EP3947240B1 - Kran mit kransteuerung - Google Patents

Kran mit kransteuerung Download PDF

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Publication number
EP3947240B1
EP3947240B1 EP20717074.7A EP20717074A EP3947240B1 EP 3947240 B1 EP3947240 B1 EP 3947240B1 EP 20717074 A EP20717074 A EP 20717074A EP 3947240 B1 EP3947240 B1 EP 3947240B1
Authority
EP
European Patent Office
Prior art keywords
arm
crane
freedom
arm system
user
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
EP20717074.7A
Other languages
German (de)
English (en)
French (fr)
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EP3947240A1 (de
Inventor
Christoph Hoffmann
Thomas DEIMER
Harald VIERLINGER
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.)
Palfinger AG
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Palfinger AG
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Filing date
Publication date
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Priority to SI202030159T priority Critical patent/SI3947240T1/sl
Publication of EP3947240A1 publication Critical patent/EP3947240A1/de
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Publication of EP3947240B1 publication Critical patent/EP3947240B1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • 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
    • 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
    • B66C13/18—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
    • B66C13/52—Details of compartments for driving engines or motors or of operator's stands or cabins
    • B66C13/54—Operator's stands or cabins
    • B66C13/56—Arrangements of handles or pedals
    • 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
    • B66C23/06—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 mounted for jibbing or luffing 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
    • B66C23/54—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
    • B66C23/58—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 arranged to carry out a desired sequence of operations automatically, e.g. hoisting followed by luffing and slewing
    • B66C23/585—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 arranged to carry out a desired sequence of operations automatically, e.g. hoisting followed by luffing and slewing electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0321—Travelling cranes
    • B66C2700/0357—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks
    • B66C2700/0364—Cranes on road or off-road vehicles, on trailers or towed vehicles; Cranes on wheels or crane-trucks with a slewing arm

Definitions

  • the invention relates to a crane according to the preamble of claim 1 and a vehicle with such a crane.
  • the DE 20 2016 008565 U1 shows an arrangement of a control arranged or to be arranged on a hydraulic lifting device and a mobile control module.
  • the DE 20 2016 008565 U1 discloses a crane according to the preamble of independent claim 1.
  • the individual actuators of the arm system are controlled by the crane controller in such a way that the user controls the behavior of the crane tip of the arm system instead of the individual actuators himself.
  • Designs of coordinate controls are known in which the crane is controlled by the user essentially with only two operating elements (eg joysticks), one for pivoting the crane column and one for performing a horizontal movement and a vertical movement of the crane tip.
  • the arm system can have more degrees of freedom than are at least necessary for the positioning and orientation of the crane tip in space.
  • the crane column of a crane of this type is mounted so that it can swivel over a structurally specified crane column pivoting range and has a degree of freedom due to its pivotable mounting.
  • the main arm is pivotably mounted on the crane column over a design-specified pivoting range of the main arm and has a degree of freedom due to its pivotable mounting.
  • the articulated arm is pivotably mounted on the main arm over a design-specified articulated arm pivoting range and has a degree of freedom due to its pivotable mounting.
  • the at least one push arm is slidably mounted in the articulated arm over a constructively predetermined push area and has a degree of freedom due to its slidable mounting.
  • the arm system of a generic crane accordingly has four degrees of freedom. In the prior art, such arm systems are known, for example, as redundant or overdetermined manipulators.
  • a processor or a computing unit of the crane control system performs a so-called reverse transformation or kinematic reversal, which results in the control commands suitable for the desired path for controlling the actuators of the arm system (e.g. movement of the arm system along the degrees of freedom of the joints ).
  • the backward transformation for generating control commands for the arm system must take into account optimization criteria (such as so-called cost functions with weighting matrices) and, if necessary, with approximations and is associated with a high computational effort.
  • optimization criteria such as so-called cost functions with weighting matrices
  • the object of the invention is to specify a crane with a crane controller which, in one operating mode, is configured to carry out coordinate control of the arm system, and a vehicle with such a crane, in which the operator can influence the movement of the arm system to avoid unforeseen movements to be avoided and in which the complexity of the calculation of the inverse transform is reduced.
  • the crane control has a user interface, the user interface having at least one function that can be selected by a user and by means of which at least one of the degrees of freedom can be restricted or is restricted in the coordinate control operating mode.
  • the movements of the arm system can be better predictable for the user as a result of the restriction of at least one of the degrees of freedom by the at least one function that can be selected by a user.
  • a user can specifically restrict and/or switch off degrees of freedom in the movement of the arm system that he does not want to be involved in the movement of the arm system in the coordinate control operating mode.
  • the movements of the arm system can be specifically adapted to the planned lifting process. The user can thus be given the opportunity to interact with the crane, as a result of which the user can influence the way the crane works.
  • the user can be given the opportunity to make a selection of the arms of the arm system involved in the coordinate control.
  • a user can also be given the option of preferring or prioritizing different combinations of arms of the arm system involved in the coordinate control.
  • the arm system also has a second articulated arm, which at The push arm is pivotably mounted over a design-specified second articulated arm pivoting range and has a degree of freedom due to its pivotable mounting, and which preferably comprises at least one second push-arm which is displaceably mounted in the second articulated arm over a design-specified second push-arm thrust range and due to its displaceable mounting has a degree of freedom.
  • the second knuckle boom expands the space for possible positioning of the crane tip and is often referred to as a so-called "fly jib".
  • the main arm can be made telescopic by the at least one main arm push arm.
  • the coordinate control In principle, it is not a problem for the coordinate control to take into account the geometric data of additional devices or attachments in the calculation. To do this, the coordinate control only has to be supplied with information about an additional device attached to the arm system (e.g. information on the range of functions, dimensions, angular positions) so that this information can be included in the calculation.
