EP3889095B1 - Verfahren zur steuerung eines krans und kran - Google Patents

Verfahren zur steuerung eines krans und kran Download PDF

Info

Publication number
EP3889095B1
EP3889095B1 EP21165232.6A EP21165232A EP3889095B1 EP 3889095 B1 EP3889095 B1 EP 3889095B1 EP 21165232 A EP21165232 A EP 21165232A EP 3889095 B1 EP3889095 B1 EP 3889095B1
Authority
EP
European Patent Office
Prior art keywords
crane
hydraulic
mode
tool
movable arm
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
EP21165232.6A
Other languages
English (en)
French (fr)
Other versions
EP3889095A1 (de
Inventor
Leif TÖRNBLOM
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.)
Hiab AB
Original Assignee
Hiab AB
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 Hiab AB filed Critical Hiab AB
Publication of EP3889095A1 publication Critical patent/EP3889095A1/de
Application granted granted Critical
Publication of EP3889095B1 publication Critical patent/EP3889095B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—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
    • B66C15/00—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles

Definitions

  • the present invention relates to a method of controlling a crane, said crane comprising: a movable arm; at least one first hydraulic device configured to move the movable arm; a first hydraulic valve configured to control the operation of the at least one first hydraulic device; a tool provided at an end of the movable arm, said tool comprising a first part and a second part; a second hydraulic device configured to displace said first part in relation to said second part to a holding position in which the tool is configured to hold an object; a second hydraulic valve configured to control the operation of the second hydraulic device, and; a control system comprising a readable memory, a user interface configured to enable a user to control the movable arm and tool by receiving user commands, and a processor configured to control the first hydraulic device and the second hydraulic device by generating control signals to the first hydraulic valve and the second hydraulic valve in response to said received user commands.
  • the present invention also relates to such a crane.
  • Hydraulic cranes of the type defined hereinabove may be subjected to leakage of hydraulic liquid present in the hydraulic valve used for controlling the operation of the hydraulic device that controls the motion of the movable part of the tool that is responsible for holding an object.
  • a leakage may imply that if the crane operator gives user commands for the tool to grip or hold an object and then waits a period of time before actually lifting the object with the crane, a situation where the tool no longer is in a gripping or holding position even though the crane operator may assume so, may arise.
  • These situations may be a safety issue for the crane operator and may further lead to that the surrounding and objects handled by the crane are damaged.
  • EP 1 150 019 A1 discloses a method of controlling a crane according to the preamble of claim 1 and a crane according to the preamble of claim 6.
  • this type of tools are designed so as to be locked in a holding position once the arm is actively lifting the object.
  • This may be a mechanical locking of the tool caused by the own weight of the object being lifted.
  • the locking in the holding position assumes that the tool is in fact in a holding position when the arm actively lifts the object.
  • leakage may result in that the tool is not in the perfect holding position when lifting by means of the arm is started. The tool then runs the risk of dropping the object as the mechanical locking has not been achieved when initiating the lifting of the object.
  • the object of the present invention is achieved by a method of controlling a crane, the crane comprising:
  • the deactivation of the safe operation mode may result from a direct actuation of the second hydraulic valve in response to a crane operator command via the user interface.
  • the deactivation of the safe operation mode may be an automatic actuation of the second hydraulic valve performed automatically by the control system itself as a response to a tentative by a user to move the movable arm when the safe operation mode is activated.
  • the automatic actuation of the second hydraulic valve may be a predetermined actuation that results in that it is made sure that the first part is in a holding position before deactivating the safe mode.
  • the actuation of the second hydraulic valve made in response to a user command may result in that it is made sure that the first part is in a holding position or that it is made sure that the first part is not in a holding position. If the crane operator gives a user command to move the first part into a position which is not a holding position then this indicates that the crane operator is aware of the fact that the tool is not holding the object and there is hence no risk that the object should be dropped during a movement of the movable arm.
  • a tentative to move the movable arm includes any tentative to move a structural element which is movable via order from the user interface, wherein the structural element is connected the movable arm such that a motion thereof will also result in a motion of the movable arm.
  • Such further structural element may typically be a boom which is part of the crane, to which boom the movable arm is connected. Also other structural elements, which are not hydraulically driven and the motion of which is controllable via the user interface, and the motion of which will induce a motion of the movable arm are prevented from being moved in the safe operation mode.
