EP3532425A1 - Dispositif de compensation de traction oblique dans des grues - Google Patents

Dispositif de compensation de traction oblique dans des grues

Info

Publication number
EP3532425A1
EP3532425A1 EP17803779.2A EP17803779A EP3532425A1 EP 3532425 A1 EP3532425 A1 EP 3532425A1 EP 17803779 A EP17803779 A EP 17803779A EP 3532425 A1 EP3532425 A1 EP 3532425A1
Authority
EP
European Patent Office
Prior art keywords
crane
boom
sensor
load
deformation
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP17803779.2A
Other languages
German (de)
English (en)
Other versions
EP3532425B1 (fr
Inventor
Alexander STRÄHLE
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 Werk Biberach GmbH
Original Assignee
Liebherr Werk Biberach 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
Application filed by Liebherr Werk Biberach GmbH filed Critical Liebherr Werk Biberach GmbH
Priority to EP21162860.7A priority Critical patent/EP3858781A1/fr
Publication of EP3532425A1 publication Critical patent/EP3532425A1/fr
Application granted granted Critical
Publication of EP3532425B1 publication Critical patent/EP3532425B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • 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
    • B66C13/20—Control systems or devices for non-electric drives
    • 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
    • B66C23/26—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 for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
    • 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
    • B66C23/54—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 with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • 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
    • 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
    • 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
    • B66C23/16—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 with jibs supported by columns, e.g. towers having their lower end mounted for slewing movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/36—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable

Definitions

  • the invention relates to a device for the compensation of diagonal tension in cranes with at least one boom, a boom drive for adjusting an angle and / or a length of the boom and / or for moving a trolley, and a control / regulating device for controlling the boom drive.
  • a device for compensation of diagonal tension in cranes with the features of claim 1.
  • Advantageous embodiments are the subject of the dependent claims. Accordingly, a device with at least one boom, a boom drive for adjusting an angle and / or a length of the boom and / or method of a Trolley provided a sensor for detecting the angle of the boom and / or the deformation of at least a part of the crane and a control device for controlling the boom drive, wherein when lifting and / or dropping a load by the crane, the detected sensor value by means of the control - / control device and the boom drive is kept constant.
  • the boom drive can be, for example, a motor winch for changing the tension of the crane or the position of the trolley and / or a hydraulic cylinder piston device by means of which the boom can be pivoted.
  • the device according to the invention can also be applied to a mobile crane or coupled with this and be used in accordance with the reduction or prevention of diagonal train in mobile cranes.
  • the detected sensor value may be an angle of the boom which is spanned by the boom and the horizontal.
  • the sensor value may be a value that is proportional to a deformation of the crane and, for example, corresponds to a stress in the crane design.
  • the control control device detects a first actual value by means of the sensor and controls the boom drive so that the error or the change or deviation is determined in the subsequently detected change of the first measured actual value is minimized between an initially measured actual value and a deviating value measured thereafter.
  • the deformation of the crane may be, for example, the bending of the tower or the boom of the crane.
  • an oblique tensile compensation can be carried out using sensors provided in known cranes.
  • the boom drive is a winch or a guy winch.
  • the corresponding winch can be controlled or regulated via the control device for moving the boom such that the sensor value or parameter detected by the sensor is constant or a deviation between a first measured sensor value and a value measured for the further operation of the crane is reduced or reduced is minimized.
  • the draw-in winch or the guy winch is used to change the length of the boom of the crane by appropriate retraction or extension of the boom. In this way, the diagonal pull can also be reduced, but not fully compensated, since the deflection of the tower or the cantilever is not compensated.
  • the boom drive is designed as a cylinder piston device and is coupled to pivot the boom with this.
  • the at least one sensor is an inclination sensor, an optical sensor, a length sensor for measuring deformations, a GPS sensor and / or a cable pull sensor in or on a guy of the crane. Accordingly, a use of more than one sensor for detecting the respective crane parameters or the geometric design or deformation of the crane can be used. In particular, it is possible to use more than one sensor combined to detect the orientation or deformation of the crane.
  • the control device controls the boom drive on the basis of a reference value calculated from a plurality of sensor values.
  • the calculated reference value may, for example, be the load torque, which may be derived from the weight of the load lifted by the crane and the corresponding projection or from the supporting forces acting on the crane and the projection.
  • the ratio of the sensor value and / or reference value to the discharge displacement due to the deformation of the crane is scaled or determined with a test weight and / or calculated.
  • the rigidity and the crane structure or the geometry of the crane can be used. The invention is further directed to a crane with a device according to one of claims 1 to 7.
  • Figure 1a generic crane with lying on the ground
  • Figure 1 b generic crane just before lifting a load
  • Figure 1c generic crane shortly after lifting a load
  • Figure 2a Crane with inventive device for compensation of the diagonal train with resting on the ground load
  • Figure 2b Crane with inventive device for compensation of the diagonal train shortly before lifting a load
  • Figure 2c crane with inventive device for compensation of the diagonal train shortly after lifting a load
  • FIG. 3 active structure when using a crane with a device according to the invention
  • FIG. 5 characteristic curve of the load torque and the discharge displacement of a crane
  • Figure 6 Characteristic of the load torque and the unloading displacement of a crane at the time of lifting a load
  • FIG. 7 shows characteristic curves of the output values of an absolute value transmitter and the boom angle of a crane with no load and with a maximum permissible load
  • FIG. 8 shows a schematic view of a deviating inclination of the jib according to a first approach
  • FIG. 9 shows a schematic view of a deviating inclination of the jib according to a second approach.
  • Figure 1a shows a known from the prior art crane 1 with a boom 2, which has no inventive device for the compensation of diagonal pull.
  • the crane 1 comprises a boom drive 3, which can adjust the boom 2 and / or move the trolley 7.
  • a boom drive 3 which can adjust the boom 2 and / or move the trolley 7.
  • boom drive 3 may be meant a drive for moving the boom 2 or also another drive provided on the crane, such as a draw-in winch 8 or guy winch 9, by means of which further or other crane components can be moved.
  • the crane 1 shown in FIG. 2a with a device according to the invention for compensating for the diagonal pull initially hardly differs from the crane 1 shown in FIG. 1a, known from the prior art, cranes being shown in an unloaded state in FIGS. 1a and 2a.
  • the crane 1 according to the invention begins to lift the load 6 while it is still on the ground or still touching the ground, then the reach of the crane 1 can be automatically reduced according to the invention, as a result of which the diagonal pull is correspondingly reduced and a pendulum movement on further lifting the load 6 is prevented.
  • the crane 1 lifts the load off the ground as shown in FIG. 2c, then according to the invention there is no diagonal pull and no load swinging occurs.
  • the trolley 7 so moved and / or the boom 2 is pivoted so that the rope has no skew or is arranged vertically.
  • the inclination of the cantilever 2 By means of the sensor 5 shown in FIGS. 2 a to 2 c, for example, the inclination of the cantilever 2, the deformation on the basis of a detected change in length of the cantilever 2 and / or the tension in the tensioning of the crane 1 can be detected.