  • information about an additional device attached to the arm system e.g. information on the range of functions, dimensions, angular positions
  • information about an additional device that is already stored in the crane controller can be selected via a menu, or information can be entered by the user via a setting mask.
  • the setup state of the crane can be properly configured, and coordinate control of the tip of the attachment can be allowed to be performed in the coordinate control operation mode.
  • a safety query can be provided to ensure that the crane is ready. Provision can thus be made for the user to have to confirm the setup status of the crane via the user interface by selecting a corresponding function of the user interface.
  • coordinate control of the crane tip is mostly performed.
  • any other point of the arm system or a point supported by the arm system can also be used for which a coordinate control is carried out.
  • a cable winch could be arranged on the arm system and coordinate control could be carried out in relation to the attachment point of the cable winch on the arm system or in relation to the load hook at the cable end of the cable winch.
  • the coordinate control no longer refers to the crane tip itself, but directly regulates the position of the load at the end of the cable.
  • the change from a coordinate control of the crane tip to a coordinate control of a specified or specifiable point of the Arm system or a predetermined or specifiable point supported by the arm system can be detected by the crane controller and suggested to the operator, who can or must confirm this change. It can also be provided that this change can be activated by the operator by selecting a corresponding function of the user interface.
  • a suitable restriction is the restriction of the degrees of freedom of the arm system.
  • At least one degree of freedom of the arm system can be restricted or restricted by the at least one function that can be selected by the user, in order to eliminate or reduce an overdetermination of the arm system.
  • the degree of freedom of the rotatable crane column to maintain the pivotability of the crane column is excluded from the set of restrictable or restricted degrees of freedom. This is particularly useful in the case of versions of coordinate controls in which the crane is controlled by the user with two controls (eg joysticks), one of the two controls for pivoting the Crane column and the other control element is used to carry out a horizontal movement and a vertical movement of the crane tip.
  • two controls eg joysticks
  • Maintaining the pivotability of the crane column can be desirable, for example, if this degree of freedom of movement of the arm system is not redundant.
  • the restriction of one degree of freedom is sufficient to eliminate or reduce an overdetermination of the arm system, since exactly two degrees of freedom remain after the restriction of one degree of freedom to make a horizontal movement and a vertical movement of the arm system. If the arm system includes additional arms (e.g.
  • the restriction of all degrees of freedom of the arm system to two degrees of freedom is sufficient to eliminate or reduce an overdetermination of the arm system, since such a restriction of the degrees of freedom leaves exactly two degrees of freedom in order to to perform a horizontal movement and a vertical movement of the arm system.
  • the coordinate-controlled movements of the arm system are only carried out with two arms or crane sections or degrees of freedom, as a result of which these movements are clearly determined and easier for the user to understand.
  • unpredictable movements of the arm system can be prevented by restricting a degree of freedom or the degrees of freedom of an undesired arm.
  • the crane controller is configured in the coordinate control operating mode to use an arm selection in the form of a subset of the arms of the arm system to carry out the coordinate control of the arm system, with the crane controller having at least one operating profile in which at least two arm selections are stored in a predetermined or specifiable sequence from a higher priority to a lower priority or are continuously determined, and the crane controller is designed to use and control the arm selections stored in the at least one operating profile according to their prioritization for carrying out the coordinate control of the arm system, wherein the at least one operating profile is selectable by the at least one user selectable function.
  • a continuous determination can take place during operation depending on the current position of the arm system or the suitability of an arm selection for the lifting movement that has been carried out or is to be carried out.
  • each of the at least two arm selections consists of two arms of the arm system.
  • One of the operating profiles can, for example, be a so-called standard prioritization, which is always used when no other operating profile is specifically or specifically selected.
  • Table 1 shows an example of such a standard prioritization for a crane with an arm system which, in addition to the main arm, knuckle boom and extension arm, includes a second knuckle boom and a second extension arm.
  • the operational profile presented in the table includes 10 arm selections different prioritizations. In the table, priority number 1 represents the highest priority and priority number 10 represents the lowest priority.
  • HA corresponds to the main arm
  • KA corresponds to the outer arm
  • SA corresponds to the push arm (of the outer arm)
  • JKA corresponds to the second outer arm
  • JSA corresponds to the second push arm (of the second outer arm).
  • Table 1 prioritization arm selection 1 CA + SA 2 HA + SA 3 HA + KA 4 JSA + JKA 5 HA + JSA 6 KA + JSA 7 SA + JKA 8th KA + JKA 9 HA + JKA 10 SA + JSA
  • the crane controller is designed to use an arm selection for coordinate control as a function of a definable and/or a predetermined and/or a prevailing position of the arm system.
  • the crane controller is designed to use and control an arm selection from the at least two arm selections additionally as a function of the Feasibility of the coordinate control takes place with the respective arm selection.
  • the arm selection with prioritization 1 could first be used for the coordinate control. If the movement desired by the user is not possible with this arm selection, the arm selection with the next lower priority, i.e. priority 2 (main arm and extension arm), would be used for coordinate control. This would continue along the prioritizations until an arm selection is found that would perform the movement desired by the user.
  • a first operating profile can be stored whose arm selections only include the main boom and/or knuckle boom and/or push arm
  • a second operating profile can be stored whose Arm selections are subsets of all arms present.
  • Table 2 presented below shows an example of a first operating profile and Table 3 presented below shows an example of a second operating profile.
  • the first operating profile shown in Table 2 includes 3 arm selections with different prioritizations.
  • prioritization numbered 1 represents the highest prioritization and prioritization numbered 3 represents the lowest prioritization.
  • the second operational profile presented in Table 3 includes 10 arm selections with different prioritizations.
  • priority number 1 represents the highest priority and priority number 10 represents the lowest priority.
  • sequence of the at least two arm selections of an operating profile can be changed.
  • the ranking can be continuously determined.