  • the actuation of the second hydraulic valve is an actuation in response to a user command received via the user interface.
  • the actuation of the second hydraulic valve is an actuation in response to a user command received via the user interface to apply the holding position.
  • control system is configured to be in an off-mode and an on-mode, wherein the method comprises the further steps of
  • control system is configured to execute the steps of the method.
  • a crane comprising:
  • the deactivation of the safe operation mode may be a direct actuation of the second hydraulic valve through a user command received from a crane operator via the user interface.
  • the control system may be configured to perform the deactivation of the safe operation mode by an automatic actuation of the second hydraulic valve performed as a response to a tentative by a user to move the movable arm when the safe operation mode is activated.
  • a tentative to move the movable arm includes any tentative to move a structural element which is movable via an order from the user interface, wherein the structural element is connected to the movable arm such that a motion thereof will also result in a motion of the movable arm.
  • Such further structural element may typically be a boom which is part of the crane, to which boom the movable arm is connected.
  • the actuation of the second hydraulic valve is an actuation in response to a user command received via the user interface.
  • actuation of the second hydraulic valve can be simplified.
  • the actuation of the second hydraulic valve is an actuation in response to a user command received via the user interface to apply the holding position.
  • control system is configured to be in an off-mode and an on-mode, wherein the control system is configured to
  • the off-mode is a mode in which power for actuation of the first and second hydraulic devices is turned off.
  • the off-mode includes that the control system is disconnected from an electric power source.
  • the crane comprises at least one pump configured to deliver pressurized fluid to the first hydraulic device and to the second hydraulic device, wherein, in the off-mode, the pump is inactive.
  • the second hydraulic valve comprises a spool, a motion of which results in the displacement of the first part in relation to the second part to a holding position.
  • the crane comprises at least one movable boom to which the arm is directly or indirectly connected, wherein, in the safe operation mode, movement of the boom, in particular a movement of the boom through an order via the user interface, is prevented.
  • Fig. 1 shows an embodiment according to the invention of a crane 1 comprising a movable arm 2.
  • the crane 1 may, for example, be mounted on a working machine, such as truck.
  • the crane 1 comprises a plurality of first hydraulic devices 3, 4, 5 configured to move the movable arm 2, and corresponding first hydraulic valves 6, 7, 8 (see fig. 2 ), which are configured to control the operation of the respective first hydraulic devices 3, 4, 5.
  • the first hydraulic devices 3, 4, 5 each comprises a cylinder-piston arrangement.
  • a tool 9 which comprises a first part 10 and a second part 11.
  • a second hydraulic device 12 is configured to displace the first part 10 in relation to the second part 11 to a holding position in which the tool 9 is configured to hold an object.
  • the second hydraulic device 12 comprises a cylinder-piston arrangement.
  • a second hydraulic valve 13 is configured to control the operation the second hydraulic device 12.
  • the second hydraulic valve 13 is a directional valve, and comprises a spool. The flow of hydraulic liquid through the second hydraulic valve 13 depends on the position of the spool. A motion of the spool thus, results in the displacement of the first part in relation to the second part to or from the holding position.
  • the first hydraulic valves 6, 7, 8 for controlling the motion of the movable arm 2 each has a corresponding design and functionality as the second hydraulic valve 13, but for the purpose of controlling the motion of the movable arm 2 by means of the first hydraulic devices 3, 4, 5.
  • the crane 1 comprises a control system 14 comprising a readable 15 memory and a user interface 16.
  • the user interface 16 is configured to enable a user to control the motions of the movable arm 2 and the tool 9 by receiving user commands via the user interface 16.
  • the user commands may also be referred to as orders.
  • the user interface 16 is a handheld remote control device for controlling the motion of the arm 2 and the tool 9 by controlling the above-mentioned first hydraulic valves 6, 7, 8 and the second hydraulic valve 13.
  • the user interface 16 may comprise a wired or a wireless control device or a combination of wired and wireless control devices.
  • the user interface may allow for the crane to be controlled by a crane operator at the location of the crane or at a remote location with support from video images of the crane.
  • the control system 9 further comprises a processor 17 configured to control the first hydraulic devices 3, 4, 5 and the second hydraulic device 12 by generating control signals to the first hydraulic valves 6, 7, 8 and to the second hydraulic valve 13 in response to the received user commands.
  • the control system 14 is configured to detect a first condition in which the tool 9 is in the holding position and the movable arm 2 is in an unloaded condition in which it is not actively lifting an object held by the tool 9.
  • the detection may be executed by means of suitable sensors, for example pressure sensors arranged in the first hydraulic devices.
  • it may be determined by signals from a spool sensor monitoring the position of the spool in the hydraulic valve 13 whether the valve is actuated to set the tool 9 in a holding position.
