EP4263413A1 - Engrenage de levage - Google Patents

Engrenage de levage

Info

Publication number
EP4263413A1
EP4263413A1 EP22709237.6A EP22709237A EP4263413A1 EP 4263413 A1 EP4263413 A1 EP 4263413A1 EP 22709237 A EP22709237 A EP 22709237A EP 4263413 A1 EP4263413 A1 EP 4263413A1
Authority
EP
European Patent Office
Prior art keywords
load
actuators
hoist
supporting structure
boom
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.)
Pending
Application number
EP22709237.6A
Other languages
German (de)
English (en)
Inventor
Michael Eggert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Liebherr Werk Biberach GmbH
Original Assignee
Liebherr Werk Biberach GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Liebherr Werk Biberach GmbH filed Critical Liebherr Werk Biberach GmbH
Publication of EP4263413A1 publication Critical patent/EP4263413A1/fr
Pending legal-status Critical Current

Links

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
    • B66C23/62—Constructional features or details
    • B66C23/82—Luffing gear
    • B66C23/821—Bracing equipment for booms
    • B66C23/825—Bracing equipment acting in horizontal direction
    • 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
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical

Definitions

  • the present invention relates to hoists, in particular cranes such as tower cranes and/or mobile cranes, with a support structure, a determination device for determining a load and/or operating state of the support structure, and a control device for controlling actuators of the hoist depending on the load determined - and/or operating status.
  • Cranes such as tower slewing or mobile or telescopic jib cranes usually have slim, elongated support structures, which often include truss girders or hollow profile girders and are often used to the full or heavily loaded in terms of their stability and load-bearing capacity in order to reduce the dead weight of the support structure and thus the net that can be lifted - Increase payload.
  • Guys which can include guy ropes or rods and struts, are often used in order to avoid excessive bending of the long, slender carrier elements such as the boom, but also the tower or even a failure in stability and the desired for hoists to comply with collateral.
  • the changing operating influences represent a particular challenge for the design of the support structure.
  • the increasing loads change, but also dynamic loads caused by movements of the crane, for example by the jib rocking up and down by a luffing drive, twisting of the jib an upright axis by a slewing gear, moving a trolley along the jib by a trolley drive, lifting an attached load by a hoist drive or telescoping the jib in and out by a telescoping drive, as well as the associated accelerations when these movements are started or braked will.
  • there are other external loads such as wind forces or vibration loads due to pendulum movements of the load or vibration loads due to sudden lowering or lifting of the load.
  • Such cranes and comparable hoists usually have a central control device which monitors the load condition of the crane and restricts the actuation of the actuators if there is a risk of the crane being overloaded.
  • the control device monitors the recorded load and its radius by means of a corresponding sensor system in order to prevent excessive tilting moments that would endanger the stability of the crane. With very small overhangs, the load per se or its absorption is limited in order to avoid structural failure. It is also known to monitor pendulum movements of the load and associated deformations of the supporting structure in order to provide a pendulum damping function when the drives or actuators are controlled.
  • the present invention is therefore based on the object of creating an improved hoist of the type mentioned which avoids the disadvantages of the prior art and further develops the latter in an advantageous manner.
  • increased stability of the supporting structure and thus safety in crane or hoist operation under diverse, changing load influences and thus a further increase in load capacity should be achieved without having to buy this with unnecessary material and weight.
  • a reduction in deformations and a prevention or elimination of vibrations should also be achieved in order to reliably prevent failure, even with changing loads, even in the case of very light support structures that are at risk of stability.
  • the above object is achieved by a hoist according to claim 1.
  • Preferred developments of the invention are the subject matter of the dependent claims.
  • the support structure can be actively and variably deformed and/or braced online during hoist operation by the assigned actuators and can thus be adapted to the loads and external influences that change during operation in order to prevent overloading of individual support structure parts and to even out the loads in the support structure.
  • control device can control the actuators for active, operationally variable bracing and/or deforming of the support structure online during operation in such a way that the load on the support structure parts that are currently critically loaded due to the respectively determined load and operating state is relieved and there are still load capacity reserves having to load other support structure parts more heavily.
  • the active control of the actuators online during hoist operation if possible in real time, allows a significantly better distribution of the load on the supporting structure, adapted to the varying loads and influences. Depending on the situation, this distribution or redistribution of the loads can be controlled in different ways.