  • At least one corresponding sensor 5 may for example be provided on the boom 2 or, alternatively or additionally, may be provided on other components such as the tower of the crane.
  • the control device 4 may detect the values detected by the sensor 5 or the sensors 5, and on the basis of which determine how the boom drive 3 is to be controlled, so that adjusts as possible no diagonal pull.
  • a known test weight can be lifted by means of the crane 1, wherein the detected sensor values can be stored accordingly. This can be carried out at different boom angles or discharges of the crane 1.
  • a suitably created value table with the detected sensor values, the test weight and / or the corresponding cantilever angles or discharges can be used to compensate for the diagonal pull during operation of the crane 1.
  • FIG. 3 shows a schematic representation of the active structure when using a crane 1 with a device according to the invention.
  • one or more reference variables are first determined, which are in a clear relationship to the deformation of the crane 1 and the steel structure of the crane 1.
  • a particular mathematical variable can be generated or detected.
  • the following sensors can be used in any combination and number: load torque sensors, inclination sensors in the tower and / or boom 2 of the crane 1, force sensors or a measuring axis or a tensile force sensor in Hubseilstrang, Ausladungssensoren, force sensors in the bracing, in the guy rope, in Nackenseil and / or in Einziehseil, GPS sensors, optical sensors such as a camera, force sensors and / or strain sensors and / or length sensor in the steel structure of the crane 1, force sensors and / or hydrostatic pressure sensors in the support of the crane 1, pressure sensors in an adjusting the Crane 1, and / or absolute encoder on a cable drum or winch.
  • the deformation of the crane 1 can be generated or determined from the determined reference variable or from the determined reference variables become.
  • the transfer function can be mapped, for example, with a mathematical relationship or a characteristic field.
  • the deformation may, for example, correspond to a discharge displacement and / or a change in angle of the tower and / or boom 2.
  • different crane configurations or tower / boom configurations or hoist rope sheathing can be taken into account here.
  • the transfer function may be permanently stored in a controller or in the control / regulation device 4.
  • the terms of the controller and the control device 4 may be used interchangeably.
  • the transfer function or the transfer functions can be determined once by the crane manufacturer, for example by measurements and / or by calculations, and then stored permanently in the controller or control device 4.
  • the transfer function can be determined by reference measurement or by scaling.
  • the reference quantity (s) and additionally the deformation can be measured to determine their relationship.
  • the transfer function can be determined by a combination of calculation and reference measurement.
  • the relationship between the reference variable and discharge displacement can be stored in the crane control, but can also be checked and / or adjusted by a reference measurement.
  • the transfer function can be determined by their calculation in the control or control device 4.
  • the transfer function may be sent to the controller 4 via, for example, UMTS, LTE, 4G, and / or 5G.
  • the deformation When displaying the deformation, the deformation is merely visualized, e.g. on a display. The operator thus has the option of making the correction himself, for example via a manual control device.
  • the crane control fully compensates for the displacement of the discharge.
  • This mode could either be permanently active or be changed by the operator as needed, e.g. be activated via a selector switch and / or a display input.
  • the correction movement can also be controlled by the operator via a button, a control lever and / or a display input.
  • the travel movement to compensate for the diagonal train is thus deliberately specified by the operator.
  • the deformation of the crane 1 can be measured, for example, using a payload sensor and a discharge sensor.
  • the corresponding sensors 5 for measuring the payload and the reach can be installed in the crane 1. From these two sensors 5, the load torque is mathematically determined in the crane control, which represents the reference value in this case. It is also conceivable that in addition to Lastmoment the projection is a second reference. This essentially depends on the crane structure and the resulting static relationships.
  • the diagonal pull can then be determined by a reference measurement or by scaling.
  • the relationship between the reference variable "load torque" and the discharge displacement can be determined with a reference measurement.
  • the discharge displacement may correspond to the deformation of the steel structure of the crane 1.
  • a known payload is raised at a known projection and measured by the lifting resulting Ausladungsveriererung.
  • the discharge displacement As results from the following equation:
  • FIG. 4 a shows a crane with a load deposited on the ground, wherein the crane is not loaded by the load.
  • Figure 4b shows a crane, in which the load to be lifted by him still rests on the ground, but already applied to the crane with a part of its weight. In this state, a horizontal movement of the crane 1 and the upper crane is effected.
  • FIG. 4c shows the crane of FIG. 4b at the moment of lifting the load from the ground, the measured extension increase As being shown in FIGS. 4b and 4c.
  • the crane operator can activate the automatic correction of the diagonal pull on a display to compensate for an undesired diagonal pull.
  • the projection with the trolley 7 is automatically corrected by the appropriately determined Ausladungsverschiebung.
  • the invention is used in conjunction with a mobile crane with adjustable boom, then another principle of action comes into question.
  • the deformation of the steel structure is measured by inclination sensors in the boom and absolute encoder of the guy winch 9.
  • the diagonal train can be determined in this situation by means of a transfer function that can be permanently stored in the controller. The balancing of the diagonal pull then takes place via appropriate correction commands.
  • the boom inclination is adjusted with the guy winch 9, which is performed with an absolute encoder in a mobile crane with adjustable boom.
  • the guy winch 9 which is performed with an absolute encoder in a mobile crane with adjustable boom.
  • the values of the tilt sensor in the boom and the absolute value generator of the guy winch 9.
  • the crane operator is visually displayed on a display of the diagonal pull, possibly with an acoustic signal. With a push-button or an input on the touch display, he can then trigger the correction movement or a correction command for adjusting the boom.