  • Table 4 shows an example of another operating profile. This includes 3 arm selections with different priorities. In the table, priority number 1 represents the highest priority and priority number 3 represents the lowest priority. Table 4 prioritization arm selection 1 CA + SA 2 HA + SA 3 HA + KA
  • a target angle of 20° was specified for the degree of freedom of the pivoting movement of the main arm in the example explained below, for example by selecting a corresponding function of the user interface for specifying the target angle of the main arm.
  • the crane is moved under coordinate control using the arm selections of the operating profile according to Table 4 and in the course of the movement of the arm system, the main arm leaves its target angle and is at an angular position of 50°.
  • the two arm selections that include the main arm i.e. the arm selection with priority 2 and the arm selection with priority 3 are then evaluated by the crane controller to determine whether the target angle of the main arm can be approached again with the current user specification.
  • the arm selection that moves the main arm fastest back into its target angular position is temporarily placed first (or given priority with the number 1).
  • the arm selection temporarily placed first is reset to its original position according to Table 4 (or regains its original prioritization).
  • the restriction of the at least one degree of freedom takes place in that it can be set to a predetermined or predeterminable value or is fixed and/or can be restricted or restricted to a predefinable or predetermined sub-area and/or can be restricted or restricted in relation to its rate of change.
  • At least one arm of the arm system can be blocked by the at least one function that can be selected by the user.
  • at least one arm of the arm system can be temporarily locked so that this at least one locked arm no longer participates in the coordinate-controlled movement of the arm system and instead remains in its locked position.
  • the fact that the at least one locked arm no longer participates in the coordinate-controlled movement of the arm system does not mean that it remains stationary in space, for example, but rather that the degree of freedom of the at least one locked arm is no longer used to move the arm system.
  • the user interface comprises at least one control element (e.g. a rotary knob, a linear lever or an axis of a multi-axis joystick) of the crane controller and the selectable function is selected by a user actuating the at least one control element.
  • control element e.g. a rotary knob, a linear lever or an axis of a multi-axis joystick
  • the crane controller can be configured in a further operating mode to carry out free control of the arm system.
  • This can correspond to conventional operation of a crane, in which the individual actuators of the arm system are directly controlled individually by a user using control commands issued by the user.
  • the arm system can be controlled freely by at least one operating element of the crane control system, with one operating element each being used to enter control commands for the Movement of each arm of the arm system is provided along a degree of freedom.
  • a control element for example a linear lever assigned to the movement or an axis of a multi-axis joystick
  • the assignment of the function of the at least one control element in the further operating mode for free control of the arm system can be used in the coordinate control operating mode for a selection of a restriction of the corresponding degree of freedom of the movement of the arm system.
  • a restriction can be lifted again by a corresponding actuation (for example by a movement in the opposite direction) of the operating element.
  • the main arm (or any other arm in the arm system) can be locked to make movement easier for the user.
  • a user interface input device such as a button of a menu-driven user interface, or operating elements such as a lever of a lever-operated user interface, can be used to lock and unlock an arm.
  • a user interface of a crane control for a crane often also has individual operating levers (such as a Joystick with, for example, two orthogonal axes or uniaxial linear lever) for free control of the arm system in a further operating mode.
  • These control levers which are not used to control the arm system in the coordinate control operation mode, can be used to lock and unlock an arm.
  • the main arm can be locked using the control element for the main arm movement (e.g. the main arm lever) that is not used in the coordinate control.
  • the user can position the main arm in a desired position and then fix the main arm angle.
  • the control element assigned to the main arm movement such as a joystick with, for example, two orthogonal axes or a single-axis linear lever
  • All other coordinate-controlled movements of a crane with main boom, knuckle boom and extension arm are then only carried out with knuckle boom and extension arm.
  • a visualization can take place on a display of the crane control, in which blocked arms or crane sections are marked accordingly. If the operator actuates the control element assigned to the main arm movement again (e.g. in the opposite direction), he can very conveniently unlock or fix the main arm again.
  • Such a lock or fixation can take place in an analogous manner for every other arm or every degree of freedom of movement of the arm system.
  • the main arm can be positioned high (e.g. 70° - 80°) and then locked.
  • the coordinate-controlled crane movements are therefore only carried out with a knuckle boom and push arm and a very large movement area can be covered.
  • this can prevent the main arm from colliding with structures on a carrier vehicle or truck on which the crane is mounted due to unforeseen movements.
  • the degree of freedom of the articulated arm can be restricted or restricted to a predeterminable or predetermined partial area, preferably to a predeterminable or predetermined quadrant, so that the articulated arm in the coordinate control operating mode is in an overstretched pivot position above a imaginary extension of the main arm is positionable or positioned.
  • Quadrant 1 is the area between the main arm line and the pivot bearing line above the main arm line and in the direction of the imaginary extension of the main arm.
  • Quadrant 2 is the area between the main arm line and the pivot bearing line above the main arm line and in the direction of the main arm.
  • Quadrant 3 is the area between the main arm line and the pivot bearing line below the main arm line and in the direction of the main arm.
  • Quadrant 4 is the area between the main arm line and the pivot bearing line below the main arm line and in the direction of the imaginary extension of the main arm.
  • a deficiency of conventional coordinate controls is the lack of a clear solution for the so-called overextension of the boom, in which the boom should move from a pivoted position below an imaginary extension of the main boom (quadrant 4) to a pivoted position above the imaginary extension of the main boom (quadrant 1). .
  • the articulated arm angle is 0°, ie the articulated arm is arranged in an exactly straight extension to the main arm).
  • One option would be to over-extend the outrigger using a manual override by selecting an appropriate user interface function.