  • the determination device for determining the loading and operating status can advantageously have an identification device for identifying a heavily loaded support structure part that comes closest to its stability limit, or several such heavily loaded support structure parts and/or for identifying one or more load parts that still have stability reserves, so that the control device can control the actuators in a targeted manner as a function of the support structure parts that are identified as being at risk and/or that still have reserves, in order to achieve the aforementioned redistribution, i.e. to relieve the load on the support structure parts that are most heavily loaded or exhausted and/or to increase the load on the support structure parts that have even greater reserves burden.
  • the aforesaid determination device can have a calculation model that can be implemented, for example, in the form of a software tool of an electronic calculation unit that uses sensor-based and/or estimated and/or otherwise determined data relating to the load and/or operating state of the support structure a predetermined algorithm and/or predetermined determination rules determines or identifies the currently critically loaded and/or the currently less loaded parts of the support structure with load reserve.
  • the algorithm mentioned or the determination rules mentioned do not have to be predetermined in the sense of being rigidly fixed, but can be adapted adaptively in a learning system, as will be explained in more detail below.
  • the named support structure of the hoist can comprise at least one boom and possibly a tower carrying the boom, in which case the actuators can be designed to to actively brace and/or actively deform said jib and possibly also the tower, the active bracing or deformation of the jib or tower being variably adapted to the respectively determined load and operating state.
  • a load-carrying means for example in the form of a load hook, can run from the boom mentioned, although other load-carrying means, such as a cable excavator grab, can also be provided depending on the machine type.
  • control device can be designed to shorten support structure parts that are loaded in tension and/or to lengthen support structure parts that are loaded in compression by means of the actuators mentioned.
  • the supporting structure can comprise longitudinal chords, which can be connected by cross braces or other connecting elements, in which case the actuators can be designed to lengthen and/or shorten the longitudinal chords of the supporting structure, depending on whether the respective longitudinal chord is loaded in tension or in compression at the respective load or operating state.
  • the actuators can also be designed to actively adjust a guying of the support structure online during operation depending on the particular load and/or operating state, for example guy ropes and/or rods that are telescopic to lengthen and/or shorten and/or to lengthen and/or shorten a guy strut, which can support and/or spread the guy wire transversely to its longitudinal direction, in order to actively brace load-bearing structure parts guyed from the guy and /or to deform and/or to variably counteract a load-related deformation online during operation.
  • guy ropes and/or rods that are telescopic to lengthen and/or shorten and/or to lengthen and/or shorten a guy strut, which can support and/or spread the guy wire transversely to its longitudinal direction, in order to actively brace load-bearing structure parts guyed from the guy and /or to deform and/or to variably counteract a load-related deformation online during operation.
  • control device can control the actuators in such a way that the geometry of the Ab is adjusted, for example by lengthening or Shortening a guy strut or changing the spread angle of a guy strut so that, for example, the spread angle of a butterfly guy can be changed.
  • the geometry of the guying can also be achieved by lengthening and/or shortening one or more guying elements, for example in order to straighten a load-bearing structure element stretched therefrom or to deform it to a lesser or greater degree.
  • a guy rope attached further out on the jib can be lengthened and/or a guy rope attached in the middle area shortened and/or one attached to the middle section continuous cross brace of the guying can be shortened in order to counteract the said deflection of the boom by the corresponding adjustment of the geometry of the guying.
  • the bracing of the guying may also be sufficient to change the bracing of the guying, for example to increase a tensile force in one guy line and/or to reduce the tensile force in another guy line, without that the geometry would have to change as a result.
  • the control device for manipulating the support structure takes into account a wide range of parameters that describe the load and operating state of the hoist.
  • the parameters mentioned can reflect internal influences on the crane structure, ie influences caused by the operator, such as movements of the crane, which can be detected by sensors, for example, by the determination device mentioned.
  • Other internal influencing variables such as the setup status of the crane can also be determined by the determination device, for example detected by sensors or determined by importing or selecting setup status data.