  • the loading condition of the movable arm 2 may for example be determined based on signals from pressure sensors arranged in the first hydraulic devices.
  • the control system 14 may hence detect the first condition using a combination of signals received from suitable sensors.
  • the object may typically be resting on and be supported by ground in said first condition.
  • the control system 14 is configured to register a first point of time at which the first condition is obtained and counting a period of time from the first point of time. When the counted period of time exceeds a threshold value, and the first conditions is still maintained without any actuation of the second hydraulic device 12 during said time period, the control system is configured to activate a safe operation mode which prevents the first hydraulic devices 3, 4, 5 from moving the movable arm 2.
  • the phrase "actively lifting the object” is here referring to the lifting of the object that is intended to be moved by the crane.
  • a practical example may be a large package of building material that is to be moved from the load bed of a truck to a construction site where the building material is to be used.
  • straps are often used to attach the package to a crane tool such as a hydraulic hook.
  • the object to be moved would be the combination of the package of building material and the straps, so the crane would be actively lifting the object when the lifting action of the crane is applied to both the straps and the package of building material.
  • the safe operation mode is deactivatable by an actuation of the second hydraulic valve 13.
  • the deactivation of the safe operation mode may be a direct actuation of the second hydraulic valve 13 through an actuation order by a user via the user interface 16.
  • the deactivation of the safe operation mode may be an automatic actuation of the second hydraulic valve 13 performed by the control system 14 itself as a response to a tentative by a user to move the movable arm 2 when the safe operation mode is activated.
  • the automatic actuation of the second hydraulic valve may hence make sure that the first part is in a holding position before the control system allows the movable arm 2 to be moved.
  • a tentative to move the movable arm 2 includes any tentative to move a structural element which is movable via order from the user interface 16, wherein the structural element is connected the movable arm 2 such that a motion thereof will also result in a motion of the movable arm 2.
  • Such further structural element may typically be a boom 18 which is part of the crane, to which boom 18 the movable arm is connected.
  • the order to the second hydraulic valve 13 which triggers a deactivation of the safe operation mode is an order to apply the holding position, either by the user via the user interface 16 or automatically by the control system 14 itself.
  • the order to the second hydraulic valve 13 which triggers a deactivation of the safe operation mode may be an order to apply the holding position or a release position for the tool 9 in the case that the order is received from a crane operator via the user interface 16.
  • the control system 14 actuates the second hydraulic valve to set the tool in a holding position.
  • control system 14 is configured to be in an off-mode and an on-mode.
  • the control system 14 is configured to detect a switch from the off-mode to the on-mode, and, as a response to the switch being detected, activate the safe operation mode.
  • the off-mode is a mode in which power for actuation of the first hydraulic devices 3, 4, 5 and the second hydraulic devices 12 is turned off and the control system 14 is disconnected from an electric power source (not shown).
  • the crane 1 comprises at least one pump 19 configured to deliver pressurized fluid to the first hydraulic devices 3, 4, 5 and to the second hydraulic device 12. In the off-mode, the pump 19 is inactive.
  • the hydraulic crane 1 comprises further structural elements, which are connected to the movable arm 2 and provided with hydraulic devices for moving those further structural elements.
  • the control system 9 is configured to enable a user to move said further structural elements via orders received by the user interface. Any motion of such a further structural element, which results in a motion of the movable arm 2, is regarded as a motion of the movable arm 2.
  • the first hydraulic devices 3, 4, 5 for moving the movable arm thus includes a hydraulic device 5 for moving the boom 18 in relation to a column 20, which is also part of the crane 1.
  • the arm 2 itself is telescopic and comprises a first part 2a and a second part 2b.
  • One of the first hydraulic devices 3 is configured to telescopically displace said first part 2a in relation to the second part 2b.
  • Another first hydraulic device 4 is configured to pivot the arm 2 in relation to the boom 18.
  • Fig. 5 is a flow chart of a method of controlling a crane 1 illustrated in Fig. 1 . The method comprises the steps of
  • control system is configured to be in an off-mode and an on-mode, and step S3 also comprises
  • the counted period of time t is further reset to zero. After deactivating the safe operation mode, the counting will hence start from zero when a condition in which the tool 9 is in the holding position and the movable arm 2 is in an unloaded condition, once again is detected.
  • the control system will thus ensure that the safe operation mode is active upon detection that a switch to the on-mode has been performed, irrespectively of the fact that the counted period of time may be less than said threshold value.