  • the crane controller provides an assistance function in the coordinate control operating mode, through which the articulated boom is moved from quadrant 4 to quadrant 1 when the dead center is approached and the degree of freedom of the articulated boom is restricted to quadrant 1. Once the boom is in quadrant 1, it will only move in that quadrant to keep the calculation unambiguous. The transition from an overstretched pivoted position of the articulated arm (pivoted position above the imaginary extension of the main arm) to a pivoted position below the imaginary extension of the main arm can take place in the opposite manner.
  • the assistance function can be selected by the at least one function that can be selected by the user.
  • the predefinable or predetermined partial area is less than or equal to 2°, preferably less than or equal to 0.5°, or is less than or equal to 10 cm, preferably less than or equal to 2.5 cm, and/or the rate of change is less than or equal to 0.2° per second, preferably less than or equal to 0.05° per second, or less than or equal to 2 cm per second, preferably less than or equal to 0.5 cm per second.
  • a restriction of one of the degrees of freedom of the arm system can thus correspond to a greatly decelerated movement of a respective arm along a respective degree of freedom.
  • the crane controller has a preferably portable control panel and the user interface is formed on the control panel.
  • the control panel can have a display and controls in the form of a rotary knob, a linear lever and a button.
  • the controls may be used for navigating the menu-based user interface, for selecting a user-selectable function, or for a user to issue control commands.
  • a portable control desk can be understood as an independent operating unit with which a user can move essentially freely in a certain environment around a crane or a hydraulic lifting device.
  • data or information can be exchanged between such a control panel and the crane or the hydraulic lifting device, for example via radio and/or cable-supported connections.
  • the menu driven user interface can follow a hierarchical structure. It is conceivable that the menu items of the user interface can be graphically modeled and represented.
  • a menu-driven user interface can allow a user to select different functions, for example from a list of predefined or predefinable functions.
  • the crane controller includes a display. If the display of the crane control is designed as a touch display, then the user interface can be accessed directly via the Touch display are executed.
  • the corresponding degree of freedom can be limited, for example, by touching a crane arm of an arm system shown on the display once.
  • the color of the displayed crane arm can change from white to black on the display to visualize the restriction of the degree of freedom. If you touch the crane arm again, this restriction can be lifted again and the display of the crane arm can change from black to white again, for example.
  • the display is not designed as a touch display or something similar, the user interface, which may be menu-driven, can be navigated using an operating element on the crane controller.
  • the display can assume the function of a status display for the operator, on which it can be seen at a glance which crane arms or degrees of freedom are restricted.
  • the crane controller is configured in a further operating mode to carry out free control of the arm system on the basis of control commands entered by a user, starting from the coordinate control operating mode and changing to the further operating mode as long as how a predefinable or predetermined operating element of the crane control, preferably a dead man's switch of the crane control, remains actuated by a user. It can therefore be possible for a user to temporarily switch from the coordinate control operating mode to the further operating mode for free control of the arm system by actuating a control element of the crane control provided for this purpose. This means, for example, that individual arms of the arm system can be brought into a desired position in a targeted and free manner, or that obstacles can be moved manually.
  • the crane geometry i.e. the relative position of the crane arms to one another in a plane or relative to the crane column and the pivoting position of the crane arms together with the crane column relative to a crane base
  • the user can, for example, change the relative position of the crane arms by actuating appropriate operating elements and pivot the crane arms together with the crane column relative to the crane base.
  • crane operation is usually monitored by safety devices, which intervene when the user actuates operating elements that lead to a safety-critical state. For example, the stability of the crane can be monitored.
  • the crane controller has a number of operating modes.
  • a working position operating mode for example, in which the crane geometry can be changed in a predetermined sequence of movements by the crane control in order to easily move the crane to a predetermined position To bring working position and / or in a predetermined parking position.
  • the crane controller may also be configured to remember the last operating mode used prior to folding the crane into its parked position. It can be provided that after the crane is unfolded into its working position using the working position operating mode, the coordinate control operating mode is automatically switched to if the coordinate control operating mode was last active before the crane was folded into its parking position.
  • Protection is also sought for a vehicle fitted with a crane of the type described above.
  • the vehicle may be a truck and the crane may be a loader crane.
  • FIG. 1a to 1c side views of different embodiments of a crane 1 mounted on a vehicle 19 are shown.
  • the Figures 2a to 2c show the cranes 1 of Figures 1a to 1c in isolation.
  • the degrees of freedom ⁇ , ⁇ , ⁇ , ⁇ , L, J, H of the movement of the individual arms 2, 3, 4, 5, 7, 8, 24 of the various arm systems of the cranes 1 are in the Figures 3a to 3e and in figure 4 illustrated.
  • a first embodiment of a proposed crane 1 is shown, the crane 1 being designed as a loading crane or knuckle-boom crane and being arranged on a vehicle 19 .
  • the crane 1 has a crane column 2 that can be rotated about a first vertical axis v1 by means of a slewing gear 20, a main arm 3 that is mounted on the crane column 2 that can pivot about a first horizontal pivot axis h1, and an articulated boom that is mounted on the main arm 3 that can pivot about a second horizontal pivot axis h2 4 with at least one push arm 5.
  • a hydraulic main cylinder 21 is provided for pivoting the main arm 3 relative to the crane column 2 (bending angle position a1 of the degree of freedom a shown).
  • a hydraulic articulated cylinder 22 is provided for pivoting articulated arm 4 relative to main arm 3 (articulated angle position b1 of degree of freedom ⁇ shown).
  • the crane tip 14 can be formed from the tip of the push arm 5.
  • the arm system of the crane 1 shown accordingly has a crane column 2 , a main arm 3 , an articulated arm 4 and at least one push arm 5 .
  • the crane 1 has a schematically illustrated crane control 6 which, in a coordinate control operating mode, is configured to carry out coordinate control of the arm system.
  • the crane controller 6 has a user interface, which is not shown in detail here, the user interface having at least one function that can be selected by a user, through which at least one of the degrees of freedom ⁇ , ⁇ , ⁇ , L (see Figure 3a to 3e and figure 4 ) is boundable or is bounded.