Landscapes

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

Abstract

L'invention concerne un dispositif de compensation de traction oblique dans des grues comprenant au moins une flèche, un système d'entraînement de flèche, destiné à régler un angle et/ou une longueur de la flèche et/ou à déplacer un chariot roulant, et un dispositif de commande/réglage destiné à commander/régler le système d'entraînement de flèche. L'invention concerne également une grue équipée d'un dispositif correspondant.
EP17803779.2A 2016-11-09 2017-11-09 Dispositif de compensation de traction oblique dans des grues Active EP3532425B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP21162860.7A EP3858781A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de la tension oblique des grues

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102016013320 2016-11-09
DE102017125715.2A DE102017125715A1 (de) 2016-11-09 2017-11-03 Vorrichtung zur Kompensation von Schrägzug bei Kranen
PCT/EP2017/001305 WO2018086740A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de traction oblique dans des grues

Related Child Applications (2)

Application Number Title Priority Date Filing Date
EP21162860.7A Division EP3858781A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de la tension oblique des grues
EP21162860.7A Division-Into EP3858781A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de la tension oblique des grues

Publications (2)

Publication Number Publication Date
EP3532425A1 true EP3532425A1 (fr) 2019-09-04
EP3532425B1 EP3532425B1 (fr) 2021-04-21

Family

ID=62003123

Family Applications (2)

Application Number Title Priority Date Filing Date
EP21162860.7A Pending EP3858781A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de la tension oblique des grues
EP17803779.2A Active EP3532425B1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de traction oblique dans des grues

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP21162860.7A Pending EP3858781A1 (fr) 2016-11-09 2017-11-09 Dispositif de compensation de la tension oblique des grues

Country Status (7)

Country Link
US (1) US11174134B2 (fr)
EP (2) EP3858781A1 (fr)
CN (1) CN110167865A (fr)
DE (1) DE102017125715A1 (fr)
DK (1) DK3532425T3 (fr)
ES (1) ES2877702T3 (fr)
WO (1) WO2018086740A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3957594A1 (fr) * 2020-08-18 2022-02-23 HMF Group A/S Système de commande de grue à flèche et procédé de commande de grue à flèche

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4015436A1 (fr) 2020-12-15 2022-06-22 Schneider Electric Industries SAS Méthode d'optimisation d'une fonction anti-balancement

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CN86203711U (zh) * 1986-06-09 1987-02-11 张文胜 缆索塔式起重机
JPH01167199A (ja) * 1987-12-22 1989-06-30 Kobe Steel Ltd クレーンの鉛直吊上げ方法
JPH01256497A (ja) 1988-04-04 1989-10-12 Tadano Ltd 伸縮ブームを有するクレーンの吊荷地切時荷振防止装置
JPH01256496A (ja) * 1988-04-04 1989-10-12 Tadano Ltd ブームを有するクレーンの吊荷地切時荷振防止装置
DE4409153A1 (de) 1994-03-17 1995-09-21 Faun Gmbh Verfahren zur Erfassung der Änderung des Radius eines Auslegers eines Kranes unter Last
DE19842436A1 (de) * 1998-09-16 2000-03-30 Grove Us Llc Shady Grove Verfahren und Vorrichtung zur Kompensation der Verformung eines Kranauslegers bei dem Aufnehmen und Absetzen von Lasten
JP2005306602A (ja) * 2004-03-23 2005-11-04 Tadano Ltd ブーム式クレーンに用いられる荷物の地切装置
US7489098B2 (en) 2005-10-05 2009-02-10 Oshkosh Corporation System for monitoring load and angle for mobile lift device
DE102007039408A1 (de) 2007-05-16 2008-11-20 Liebherr-Werk Nenzing Gmbh Kransteuerung, Kran und Verfahren
NO337712B1 (no) 2010-03-24 2016-06-06 Nat Oilwell Varco Norway As Anordning og fremgangsmåte for å redusere dynamiske laster i kraner
CN101920914A (zh) 2010-06-19 2010-12-22 张培霞 汽车式上回转塔吊
DE102012004803A1 (de) * 2012-03-09 2013-09-12 Liebherr-Werk Nenzing Gmbh Kransteuerung mit Antriebsbeschränkung
JP5889688B2 (ja) * 2012-03-26 2016-03-22 株式会社タダノ 作業機械
DE102014012457A1 (de) * 2014-08-20 2016-02-25 Liebherr-Werk Ehingen Gmbh Automatisches Aufrichten eines Krans
DE202015001024U1 (de) * 2015-02-09 2016-05-10 Liebherr-Werk Biberach Gmbh Kran mit Überwachungsvorrichtung zum Überwachen der Überlastsicherung

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3957594A1 (fr) * 2020-08-18 2022-02-23 HMF Group A/S Système de commande de grue à flèche et procédé de commande de grue à flèche

Also Published As

Publication number Publication date
WO2018086740A1 (fr) 2018-05-17
ES2877702T3 (es) 2021-11-17
US20200180917A1 (en) 2020-06-11
DE102017125715A1 (de) 2018-05-09
DK3532425T3 (da) 2021-06-28
CN110167865A (zh) 2019-08-23
EP3858781A1 (fr) 2021-08-04
EP3532425B1 (fr) 2021-04-21
US11174134B2 (en) 2021-11-16

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