Landscapes

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

Claims (14)

  1. Verfahren zum Steuern eines Krans (1), wobei der Kran (1) umfasst:
    - einen beweglichen Arm (2),
    - mindestens eine erste hydraulische Vorrichtung (3, 4, 5), die zum Bewegen des beweglichen Arms (2) konfiguriert ist,
    - ein erstes Hydraulikventil (6, 7, 8), das so konfiguriert ist, dass es den Betrieb der mindestens einen ersten hydraulischen Vorrichtung (3, 4, 5) steuert,
    - ein Werkzeug (9), das an einem Ende des beweglichen Arms (2) vorgesehen ist, wobei das Werkzeug (4) einen ersten Teil (10) und einen zweiten Teil (11) umfasst,
    - eine zweite hydraulische Vorrichtung (12), die so konfiguriert ist, dass sie den ersten Teil (10) in Bezug auf den zweiten Teil (11) in eine Halteposition verstellt, in der das Werkzeug (9) so konfiguriert ist, dass es ein Objekt hält,
    - ein zweites Hydraulikventil (13), das zum Steuern des Betriebs der zweiten hydraulischen Vorrichtung (12) konfiguriert ist,
    - ein Steuersystem (14), umfassend
    - einen auslesbaren Speicher (15),
    - eine Benutzerschnittstelle (16), die so konfiguriert ist, dass sie es einem Benutzer ermöglicht, den beweglichen Arm (2) und das Werkzeug (9) durch den Empfang von Benutzerbefehlen zu steuern, und
    - einen Prozessor (17), der so konfiguriert ist, dass er die erste hydraulische Vorrichtung (3, 4, 5) und die zweite hydraulische Vorrichtung (12) durch Erzeugen von Steuersignalen für das erste Hydraulikventil (6, 7, 8) und das zweite Hydraulikventil (13) in Reaktion auf die empfangenen Benutzerbefehle steuert, wobei das Verfahren dadurch gekennzeichnet ist, dass es die Schritte umfasst:
    a) Erfassen eines ersten Zustands, in dem sich das Werkzeug (9) in der Halteposition befindet und der bewegliche Arm (2) sich in einem unbelasteten Zustand befindet, in dem er ein von dem Werkzeug (9) gehaltenes Objekt nicht aktiv anhebt,
    b) Registrieren eines ersten Zeitpunkts, zu dem die erste Bedingung erhalten wird, und Zählen einer Zeitspanne (t) ab dem ersten Zeitpunkt, und
    c) wenn die gezählte Zeitspanne (t) einen Schwellenwert 5 (tthreshold) überschreitet, Aktivieren eines sicheren Betriebsmodus im Steuersystem (14), der verhindert, dass die erste hydraulische Vorrichtung (3, 4, 5) den beweglichen Arm (2) bewegt, wobei der sichere Betriebsmodus durch eine Betätigung des zweiten Hydraulikventils (13) deaktivierbar ist.
  2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Betätigung des zweiten Hydraulikventils (13) eine Betätigung in Reaktion auf einen über die Benutzerschnittstelle (16) empfangenen Benutzerbefehl ist.
  3. Verfahren nach Anspruch 2, dadurch gekennzeichnet, dass die Betätigung des zweiten Hydraulikventils (13) eine Betätigung in Reaktion auf einen über die Benutzerschnittstelle (16) empfangenen Benutzerbefehl ist, um die Halteposition einzunehmen.
  4. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass das Steuersystem (14) so konfiguriert ist, dass es sich in einem Aus-Zustand und in einem Ein-Zustand befindet, und dass das Verfahren die weiteren Schritte umfasst
    - Erkennen eines Schaltens von dem Aus-Zustand in den Ein-Zustand, und
    - als Reaktion auf das Erkennen des Schaltens Aktivieren des sicheren Betriebsmodus.
  5. Verfahren nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass das Steuersystem (14) so konfiguriert ist, dass es die Schritte des Verfahrens ausführt.
  6. Kran (1), umfassend:
    - einen beweglichen Arm (2),
    - mindestens eine erste hydraulische Vorrichtung (3, 4, 5), die zum Bewegen des beweglichen Arms (2) konfiguriert ist,
    - ein erstes Hydraulikventil (6, 7, 8), das so konfiguriert ist, dass es den Betrieb der mindestens einen ersten hydraulischen Vorrichtung (3, 4, 5) steuert,
    - ein Werkzeug (9), das an einem Ende des beweglichen Arms (2) vorgesehen ist, wobei das Werkzeug (9) einen ersten Teil (10) und einen zweiten Teil (11) umfasst,
    - eine zweite hydraulische Vorrichtung (12), die so konfiguriert ist, dass sie den ersten Teil (10) in Bezug auf den zweiten Teil (11) in eine Halteposition verstellt, in der das Werkzeug (9) so konfiguriert ist, dass es ein Objekt hält,
