific to the implement.

In one arranged on the crane tip of the crane arm implement may be advantageous that the working device as a gripper with at least two pivotable about a bearing point on the implement pivoting gripper jaws with looper tips, or at least two pivotable about a respective bearing point on the implement gripper shells with gripper blades is trained. A movement of the implement can thereby correspond to a pivoting movement (opening and / or closing movement) of the gripper jaws or of the gripper shells. In such a movement of the working device, the gripper tips or the gripper blades can move on a substantially at least partially circular curved path around the bearing points on the implement.

It may be advantageous that move by the movement of the crane arm by the additional control commands, the gripper tips or gripper blades in an opening and / or closing movement of the gripper jaws or gripper shells substantially along a straight line or in a plane. The movement resulting from the additional control commands the crane arm can move the crane tip in such a way that at least a partial compensation of at least one component of the opening and / or closing movement of the gripper jaws or gripper shells occurs. Thus, it is possible to compensate for a component of the pivoting movement of the working device occurring during the opening and / or closing movement and / or pivoting movement of the at least one movable part of the working device so that the gripper tips or gripper cutting edges essentially no longer move in a circular path but effectively substantially be moved in a straight line. For example, during an opening and / or closing movement of the gripper jaws or gripper shells, the gripper tips or gripper blades can effectively move away from one another or toward one another in a substantially straight line. In the case of a gripper hanging freely on the crane tip of a crane, for example, a movement of the gripper tips or gripper shells running substantially horizontally and at a constant height (measured from the floor on which the crane is parked or also measured from a lower edge of the crane column) can be achieved become.

It may be advantageous that the at least partially compensated component of the movement is the normal distance of the straight line or plane which changes during an opening and / or closing movement to the respective bearing point. The normal distance refers to the distance measured by the shortest path of the straight line or plane, along or in which the gripper tips or gripper blades move effectively, to the respective bearing point. In a closing movement of the gripper jaws or gripper shells, the normal distance of the straight line or plane can increase and during an opening movement, this can be reduced. The crane arm can be moved by the additional control commands such that the movement of the crane tip, the increase or decrease of the normal distance is compensated.

Further, it may be advantageous that the predetermined control commands by a user to move the implement and / or to move the at least one part of the implement control commands for opening and / or closing the gripper jaws, or gripper shells of the gripper include. Thus, in the delivery of control commands by a user by means of the crane control for the opening and / or closing of the gripper jaws or gripper shells of a gripper designed implement with two or more relatively movable gripper jaws or gripper shells of the crane control additional control commands for at least partial compensation of at least one Component of the movements performed during the opening and closing movement of the gripper jaws or gripper shells.

It can also be advantageous that the at least one parameter of the movement is the opening and / or closing angle of the gripper jaws or gripper shells. In this case, corresponding sensors for detecting the opening and / or closing angle of the gripper jaws or gripper shells may be provided on the gripper. The additional control commands can be output in proportion to the detected opening and / or closing angle of the gripper jaws or gripper shells.

Fig. 1a und 1b

Seiten- und Detailansichten einer ersten Ausführung eines Krans,

Fig. 2

eine Seitenansicht einer zweiten Ausführung eines Krans,

Fig. 3a und 3b

Seitenansichten zur zweiten Ausführung des Krans und jeweils eine schematische Darstellung einer Kransteuerung mit Sensorik,

Fig. 4

Seitenansichten zur zweiten Ausführung des Krans,

Fig. 5

Detailansicht zur zweiten Ausführung des Krans,

Fig. 6a und 6b

weitere Seitenansichten zur zweiten Ausführung des Krans,

Fig. 7

eine dritte Ausführung eines Krans, und

Fig. 8

ein Fahrzeug mit einer dritten Ausführung des Krans.