  • FIG 1b a second embodiment of a proposed crane 1 is shown, wherein the crane 1 shown therein, in addition to the equipment shown in Figure 1a shown embodiment a about a third horizontal pivot axis h3 pivotable on the push arm 5 of the articulated arm 4 arranged second articulated arm 7 with a second push arm 8 mounted therein.
  • An articulated cylinder 23 is provided for pivoting the second articulated arm 7 relative to the articulated arm 4 (articulated angle position g1 of the degree of freedom ⁇ shown).
  • the crane tip 14 can be formed from the tip of the push arm 8.
  • the arm system of the in Figure 1b The crane 1 shown accordingly has a crane column 2, a main arm 3, an articulated arm 4 with at least one push arm 5, and a second articulated arm 7 with at least one push arm 8.
  • FIG 1c a third embodiment of a proposed crane 1 is shown, the crane 1 shown therein having, in addition to the configuration of Fig Figure 1b
  • the embodiment shown has a further articulated arm 24 that is pivotable about a fourth horizontal pivot axis a4 on the second push arm 8 of the second articulated arm 7 .
  • An articulated cylinder 25 is provided for pivoting the additional articulated arm 24 relative to the second articulated arm 7 (depicted articulation angle position d1 of the degree of freedom of the pivoting movement of the additional articulated arm 24).
  • the crane tip 14 can be formed from the tip of the further articulated arm 24.
  • the arm system of the in Figure 1c The crane 1 shown accordingly has a crane column 2, a main arm 3, an articulated arm 4 with at least one push arm 5, a second articulated arm 7 with at least one push arm 8, and a further articulated arm 24 (which can optionally be designed to be variable in length).
  • each is a detailed view of one according to the Figures 1a to 1c trained crane 1 shown.
  • FIG. 3a to 3e the degrees of freedom ⁇ , ⁇ , ⁇ , ⁇ , L, J of the movement of different arms of different arm systems are illustrated in side views.
  • the in the Figures 3a to 3c Crane 1 shown corresponds in execution to that of Figures 1a and 2a .
  • the in the 3d figures and 3e articulated arm 7 shown corresponds to that in the figures 1b and 2 B second articulated arms 7.
  • the other articulated arm 24 of Figures 1c and 2c can also according to the in the Figures 3e and 3b shown articulated arm 7 be formed.
  • the crane column 2 which is rotatable about the axis of rotation in the form of the first vertical axis v1, is pivotably mounted over a structurally specified crane column pivoting range ⁇ 1- ⁇ 2 and has a degree of freedom ⁇ due to its pivotable mounting. It is conceivable that the crane column pivoting range extends over an interval from 0° to 360°, ie the crane column is designed to be endlessly pivotable.
  • the main arm 3 is pivotably mounted on the crane column 2 over a design-specified main arm pivoting range ⁇ 1- ⁇ 2 and has a degree of freedom ⁇ due to its pivotable mounting.
  • the articulated arm 4 is on the main arm 3 via a constructively predetermined articulated arm pivot range ⁇ 1 - ⁇ 2 pivotably mounted and has its pivotable mounting a degree of freedom ⁇ .
  • the push arm 5 is slidably mounted in the articulated arm 4 over a constructively predetermined thrust range L1-L2 and has a degree of freedom L due to its slidable mounting.
  • an articulated arm 7 is shown in isolation, which has a connection area 28 on the push arm 5 of the crane 1 of the Figures 3a to 3c can be pivoted over a structurally specified second articulated arm pivot range ⁇ 1 - ⁇ 2 and has a degree of freedom ⁇ due to a pivotable mounting, and which comprises at least one second push arm 8 which can be displaced in the second articulated arm 7 over a structurally specified second push arm thrust range J1 - J2 is mounted and has a degree of freedom J due to its displaceable mounting.
  • FIG 4 an embodiment of a crane 1 is shown, the arm system of which, in contrast to the previously discussed embodiments, additionally has at least one main arm extension arm 18, which is slidably mounted in the main arm 3 over a structurally specified (and only schematically shown) extension range H1 - H2 and through its movable storage has a degree of freedom H.
  • the arm system of the in figure 4 The crane 1 shown accordingly has a crane column 2, a main arm 3 with at least one main arm push arm 18, a knuckle boom 4 with at least one push arm 5.
  • a specified or specified value ⁇ 0, ⁇ 0, ⁇ 0, ⁇ 0, L0, J0, H0 can be or can be specified, and/or to a specified or specified partial range ⁇ 1 ⁇ 3- ⁇ 4 ⁇ 2; ⁇ 1 ⁇ ⁇ 3 - ⁇ 4 ⁇ 2; ⁇ 1 ⁇ ⁇ 3 - ⁇ 4 ⁇ 2; ⁇ 1 ⁇ ⁇ 3 - ⁇ 4 ⁇ 2; L1 ⁇ L3 - L4 ⁇ L2; J1 ⁇ J3 - J4 ⁇ J2; H1 ⁇ H3 - H4 ⁇ H2 be restrictable or be restricted.
  • FIG. 5a and 5b two versions of additional devices that can be arranged on the arm system are shown in the form of a working device 9 embodied as an example of a stone stack tong and a static arm extension 10 .
  • FIG 5a an embodiment of an implement 9 is shown, which can be arranged on a push arm of a crane.
  • Dimensions and range of functions of the working device can be stored in a crane controller, not shown here, and included in the calculations of the crane controller.
  • static arm extension 10 can be arranged on a push arm of a crane via a corresponding recording.
  • the arm extension 10 can be arranged on a push arm at an angle ⁇ (shown here in relation to an imaginary vertical) by means of an adjustably designed receptacle.
  • the arm extension 10 can be designed to be variable in length.