    - ein zweites Hydraulikventil (13), das so konfiguriert ist, dass es den Betrieb der zweiten hydraulischen Vorrichtung (12) steuert,
    - ein Steuersystem (14), umfassend
    - einen auslesbaren Speicher (15),
    - eine Benutzerschnittstelle (16), die so konfiguriert ist, dass sie es einem Benutzer ermöglicht, den beweglichen Arm (2) und das Werkzeug (9) durch den Empfang von Benutzerbefehlen zu steuern, und
    - einen Prozessor (17), der so konfiguriert ist, dass er die erste hydraulische Vorrichtung (3, 4, 5) und die zweite hydraulische Vorrichtung (12) steuert, indem er Steuersignale für das erste Hydraulikventil (6, 7, 8) und das zweite Hydraulikventil (13) als Reaktion auf die empfangenen Benutzerbefehle erzeugt, wobei der Kran dadurch gekennzeichnet ist, dass das Steuersystem (14) so konfiguriert ist, dass es
    a) einen ersten Zustand erfasst, in dem sich das Werkzeug (9) in der Halteposition befindet und der bewegliche Arm (2) sich in einem unbelasteten Zustand befindet, in dem er ein von dem Werkzeug (9) gehaltenes Objekt nicht aktiv anhebt,
    b) einen ersten Zeitpunkt registriert, zu dem die erste Bedingung erreicht wird, und Zählen einer Zeitspanne (t) ab dem ersten Zeitpunkt, und
    c) wenn die gezählte Zeitspanne (t) einen Schwellenwert (tthreshold) überschreitet, einen sicheren Betriebsmodus aktiviert, der verhindert, dass die erste hydraulische Vorrichtung (3, 4, 5) den beweglichen Arm (2) bewegt, wobei der sichere Betriebsmodus durch eine Betätigung des zweiten Hydraulikventils (13) deaktivierbar ist.
  7. Kran (1) nach Anspruch 6, dadurch gekennzeichnet, dass die Betätigung des zweiten Hydraulikventils (13) eine Betätigung in Reaktion auf einen über die Benutzerschnittstelle (16) empfangenen Benutzerbefehl ist.
  8. Kran (1) nach Anspruch 7, dadurch gekennzeichnet, dass die Betätigung des zweiten Hydraulikventils (13) eine Betätigung in Reaktion auf einen über die Benutzerschnittstelle (16) empfangenen Benutzerbefehl ist, um die Halteposition einzunehmen.
  9. Kran (1) nach einem der Ansprüche 6 bis 8, dadurch gekennzeichnet, dass das Steuersystem (14) so konfiguriert ist, dass es sich in einem Aus-Zustand und einem Ein-Zustand befindet, und dass das Steuersystem (14) so konfiguriert ist, dass es
    - ein Schalten von dem Aus-Zustand in den Ein-Zustand erkennt, und
    - als Reaktion auf die Erkennung des Schaltens den sicheren Betriebsmodus aktiviert.
  10. Kran (1) nach Anspruch 9, dadurch gekennzeichnet, dass der Aus-Zustand ein Zustand ist, in dem die Leistung für die Betätigung der ersten und zweiten hydraulischen Vorrichtungen (3, 4, 5, 12) abgeschaltet ist und das Steuersystem (14) von einer elektrischen Energiequelle getrennt ist.
  11. Kran (1) nach einem der Ansprüche 9 oder 10, dadurch gekennzeichnet, dass er mindestens eine Pumpe (19) umfasst, die so konfiguriert ist, dass sie ein unter Druck stehendes Fluid an die erste hydraulische Vorrichtung (3, 4, 5) und an die zweite hydraulische Vorrichtung (12) liefert, und dass die Pumpe im Aus-Zustand inaktiv ist.
  12. Kran (1) nach einem der Ansprüche 6 bis 11, dadurch gekennzeichnet, dass das zweite Hydraulikventil (13) ein Wegeventil ist.
  13. Kran (1) nach einem der Ansprüche 6 bis 12, dadurch gekennzeichnet, dass das zweite Hydraulikventil (13) einen Schieber umfasst, dessen Bewegung die Verstellung des ersten Teils (10) in Bezug auf den zweiten Teil (11) in die Halteposition bewirkt.
  14. Kran (1) nach einem der Ansprüche 6 bis 13, dadurch gekennzeichnet, dass der Kran (1) mindestens einen beweglichen Ausleger (18) umfasst, mit dem der Arm (2) direkt oder indirekt verbunden ist, und dass in der sicheren Betriebsart die Bewegung des Auslegers (18) verhindert wird.
EP21165232.6A 2020-03-31 2021-03-26 Verfahren zur steuerung eines krans und kran Active EP3889095B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE2050359A SE544031C2 (en) 2020-03-31 2020-03-31 A method of controlling a crane, and a crane