Further details and advantages of the present invention will be explained in more detail below with reference to the description of the figures with reference to the exemplary embodiments illustrated in the drawings. Show:

Fig. 1a and 1b

Side and detail views of a first embodiment of a crane,

Fig. 2

a side view of a second embodiment of a crane,

Fig. 3a and 3b

Side views of the second embodiment of the crane and in each case a schematic representation of a crane control with sensors,

Fig. 4

Side views of the second version of the crane,

Fig. 5

Detail view of the second version of the crane,

Fig. 6a and 6b

further side views of the second embodiment of the crane,

Fig. 7

a third embodiment of a crane, and

Fig. 8

a vehicle with a third version of the crane.

In FIG. 1a are a side view and detailed views of a first embodiment of a crane 1 with a (possibly rotatable about a vertical axis of rotation) crane column 5, a pivotally mounted on this lifting arm 6 and a pivotally mounted on this articulated arm 7 shown. In the illustrated position of the crane 1, the lifting arm 6 is arranged at a first kink angle k1 on the crane column 5 and the articulated arm 7 is arranged at a second kink angle k2 on the lifting arm 6. For pivoting the lifting arm 6 and the articulated arm 7, a master cylinder 17 and a folding cylinder 18 is provided. The articulated arm 7 has in the embodiment shown 2 two push arms 8,9, by means of which the length of the articulated arm 7 can be changed. At the crane tip 2, which is formed in the embodiment shown by the free end of the articulated arm 7, a freely suspended working device 3 is arranged in the form of a gripper. The crane arm of the crane 1 comprises, as shown in this embodiment, the crane column 5, the lifting arm 6 and the articulated arm 7 with its push arms 8, 9.

In the adjacent detail views, a lower portion of the articulated arm 7 is shown with attached working device 3 in the form of a gripper, wherein the gripper is rotated in the embodiment shown relative to the left overall view of the crane 1 by 90 °, whereby two gripper jaws 13,14 are visible with looper tips 15,16. The gripper jaws 13,14 are pivotally mounted about bearings 24. The opening angle of the gripper or the gripper jaws 13,14 is provided with the reference numeral α. In the first detail view of the gripper is shown in a closed position of the gripper jaws 13,14 and in the second detail view of the gripper in an open position of the gripper jaws 13,14 shown. If the crane arm of the crane 1 itself is not moved, resulting from the pivoting of the gripper jaws 13,14 when opening and / or closing for the gripper tips 15,16 different heights (vertical distances) with respect to, for example, the lower edge of the crane column 5, their location the horizontal line in the drawing is shown. Thus, for example, in the closed position of the gripper, essentially a first distance L1 of the gripper tips 15, 16 to the lower edge of the crane column 5 results. In the open position of the gripper, there is essentially a second distance L2 of the gripper tips 15, 16 towards the lower edge of the crane column 5. The difference of the distances L1, L2 is provided with the reference numeral z, and corresponds as shown, the vertical component of the pivotal movement of the gripper jaws 15,16. The illustrated opening or closing position of the working device 3 designed as a gripper results, for example, in a control of the working device 3 in a first operating mode of the crane control (in FIG FIG. 1a or 1 b not shown, see details for example FIG. 3 ).

In Figure 1 b is one to FIG. 1a shown analogous opening or closing position of the executed as a gripper implement 3, in which case the control of the working device 3 takes place in a second operating mode of the crane control according to the invention. By a movement of the crane arm, in this case specifically a raising or lowering of the crane tip 2 about the vertical component of the position of the hook tips 15, 16 with respect to, for example, the lower edge of the crane column 5 changing during closing or opening of the gripper, the distance L2 or ., the effective altitude of the hook tips 15,16 are kept constant. This results in both the closed position and in the open position of the gripper, the same distance L2 to the lower edge of the crane pillar 5. By such as shown substantially horizontally extending leadership of the hook tips 15,16, for example, damage to the crane 1, the implement. 3 , on an optionally to be lifted load or a ground, which the crane 1 than Contact area or any load to be lifted as a storage area serves to avoid.

In FIG. 2 a second embodiment of a crane 1 is shown, wherein structurally and functionally similar elements of the crane 1 have the same reference numerals, as in the embodiment of FIG. 1a or 1 b. The crane arm of the crane 1 comprises, as shown in this embodiment, again the crane column 5, the lifting arm 6 and the articulated arm 7 with its push arms 8, 9.