  • the information on the arm extension 10, such as the length of the arm extension 10 and the angle ⁇ , can be stored in a crane controller (not shown here) and included in calculations by the crane controller, specifically with regard to the position of the crane tip (see Figures 11b and 11d ).
  • FIG 6a is an embodiment of the crane 1 according to the Figure 1a and 2a, respectively.
  • a schematic representation of the crane control 6 is shown, which is configured in a coordinate control operating mode to perform coordinate control of the arm system.
  • the crane controller 6 has a user interface not shown here, the user interface having at least one user-selectable function by which at least one of the degrees of freedom ⁇ , ⁇ , ⁇ , L can be restricted or is restricted in the coordinate control operating mode.
  • the crane controller 6 shown schematically here has a number of signal inputs to which signals from the sensors installed on the crane 1 can be supplied.
  • the crane controller 6 also has a memory 11 in which, for example, program data on operating modes and calculation models of the crane controller 6 as well as incoming signals can be stored, and a computing unit 12 with which, among other things, incoming signals and data stored in memory 11 can be processed.
  • the crane controller 6 can also include a display 16 .
  • the crane controller 6 can communicate with the display 16 using cables and/or wirelessly.
  • the sensor system for detecting the geometry of the crane 1 includes in Figure 6a shown embodiment a rotation angle sensor f1 for detecting the rotation angle d1 of the crane column 2, an articulation angle sensor k1 for detecting the articulation angle a1 of the main boom 3 to the crane column 2, an articulation angle sensor k2 for detecting the articulation angle b1 of the boom 4 to the main boom 3 and a push position sensor s1 for detecting the Push position x1 of the push arm 5.
  • Figure 6b is analogous to Figure 6a an embodiment of the crane 1 according to the Figure 1b and 2b, respectively.
  • the configuration of the crane 1 includes a second knuckle boom 7 arranged on the extension arm 5 of the knuckle boom 4.
  • Additional sensors for detecting the operating parameters of the crane 1 are an articulation angle sensor k3 for detecting the articulation angle g1 of the second knuckle boom 7 to the knuckle boom 5 and a thrust position sensor s2 for Detection of the push position x2 of the second push arm 8 is provided.
  • FIG 7 shows an example of a display 16 of the crane controller 6 of a proposed crane 1.
  • the display 16 can be used purely for display purposes, but can also be designed as a touch display and thus represent a menu-driven user interface of the crane controller 6 at the same time.
  • Various operating modes of the crane controller 6 can be selected via operating mode functions 26a, 26b, 26c that can be selected by a user.
  • a working position operating mode can be selected via a first selectable operating mode function 26a, in which the crane geometry of the crane 1 is brought into a working position in a predetermined sequence of movements.
  • a parking position operating mode can be selected via a second selectable operating mode function 26b, in which the crane geometry of the crane 1 is brought into a parking position in a predetermined sequence of movements.
  • the coordinate control operating mode in which the crane controller 6 is configured to carry out coordinate control of the arm system can be selected via a third selectable operating mode function 26c. If the operating mode function 26c is selected, an option as in figure 14 displayed security prompt to be confirmed by a user. Settings of the coordinate control operating mode can be changed via the fourth selectable operating mode function 26d (for example configuration and/or sequence of operating profiles, specifications for different degrees of freedom, etc.).
  • the Figures 8a, 8b and 8c show exemplary designs of user interfaces, which are each formed by displays 16 of crane controls 6, which can be designed as a touch display.
  • At least two arm selections in the form of a subset of the arms 2, 3, 4, 5, 7, 8, 18 of the arm system of the crane 1 are or will be stored in a predetermined or specifiable sequence from a higher priority to a lower priority continuously determined during operation.
  • the crane controller 6 is designed to use and control the arm selections stored in the selected operating profile according to their prioritization for carrying out the coordinate control of the arm system.
  • Each selected function 27a, 27d and 27h is marked on the display 16 by a black dot (filled circle) so that the user can immediately see which operating profile is selected.
  • the one in the pictograms of Figures 8a and 8b Crane shown can be based on an embodiment of a crane 1 according to the Figures 1a or 2a related and in the Figure 8c illustrated crane on an embodiment of a crane 1 according to the figures 1b or 2b. The same applies to an embodiment of a crane 1 according to the Figures 1c or 2c conceivable.
  • Functions 27a, 27b and 27c shown can be used to hold an arm system of a crane 1 in a preferred arm position in a coordinate control operating mode.
  • a selection of the function 27a can, for example, correspond to a standard configuration of the crane 1, in which the arm system is held in an arm position that is optimized for utilization and range. More details on this are the Figure 9a refer to.
  • a selection of the function 27b can, for example, correspond to a configuration of the crane 1 in which the arm system is held in an arm position which is ideally suited for transporting bulky loads. Details are the Figure 9b refer to.
  • a selection of the function 27c can, for example, correspond to a configuration of the crane 1 in which, in particular, the main arm 3 of the arm system is held in a preferred position. Details are the Figure 9c refer to.
  • a selection of the functions 27d to 27g in the Figure 8b can when performing the coordinate control of the arm system of a crane 1 according to the Figure 1a or 2a cause an arm selection to be used in the form of a subset (3, 4, 5; 4, 5; 3, 5; 3,4) of the set of arms (3, 4, 5) of the arm system.
  • a selection of the function 27d can correspond to an arm selection in which the main arm 3 and the articulated arm 4, the articulated arm 4 and the push arm 5, or the main arm 3 and push arm 5 are used depending on suitability or prioritization when carrying out the coordinate control.
  • a selection of the function 27e can correspond to an arm selection in which the articulated arm 4 and the push arm 5 are used when carrying out the coordinate control.
  • a selection of the function 27f can correspond to an arm selection in which the main arm 3 and the push arm 5 are used when carrying out the coordinate control.