Publications (2)

Publication Number Publication Date
EP3889095A1 EP3889095A1 (de) 2021-10-06
EP3889095B1 true EP3889095B1 (de) 2022-08-17

Family

ID=75252418

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21165232.6A Active EP3889095B1 (de) 2020-03-31 2021-03-26 Verfahren zur steuerung eines krans und kran

Country Status (3)

Country Link
EP (1) EP3889095B1 (de)
DK (1) DK3889095T3 (de)
SE (1) SE544031C2 (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022113867A1 (de) 2022-06-01 2023-12-07 Liebherr-Werk Nenzing Gmbh System zum Überprüfen einer Funktionsfähigkeit einer Komponente einer mobilen Arbeitsmaschine

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE385209B (sv) * 1974-10-08 1976-06-14 Hiab Foco Ab Programmerbar hydraulisk lastkran
US5730305A (en) * 1988-12-27 1998-03-24 Kato Works Co., Ltd. Crane safety apparatus
JP2004001987A (ja) * 2002-03-25 2004-01-08 Hitachi Constr Mach Co Ltd 操作支援装置
EP1607365B1 (de) * 2004-06-18 2007-05-30 Hiab AB Hydraulischer Kran
SE0402351D0 (sv) * 2004-09-28 2004-09-28 Olsbergs Hydraulics Ab Anordning
US9233819B2 (en) * 2010-04-09 2016-01-12 Bae Systems Information And Electronic Systems Integration Inc. Method and apparatus for determining actual and potential failure of hydraulic lifts
US10518985B2 (en) * 2016-05-31 2019-12-31 Wood's Powr-Grip Co., Inc. Control systems and methods for vacuum lift equipment
CN108002235B (zh) * 2017-12-25 2024-01-26 上海昂丰装备科技有限公司 一种垃圾吊冗余控制系统及其控制方法
DE102018105907A1 (de) * 2018-03-14 2019-09-19 Terex Deutschland GmbH Verfahren zur Ermittlung des Gewichts einer von einer Lademaschine aufgenommenen Last und Lademaschine hierfür
US10982409B2 (en) * 2018-04-02 2021-04-20 Deere & Company Excavator measurement and control logic

Also Published As

Publication number Publication date
DK3889095T3 (da) 2022-10-31
SE544031C2 (en) 2021-11-09
SE2050359A1 (en) 2021-10-01
EP3889095A1 (de) 2021-10-06