  • the parameters mentioned that characterize the operating state can also be adjusted during operation, such as the rocking angle of a readout gers, the spread angle of a butterfly guy or the extended length of a telescopic boom.
  • parameters can also characterize external influences on the hoist, for example wind loads acting on the hoist, which the determination device detects directly by sensors, for example with regard to speed and direction, or indirectly, for example by detecting the strains or tensions caused by the wind of the supporting structure can be determined.
  • all or at least some of the data recorded by the sensor system can be examined and/or processed online in a central processing unit and/or in a number of decentralized processing units during hoist operation.
  • Non-measurable variables can be estimated using other, known variables, for example using a system-dynamic estimation model.
  • the deflection of a boom tip which is difficult to measure, can be estimated taking into account the configuration and the load condition of the boom.
  • the central and/or decentralized processing units mentioned can advantageously be equipped with routines and/or rules for handling errors, such as the failure of relevant components, for example.
  • the central and/or decentralized computing units mentioned can also be connected to other monitoring devices, such as a stability monitoring device, in order to limit these other monitoring devices, depending on a signal, to the intended manipulation of the support structure by the actuators.
  • the at least one computing unit can also have a prediction device for predicting a change in the operating state, with such a prediction device being able to include, for example, an estimation device and/or software tools such as deep learning or artificial intelligence.
  • the aforementioned prediction device can be designed to make predictions on the basis of past hoist operations, taking into account their boundary conditions, how the currently determined operating and/or load state is likely to change and what actuator measures to manipulate the support structure for such a probable change makes sense and/or is permissible.
  • the at least one computing unit can also be designed to distinguish external from internal influences on the basis of the processed data on a computing model.
  • the control device can provide for active manipulation of the support structure both when internal and external influences increase and decrease.
  • the control device can operate the actuators for actively manipulating the support structure semi-automatically or fully automatically, with semi-automatic control of the actuators being able to provide suggestions for manipulating the support structure to a hoist operator, which he can then carry out at his own discretion.
  • the control device can also have a fully automatic operating mode in which the control device controls and actuates the actuators for manipulating the supporting structure completely autonomously or fully automatically depending on the load and operating state data determined.
  • FIG. 1 A side view of a hoist in the form of a tower crane according to an advantageous embodiment of the invention, in which the actuators for manipulating the supporting structure include various actuators for adjusting the guying and the upper and lower flanges of the crane boom, and these have a sensor system for detection of load and operating status data includes several sensors on the boom and the guying,
  • FIG. 2 a rear view of a hoist in the form of a tower crane similar to FIG.
  • Fig. 3 A side view of the hoist from Fig. 2, showing a steep position of the
  • the hoist 1 can be designed in the form of a crane 2, a tower crane being shown as an example.
  • the crane 2 can include a jib 3, which can be luffed up and down about a horizontal axis by a luffing gear, see Fig. 3.
  • the jib 3 can sit on a tower 4, which can be telescoped and/or folded down can be designed, especially when the crane is designed as a mobile fast-erecting crane.
  • Said tower 4 can, for example, sit on a rotatable superstructure 5, so that the boom 3 together with the tower 4 can be rotated about an upright axis of rotation by a slewing gear, but the boom 3 can also be rotated about the upright axis relative to the tower 4 can be if it is a top-slewing.
  • Said superstructure 5 can sit on an undercarriage designed as a truck or on a crawler chassis or the like.
  • Said boom 3 and/or said tower 4 can be designed as a hollow profile and/or framework structure or as a mixed form thereof.
  • the jib 3 and possibly also the tower 4 can have longitudinal chords 6 which can be connected to one another by cross braces 7, in the case of the boom 3 said longitudinal chords 6 being designated as upper and lower chords, cf. Fig. 1.
  • a load handling device 8 for example in the form of a load hook, can run off the jib 3, with the hollow point being able to be moved by a trolley 10 along the jib 3, see Fig. 1.
  • the hoist rope 9 running off the trolley 10 can be used for lifting and Lowering the load handling device 8 are obtained and subsided by a hoist drive.
  • further drive devices not shown in detail, can be provided, in particular a slewing gear drive for rotating the boom 3 about the upright axis, a trolley drive for adjusting the trolley 10, a luffing drive for luffing the boom 3 up and down, cf. Fig 3, and optionally a telescoping drive for telescoping the boom and/or the tower in and out.