  • a selection of the function 27g can correspond to an arm selection in which the main arm 3 and the articulated arm 4 are used when carrying out the coordinate control.
  • a selection of the respective functions will limit the remaining degrees of freedom of movement of the arms of the arm system.
  • a target angle a0 is defined for the degree of freedom ⁇ of the pivoting movement of the main arm 3, which is in an angular range that is optimized for utilization and range (e.g. 20°), for example by using a corresponding function of the user interface to define the target angle a0 of the degree of freedom ⁇ of the Pivoting movement of the main arm 3 has been selected.
  • the crane 1 thus essentially achieves the maximum lifting power and the maximum reach.
  • an arm selection is always used, which includes articulated arm 4 and push arm 5.
  • W K adjustable value
  • the main arm 3 is held in its desired position (eg >60°) for as long as possible. This is due to an at least temporary limitation of the degree of freedom ⁇ of the pivoting movement of the main arm 3 to a partial range ⁇ 3 - ⁇ 2 (see also Figure 3a ) same. If the main arm 3 leaves its target position down (in the direction of 0°), it will, if or as soon as the movement allows, it is always positioned back to its target angle. This can prevent a permanent lowering of the main arm 3 when working in the steep position.
  • This reset function of the main arm 3 can be achieved, for example, by using the arm selections of the operating profile according to Table 4, in which, if possible, the arm selection with priority 1 (articulated arm 4 and push arm 5) is always used.
  • the crane 1 is moved, for example, in a coordinate-controlled manner using the arm selections of the operating profile according to Table 4, and in the course of the movement of the arm system the main arm 3 leaves its target position and is at an angular position of 50°. As a result, there is a change in arm selection due to an end position or a restart of the movement.
  • the two arm selections that include the main arm 3 i.e.
  • the arm selection with priority 2 and the arm selection with priority 3) are then evaluated by crane control 6 to determine whether the target position of main arm 3 can be approached again with the current user specification. As a result, that arm selection that moves the main arm 3 fastest back into the target position is temporarily (dynamically) placed first (or given priority with the number 1). When the target position of the main arm 3 is reached, the arm selection temporarily placed first is returned to its original position according to Table 4 (or regains its original prioritization).
  • FIGS. 10a to 10e show exemplary designs of user interfaces, which are each formed by displays 16 of crane controls 6, which can be designed as a touch display.
  • the user interface can be implemented directly via the touch display. For example, by touching a crane arm 2, 3, 4, 5, 7, 8 shown on the display 16 once, the corresponding degree of freedom can be limited. To visualize the restriction, the color of the according to limited crane arm 2, 3, 4, 5, 7, 8 change from white to black. If you touch crane arm 2, 3, 4, 5, 7, 8 again, the restriction can be lifted again and the display of crane arm 2, 3, 4, 5, 7, 8 changes from black to white.
  • the embodiment of the user interface shown is particularly advantageous when the user interface is designed via the touch display.
  • this display 16 is not designed as a touch display or the like, the menu-driven user interface can be navigated using an operating element.
  • the user interface as in the Figures 8a to 8c shown embodiment advantageous.
  • the embodiment shown can serve, for example, as a kind of status display for the user, who can see at a glance which crane arms 2, 3, 4, 5, 7, 8 or degrees of freedom are restricted.
  • the illustrated functions 27l, 27m, 27n, 27o, 27p, 27q of the crane control 6 in the coordinate control operating mode which can be selected by a user, each serve to select an arm of the arm system of the crane 1, whose degree of freedom can be increased by setting it to a predetermined or predeterminable value (or subarea) should be restricted.
  • the user-selectable functions 27l, 27m, 27n, 27o, 27p, 27q can be used to select which arms of the arm system are to be locked, with the locked arms no longer participating in the coordinate-controlled movement of the arm system and instead in theirs locked position.
  • FIG. 10a and 10b On the ads 16 of the Figures 10a and 10b is to each graphically an arm system of a crane 1 similar to the execution of Figure 1a and 2a, respectively, which comprises a crane column 2, a main arm 3, an articulated arm 4 and a push arm 5.
  • the arm systems of the on the ads 16 of Figures 10c to 10e Cranes 1 shown also include a second knuckle boom 7 and a second push arm 8.
  • Each of the through A user selectable functions 27l, 27m, 27n, 27o, 27p, 27q locked arms are shown in black in the illustrations of the arm systems.
  • the Figures 11a to 11c show exemplary designs of user interfaces, which are each formed by displays 16 of crane controls 6, which can be designed as a touch display.
  • the functions 27r, 27s, 27t, 27u, 27v, 27w, 27x, 27y, 27z shown here, which can be selected by a user, are each used to input information on an additional device attached to the arm system of the crane 1.
  • the selectable functions 27r and 27s shown take you, for example, to a menu that provides information about an additional device in the form of an arm extension 10 or an implement 9 (see Figures 5a and 5b ) can be selected from a database stored in the memory 11 of the crane controller 6 .
  • the selectable function 27t shown takes you, for example, to a setting mask via which information about additional devices that are not stored in the memory 11 of the crane controller 6 can be entered.
  • an angular position (angle ⁇ ) of an additional device attached to the arm system in the form of an arm extension 10 can be selected or entered.
  • the selectable functions 27y, 27z shown are used to select the set-up status of an additional device attached to the arm system, for example in the form of one or more manually operable extension extensions.
  • Figure 11d 1 shows an embodiment of an input mask 13 displayed on a display 16, via which information on the range of functions and/or dimensions and/or angular positions for the at least one additional device 9, 10 can be selected or entered and transferred to the crane controller 6.
  • figure 12 shows an example of the restriction of the degree of freedom ⁇ of the articulated arm 4 to a sub-range ⁇ 1 ⁇ 3 - ⁇ 2, a so-called To allow hyperextension of the articulated arm 4 by the crane controller 6 providing an assistance function in the coordinate control operating mode, which can be selected via a function of the user interface that can be selected by the user.