Similar Documents

Publication Publication Date Title
JP2989557B2 (ja) 物品把持装置
EP3889095B1 (de) Verfahren zur steuerung eines krans und kran
JP6810244B2 (ja) 積荷のサイドシフトを積荷荷重に対して可変的に応答させる液圧クランプシステム
CA2125791C (en) Prevention of slack lift chains on a man-up lift truck
JP5543741B2 (ja) クレーンの転倒防止装置
JP5026835B2 (ja) 作業機械用制御装置
JP5570198B2 (ja) ブーム付き作業機におけるブーム撓み抑制装置
EP1150019B1 (de) Zähler für Hebevorgänge von Kränen
EP1798188B1 (de) Hydraulischer Kran und Verfahren für die Registrierung.
KR940009054A (ko) 포크리프트의 하역제어장치
JP3113808B2 (ja) タワークレーン
JPH01256497A (ja) 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
IT201900012957A1 (it) Braccetto a più ganci perfezionato.
JPH1129292A (ja) 移動式クレーンの制御装置
US20230075340A1 (en) System and methods for controlled lowering and lifting of a load
JP2555425Y2 (ja) 自走式クレーンのフック格納装置
JP2004091142A (ja) クレーン
EP4215473A1 (de) Verfahren zur handhabung von lasten und lasthandhabungsvorrichtung
JP2018095448A (ja) 使用フック判定装置
JP2011069429A (ja) 作業機械用制御装置
JPS5925840Y2 (ja) ウインチの巻上げ自動停止油圧回路
JP2004307170A (ja) 無人フォークリフト
JP2000226862A (ja) クレーン仕様の油圧ショベルに於ける自動垂直吊り装置
JP5805805B2 (ja) ブーム付き作業機におけるブーム撓み抑制装置の操作方法
JP4759187B2 (ja) 作業機の安全装置

Legal Events

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

Free format text: ORIGINAL CODE: 0009012

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

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

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

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20211019

RBV Designated contracting states (corrected)

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

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: B66C 23/88 20060101ALI20220308BHEP

Ipc: B66C 23/68 20060101AFI20220308BHEP

INTG Intention to grant announced

Effective date: 20220412

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

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

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

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

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602021000318

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1512068

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220915

REG Reference to a national code

Ref country code: DK

Ref legal event code: T3

Effective date: 20221026

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20220817

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

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

Ref country code: SE

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

Effective date: 20220817

Ref country code: RS

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

Effective date: 20220817

Ref country code: PT

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

Effective date: 20221219

Ref country code: NO

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

Effective date: 20221117

Ref country code: NL

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

Effective date: 20220817

Ref country code: LV

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

Effective date: 20220817

Ref country code: LT

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

Effective date: 20220817

Ref country code: FI

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

Effective date: 20220817

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

Ref country code: PL

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

Effective date: 20220817

Ref country code: IS

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

Effective date: 20221217

Ref country code: HR

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

Effective date: 20220817

Ref country code: GR

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

Effective date: 20221118

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

Ref country code: SM

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

Effective date: 20220817

Ref country code: RO

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

Effective date: 20220817

Ref country code: ES

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

Effective date: 20220817

Ref country code: CZ

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

Effective date: 20220817

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602021000318

Country of ref document: DE

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

Ref country code: SK

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

Effective date: 20220817

Ref country code: EE

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

Effective date: 20220817

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

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

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

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

Ref country code: AL

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

Effective date: 20220817

26N No opposition filed

Effective date: 20230519

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

Ref country code: IT

Payment date: 20230331

Year of fee payment: 3

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

Ref country code: SI

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

Effective date: 20220817

REG Reference to a national code

Ref country code: AT

Ref legal event code: UEP

Ref document number: 1512068

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220817

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

Ref country code: MC

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

Effective date: 20220817

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20230331

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

Ref country code: LU

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

Effective date: 20230326

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

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

Ref country code: IE

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

Effective date: 20230326

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

Ref country code: BE

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

Effective date: 20230331

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

Ref country code: DE

Payment date: 20240328

Year of fee payment: 4

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

Ref country code: FR

Payment date: 20240326

Year of fee payment: 4

Ref country code: DK

Payment date: 20240326

Year of fee payment: 4