In the FIGS. 3a and 3b are side views of the second embodiment of the crane 1 and in each case a schematic representation of a crane control 4 with sensors shown. The crane 1 has a first rotary encoder d1 for detecting the first kink angle k1, a second rotary encoder d2 for detecting the second kink angle k2, a first thrust position sensor s1 for detecting the thrust position of the first thrust arm 8 and a second thrust position sensor s2 for detecting the thrust position of the second thrust arm 9 on. Unlike shown, however, the detection of the first kink angle k1 and / or the second kink angle K 2 can also be effected by detecting the extension length of the master cylinder 17 or by detecting the extension length of the kinked cylinder 18. Arranged on the crane and designed as a gripper working device 3 has a third rotary encoder d3 for detecting the opening angle α. However, the detection of the opening angle α can also be done by detecting the extension length of a hydraulic cylinder (not shown) for actuating the gripper jaws 13, 14. By the sensors installed on the crane and on the implement 3, the crane position can be detected by detecting the crane geometry and the opening or closing position of the implement 3. In the embodiment shown, the crane control unit 4 has signal inputs 25 for supplying sensor signals via signal lines of the sensors and signal outputs 26 for outputting control commands via a control line 20. To implement the control commands in corresponding movements of the crane arm of the crane 1 and the implement 3, this has a valve block 19 through which, for example by means of appropriate Control commands hydraulic valves for hydraulic supply of hydraulic actuators (such as the master cylinder 17 and the folding cylinder 18) can be controlled. The crane control 4 further has a memory 10, a computing unit 12 and controls 11, by means of which by a user control commands for the crane 1 and the implement 3 can be entered on. The controls 11 may for example also be arranged or provided on a mobile radio remote control. The arithmetic unit 12 serves, for example, to generate control commands, possibly including data stored in the memory 10.

In the in FIG. 3a The first bending angle k1 has the detected value k11, the second bending angle k2 the detected value k21, the push position of the first push arm 8 the detected value s11, the push position of the second push arm 9 the detected value s21 and the opening angle α of the working device 3 designed as a gripper to the detected value α1. Unlike shown, however, the detection of the thrust position of the first thrust arm 8 and the second thrust arm 9 - and thus the detection of the effective length of the articulated arm 7 - by a common or individual thrust position sensor done, as for example in a motion-coupled design of the thrust arms. 8 , 9 (for example, by a chain, not shown) may be advantageous. The corresponding sensor signals can be supplied to the crane control 4 via the signal inputs 25 and stored in the memory 10 and used for further calculations by the arithmetic unit 12.

Is now in the second mode of operation of the crane control 4 by a user a control command, for example, by pressing one of the controls 11, arranged to close the arranged on the crane tip 2, designed as a gripper working device 3, are automatically controlled by the crane control 4 and without further action User for at least partial compensation of the vertical component of the movement of the gripper jaws 13, 14 and the gripper tips 15, 16 of the working device designed as a gripper 3 output additional control commands for moving the crane arm.

Due to the additional control commands, the crane 1 is now in the in FIG. 3b shown position. In this position of the crane 1 or of the implement 3, the first kink angle k1 has the detected value k12, the second kink angle k2 the detected value k22, the push position of the first push arm 8 the detected value s12, the push position of the second push arm 9 the detected value s22 and the opening angle α of the trained as a gripper implement 3 the detected value α2. The change of the buckling angle positions and the thrust positions can be carried out continuously and simultaneously with the change in the opening angle α of the trained as a gripper working device 3.

In FIG. 4 are the in FIG. 3a and 3b shown positions of the crane 1 and the implement 3 shown side by side. It can be seen that the vertical component z has effectively come to a lifting of the crane tip 2 by the additional control commands issued in the second operating mode of the crane control 4 in the closure of the working device 3 designed as a gripper with the resulting geometry change of the crane arm. As a result, the gripper tips 15, 16 of the gripper jaws 14, 15 of the working device 3 embodied as a gripper have effectively remained at the same level during the closing operation, ie have been guided substantially horizontally.