  • the quadrant 1 is the area between the main arm line and the pivot bearing line above the main arm line and in the direction of the imaginary extension of the main arm 3 .
  • the area between the main arm line and the pivot bearing line above the main arm line and in the direction of the main arm 3 is designated as quadrant 2 .
  • the area between the main arm line and the pivot bearing line below the main arm line and in the direction of the main arm 3 is referred to as quadrant 3 .
  • quadrant 4 The area between the main arm line and the pivot bearing line below the main arm line and in the direction of the imaginary extension of the main arm 3 referred to as quadrant 4 .
  • the knuckle boom 4 is in quadrant 4.
  • the knuckle boom angle is 180°, i.e. the knuckle boom 4 is arranged in an exactly straight extension to the main boom 3
  • the knuckle boom 4 is moved into quadrant 1 and the degree of freedom ⁇ of articulated arm 4 is restricted to quadrant 1 (see figure on the right).
  • Figure 13a shows the display 16 of a crane controller 6 of a proposed crane 1.
  • the display on the display 16 of the crane controller 6 can be one Correspond representation in the operating mode in which a free control of the arm system of the crane 1 based on control commands entered by a user is possible.
  • the representation shown contains graphic representations of several linear levers 30 to visualize the function assignments that apply in this operating mode.
  • Figure 13b shows an embodiment of a control panel 15 of the crane control 6.
  • the control panel 15 has at least one display 16 and operating elements 17 in the form of a rotary knob 29, a linear lever 30 and a button 31.
  • the controls may be used for navigating the menu-based user interface, for selecting a user-selectable function, or for a user to issue control commands.
  • control panel 15 can have a predefined operating element 17, for example in the form of a button 31 configured as a dead man's switch. If the crane controller 6 is in the coordinate control operating mode, it is possible to switch to the other operating mode by actuating the operating element 17 in the form of the button 31 configured in this way. This change to the further operating mode lasts as long as the operating element 17 in the form of, for example, the button 31 remains actuated by the user.
  • the display 16 shown can be displayed, for example, when the dead man's switch described above is pressed in the coordinate control operating mode, with the crane control in the further—freely controllable—operating mode changing. This can be made clear to the operator using the representation on the display 16 . This can be done independently of the variant (whether touch display or not) of the display 16 .
  • a display 16 is shown with a security query shown on it, which is to be confirmed, for example, by a user when he changes to the coordinate control operating mode.
  • this safety query can be made when the operating mode function 26c is selected to switch to the coordinate control operating mode.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Jib Cranes (AREA)
  • Control And Safety Of Cranes (AREA)
EP20717074.7A 2019-03-28 2020-03-24 Kran mit kransteuerung Active EP3947240B1 (de)

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ATGM50057/2019U AT16885U1 (de) 2019-03-28 2019-03-28 Kran mit Kransteuerung
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JP7416063B2 (ja) * 2019-05-22 2024-01-17 株式会社タダノ 遠隔操作端末および遠隔操作端末を備える移動式クレーン
SE545075C2 (sv) * 2021-09-06 2023-03-21 Komatsu Forest Ab Kran med kranstyrning, samt skogsmaskin innefattande sådan kran

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JP2841016B2 (ja) * 1993-11-08 1998-12-24 小松メック株式会社 リーチタワークレーンの操作制御方法および装置
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DE10060077A1 (de) * 2000-12-01 2002-06-06 Putzmeister Ag Vorrichtung zur Betätigung des Knickmasts eines Großmanipulators
DE10107107A1 (de) * 2001-02-14 2002-08-29 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts eines Großmanipulators sowie Großmanipulator mit einer solchen Vorrichtung
WO2007045426A1 (de) * 2005-10-18 2007-04-26 Putzmeister Concrete Pumps Gmbh Arbeitsmast, insbesondere für grossmanipulatoren und fahrbare betonpumpen
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DE102009032267A1 (de) * 2009-07-08 2011-01-13 Liebherr-Werk Nenzing Gmbh, Nenzing Kran zum Umschlagen einer an einem Lastseil hängenden Last
DE202010014310U1 (de) * 2010-10-14 2012-01-18 Liebherr-Werk Ehingen Gmbh Kran, insbesondere Raupen- oder Mobilkran
AT12942U1 (de) * 2011-11-08 2013-02-15 Palfinger Ag Kran, insbesondere ladekran für ein fahrzeug
DE202012012116U1 (de) * 2012-12-17 2014-03-19 Liebherr-Components Biberach Gmbh Turmdrehkran
AT14237U1 (de) * 2014-01-31 2015-06-15 Palfinger Ag Kransteuerung
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EP3594168A1 (de) * 2018-07-13 2020-01-15 EPSILON Kran GmbH. Kransteuerung mit visualisierungsvorrichtung

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AU2020249181B2 (en) 2022-09-15
US11505437B2 (en) 2022-11-22
KR102447865B1 (ko) 2022-09-26
CN113853349B (zh) 2022-10-21
JP7069430B2 (ja) 2022-05-17
EP3947240A1 (de) 2022-02-09
AT16885U1 (de) 2020-11-15
SG11202110701VA (en) 2021-10-28
CL2021002510A1 (es) 2022-04-22
HUE061329T2 (hu) 2023-06-28
US20220009749A1 (en) 2022-01-13
CA3135294A1 (en) 2020-10-01
CA3135294C (en) 2024-01-30
CN113853349A (zh) 2021-12-28
JP2022523867A (ja) 2022-04-26
WO2020191421A1 (de) 2020-10-01
SI3947240T1 (sl) 2023-04-28
DK3947240T3 (da) 2023-02-06
ES2938787T3 (es) 2023-04-14
KR20210134986A (ko) 2021-11-11
PL3947240T3 (pl) 2023-04-24

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