In FIG. 5 is a comparison of a closing movement of a running as a gripper implement 3 without a compensation of the vertical component z, as would be the case for example in a control of the implement 3 in the first operating mode of the crane control 4, and with compensation of the vertical component z, as for example in a control of the work implement 3 in the second operating mode of the crane control 4 would be the case shown. In each case one is free on a crane tip 2 of a section illustrated Kranarms hanging, designed as a gripper implement 3 shown, which is located in the open position working device 3 is drawn by solid lines and that located in the closed position implement 3 is drawn with dashed or broken lines. It can be clearly seen that when the implement 3 is activated in a first operating mode of the crane control 4, the vertical position of the hook tips 15, 16 changes during the closing operation about the vertical component z. When the working device 3 is activated in the second operating mode of the crane control 4, the change in the vertical component z can be compensated by the output of additional control commands for moving the crane arm. In the example shown, this is done by the crane tip 2 is raised as shown by the corresponding vertical component z.

In the FIGS. 6a and 6b is a superposition of the end positions of the crane 1 during a closing or opening movement of a designed as a gripper, arranged on the crane tip 2 of the crane 1 implement 3 in a control of the implement 3 in the second operating mode of the crane control 4 shown. It can be clearly seen that a movement and thus a change in geometry of the crane arm of the crane 1 for compensating the vertical component z of the closing or opening movement of the gripper takes place by the additionally issued control commands.

In the FIGS. 7 and 8 a third embodiment of a crane 1 and a vehicle 28 with such a crane 1 is shown. Structurally and functionally similar elements of the crane 1 are provided with the same reference numerals as in the previously discussed embodiments. The crane arm of the crane 1 comprises, as shown in this embodiment, the crane column 5, the lifting arm 6, the articulated arm 7 with at least one push arms 8 and a Vorsatzknickarm 21 with at least one push arm 22. To change the bending position of Vorsatzknickarms 21 to the articulated arm 7 is another Bending cylinder 27 is provided. LIST OF REFERENCE NUMBERS crane 1 crane tip 2 implement 3 crane control 4 Kransäule 5 lifting arm 6 articulated 7 push arm 8th push arm 9 Storage 10 controls 11 computer unit 12 gripper jaw 13 gripper jaw 14 hook tip 15 hook tip 16 master cylinder 17 stick cylinder 18 manifold 19 control line 20 Vorsatzknickarm 21 push arm 22 vehicle 23 depository 24 signal inputs 25 signal outputs 26 stick cylinder 27 bending angle k1 bending angle k2 opening angle α distance L1 distance L2 difference z encoders d1 encoders d2 Thrust position sensor s1 Thrust position sensor s2 encoders d3 bending angle k11, k12, k21, k22 opening angle α1, α2

Claims (17)

Crane (1) with - At least one crane arm with a crane tip (2), wherein at the crane tip (2) a working device (3) can be arranged, wherein the working device (3) and / or at least a part of the working device (3) relative to the crane tip (2) movable is and - A crane control (4) for controlling the at least one crane arm and the working device (3) and / or the at least a part of the working device (3), wherein the crane control (4) in a first operating mode for the delivery of control commands from a user for movement the at least one crane arm and for moving the working device (3) and / or for moving the at least one part of the working device (3) is formed, characterized in that the crane control system (4) has an activatable further operating mode in which the crane control system (4) is designed, with a working device (3) arranged on the crane tip (2), upon delivery of predetermined control commands by a user to move the crane tip (2) arranged working device (3) and / or for moving the at least part of the at the crane tip (2) arranged working device (3) of the crane control (4) for at least partial compensation of at least one component of the movement of the working device (3) and / or Movement of at least part of the implement (3) additional control commands for moving the at least one crane arm can be output. Crane (1) according to the preceding claim, wherein the additional control commands depending on at least one parameter of the movement of the arranged on the crane tip (2) working device (3) and / or the movement of at least a portion of the arranged on the crane tip (2) Working device (3) can be output. Crane (1) according to at least one of the preceding claims, wherein the additional control commands by the crane control (4) substantially at the same time with the delivery of the predetermined control commands for movement of the working device (3) and / or the at least a portion of the working device (3) can be output are. Crane (1) according to at least one of the preceding claims, wherein during the movement of the crane arm by the additional control commands of the crane control (4), the crane tip (2) is movable in a plane of the crane arm. Crane (1) according to at least one of the preceding claims, wherein during the movement of the crane arm by the additional control commands of the crane control (4) the crane tip (2) - preferably along a straight line - in a direction of at least one component is movable. Crane (1) according to at least one of the preceding claims, wherein the movement of the working device (3) and / or of the at least one part of the working device (3) is a pivoting movement relative to the crane tip (2). Crane (1) according to at least one of the preceding claims, wherein the crane arm at least one - preferably rotatable about a vertical axis of rotation - crane column (5) and at least one - preferably about a first horizontal pivot axis - pivotally mounted on the crane column (5) lifting arm (6 ), wherein the lifting arm (6) preferably has at least one push arm. Crane (1) according to the preceding claim, wherein the crane arm further at least one - preferably by a second horizontal Pivot axis - pivotally mounted on the lifting arm (6) articulated arm (7), wherein the articulated arm (7) preferably at least one push arm (8, 9). Crane (1) according to the preceding claim, wherein the crane arm further at least one - preferably about a third horizontal pivot axis - pivotally mounted on the articulated arm (7) Vorsatzknickarm (21), wherein the Vorsatzknickarm (21) preferably at least one push arm (22) , Crane (1) according to at least one of the preceding claims, wherein the crane control (4) has at least: a memory (10) for storing data specific to the crane (1) and / or data specific to the crane (1) that can be arranged on the crane (1) Signal inputs (25) for supplying sensor signals to sensors (d1, d2, s1, s2) which can be arranged on the crane (1) and / or sensors (d3) which can be arranged on a working device (3) arranged on the crane (1) Signal outputs (26) for outputting control signals for the at least one crane arm and / or the working device (3) and / or the at least one part of the working device (3) Control elements (11) for issuing control commands for moving the at least one crane arm and / or the implement (3) and / or the at least one part of the implement (3) - A computing unit (12) for processing data from the memory (10) and sensor signals and for generating control commands. Crane (1) according to at least one of the preceding claims, wherein the crane control (4) is designed such that the crane control (4) is arranged by a user on the crane tip (2) Working device (3) can be predetermined and / or from the crane control (4) arranged on the crane tip (2) working device (3) is automatically recognizable, and depending on the predetermined and / or recognized working device (3) for the working device (3) specific additional control commands can be output. Crane (1) according to at least one of the preceding claims with a working device (3) arranged on the crane tip (2) of the crane arm. Crane (1) according to the preceding claim, wherein the implement (3) as a gripper with - At least two to a respective bearing point (24) on the implement (3) pivotally movable gripper jaws (13, 14) with gripper tips (15, 16) or with - At least two to each bearing on the implement (3) pivotally movable gripper shells with gripper blades is trained. Crane (1) according to the preceding claim, wherein the movement of the crane arm by the additional control commands, the gripper tips (15, 16) or gripper blades during an opening and / or closing movement of the gripper jaws (13, 14) or gripper shells substantially along a To move straight lines or in one plane. Crane (1) according to the preceding claim, wherein the at least partially compensated component of the movement of the changing during an opening and / or closing movement normal distance of the straight line or plane to the respective bearing point. Crane (1) according to one of the two preceding claims, wherein the predetermined control commands by a user for moving the working device (3) and / or for moving the at least one part of the working device (3) control commands for opening and / or closing the gripper jaws (13 , 14) or gripper shells of the gripper. Crane (1) according to claim 2 and at least one of claims 13 to 16, wherein the at least one parameter of the movement is the opening and / or closing angle (α) of the gripper jaws (13, 14) or gripper shells.

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