  • An electronic control device 11 controls the said driving devices and can cooperate with a monitoring device 12 or have one in order to limit or prevent crane movements when the stability of the crane is endangered.
  • a monitoring device 12 can, for example, monitor the tilting moment acting on the crane 2, for which purpose, for example, the radius and the recorded load can be monitored, for example by sensory detection of the trolley position and sensory determination of the hoisting cable force. If necessary, however, other or additional monitoring sensors can also detect, for example, strains or reaction forces, in order to carry out the stability monitoring.
  • the support structure 13 can include a guying 14 that can guy the boom 3 and possibly also the tower 4 .
  • a guying 14 can comprise one or more guying ropes or rods or belts or chains or guying traction means in general, which are connected by guying supports 16 can be supported, which can extend transversely to the longitudinal direction of said guying means 15.
  • guying means 15 can be articulated on the jib 3 and extend over the back of the jib 3 to a tower top or, as shown in FIG .
  • Said guy support 16 can be articulated by a further guy hauling means 15 on the superstructure 5, for example in the area of the ballast. It goes without saying, however, that other ways of guiding the guying pull means are also possible, depending on the design of the hoist 1.
  • spatial guying can also be provided that can guy the boom 3 not only in the upright longitudinal center plane, but also transversely thereto, with such a spatial guying can be designed, for example, as a butterfly guying, in which a guy frame 16 spread out in a V-shape can be provided, via which two guying pull means can be guided to the right and left to the boom 3, on which the guy pulling means 15 have a common attachment point or two may have spaced stop points.
  • an actuator system 17 is provided, which can include a plurality of actuators 18 that can be provided on different sections of the support structure 13 .
  • actuators 18 can be assigned in particular to boom 3 and guying 14 .
  • actuators 18 can be assigned to the upper and lower flanges of the boom 3, by means of which the upper and lower flanges can be shortened and/or lengthened.
  • the actuators 18 assigned to the guying 14 can have, for example, an actuator for shortening or lengthening the boom guying pull means and an actuator for shortening and lengthening the neck guying pull means. Independent of this, an actuator 18 can also be provided for shortening and/or lengthening a guy support 16, cf. Fig. 1.
  • Said actuators 18 can fundamentally be designed differently, for example they include pressure medium or hydraulic cylinder units, although electric actuators such as spindle drives can also be provided.
  • Said actuators 17 can be controlled and operated by the control device 11 in order to manipulate the support structure 13 variably, depending on the current load and operating state of the crane 2 .
  • a determination device 19 is provided for determining the loading and operating state of the crane 2, which can include a sensor system 20 for detecting loading and/or operating state parameters.
  • Said sensor system 20 can have a plurality of sensors 21 which can be assigned to various sections or elements of the support structure 13 in order to detect their loading and/or deformation and/or position and/or movement and/or acceleration.
  • Said sensors 21 can fundamentally have different designs, for example strain gauges or inclination sensors on the steel structure or the profile structure of the support structure 13 and/or force-measuring elements on the bracing means 15 .
  • sensors 21, for example can detect loads and/or deformations and/or inclinations of the upper and lower flanges 6 of the boom 3.
  • Additional sensors 21 can detect tensile forces in the tensioning means 15 that extend above the boom 3 and/or along the tower 4 .
  • Additional sensors 21 can be assigned to the guy supports 16 in order to detect forces and/or deformations and/or positions and/or movements prevailing there.
  • additional sensors 21 can be provided for detecting external influences, such as wind loads, with such sensors ren 21 can have, for example, wind speed sensors on one or different sections of the support structure 13 .
  • a wind speed sensor can be provided at the tip of the boom 3 and the tip of a guy support 16, for example.
  • Such a wind sensor can advantageously also detect or determine the wind direction, in particular whether and at what angle the wind is coming transversely to the boom 3 .
  • the sensor system 20 can have various other sensors in order to record other load and/or operating condition parameters, for example the set-up status, the luffing position of the boom, the weight of the load picked up on the load handling device 8, the position of the trolley 10 or other variables relevant to the load and operating state of the support structure 13 .
  • the determination device 19 can also include an estimation module that estimates the corresponding parameter on the basis of the available system variables. Said estimation device can be implemented in the electronic control device 11 .
  • control device 11 can actively manipulate the supporting structure 13 by means of the actuators 18 depending on internal influences in order to increase the stability of the supporting structure 13 or at least ensure it. If, for example, a load is to be lifted by the load handling device 8, the control device 11 can proceed as follows:
  • the determination device 19 can determine the set-up status of the crane, in particular the supporting and/or guying geometry, the ballasting, the tower height, via the said sensor system 20 and, where appropriate, the estimating device 22 Boom length and/or other relevant set-up parameters such as the maximum permissible travel speeds. Alternatively or additionally, the determination device 19 determines the angular position of the boom 3 and/or the positioning of the trolley 10 on the boom 3 and/or the resulting maximum lifting load and/or maximum lifting speed. The information mentioned can be known or made available to the control device 11 before the intended crane movement.
  • the actual lifting movement is displayed on the control device 11 only by actuating a control element, for example in the form of a joystick, but the lifting movement can also be part of an automatically controlled movement of the crane.
  • a control element for example in the form of a joystick
  • the actual lifting load and speed can be determined by the sensor system 20, for example by a load measuring axle and a speedometer on the lifting mechanism.
  • other sensors that can be attached to the supporting structure of the crane 2, for example in the form of strain gauges and/or inclination sensors on the steel structure and/or force measuring elements on the guy ropes, can provide responses to the mechanical effects of the lifting movement detected.
  • the control device 11 can check and process the said data for correctness or plausibility in the manner described above.
  • Variables that cannot or only with difficulty be detected by sensors such as the deformation of the boom tip, can be calculated and/or estimated with sufficient accuracy on the basis of other information, such as the length and the angle of the boom 3 and the guying geometry.
  • control device 11 In addition to mechanical stresses or loads, other serviceability criteria such as a deformation of the support structure 13 can also be detected by sensors or determined in some other way by the determination device 19 .
  • various actuator strategies can be used by the control device 11 . For example, by actuating the corresponding actuators 18, the control device 11 can shorten the length of components subjected to tension and/or lengthen components subjected to pressure and/or use both strategic approaches in combination.
  • the guying pull means 15 and/or the upper chord 6o of the boom 3 can be shortened by the corresponding actuators 18 .
  • the lower flanges 6u of the boom 3 and/or a guy support 16, which can be articulated in a central section of the boom 3, can be lengthened by the corresponding actuators 18.
  • the deformation of the boom 3 can be actively manipulated, with the control device 11 carrying out this active manipulation as a function of the loading Mood device 19 can be variably adapted to current specific load and/or operating states.
  • control device 11 can also control or adapt the active manipulation of the support structure 13 depending on external influences such as cross winds.
  • the sensor system 20 can measure the wind sensors 21 and direction directly.
  • mechanical effects of the wind such as stresses, strains, changes in angles, slip or slewing gear forces can also be detected by the sensor system 21, with redundant wind detection also being able to take place if necessary.
  • the detection of the external influences is advantageously carried out in addition to the detection or determination of the system variables, which are explained for the example in FIG.
  • the crane 2 with a jib 3 standing at a steep angle as shown in FIGS. 2 and 3, both the tower 4 and the jib 3 are deformed in the direction of the wind.
  • the control device 11 can control the actuators 15 as a function of the parameters characterizing the wind load, in particular in order to shorten the length of structural parts subjected to tensile stress, for example parts of the guying 14 and/or the lower chord 6u facing the wind of the boom 3 and/or the corner posts or longitudinal chords 6 of the tower 4 facing the wind.
  • the control device 11 can also cause components that are subjected to pressure to be lengthened by actuating the actuators 18 accordingly, for example parts of the guying 14, a leeward bottom chord of boom 3 and/or leeward corner posts of tower 4.
  • a neck bracing facing the wind can be shortened, for example, by a corresponding actuator 18 .
  • the lower chord 6u facing away from the wind can be lengthened by actuating the actuator 18 assigned to the lower chord 6u.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)

Abstract

La présente invention concerne un engrenage de levage, plus particulièrement une grue, telle qu'une grue à tour et/ou une grue mobile, ayant une structure de support, un dispositif de détermination pour déterminer un état de charge et/ou un état de fonctionnement de la structure de support, et une unité de commande pour commander des actionneurs de l'engrenage de levage en fonction de l'état de charge et/ou de l'état de fonctionnement déterminé, les actionneurs étant associés à la structure de support pour le renforcement et/ou la déformation actifs de la structure de support de manière variable pendant le fonctionnement de l'engrenage de levage, et l'unité de commande est configurée pour supporter et/ou déformer temporairement et de manière variable la structure de support au moyen des actionneurs en fonction de l'état de charge et/ou de l'état de fonctionnement détecté afin de soulager la charge sur des parties de structure de support qui sont soumises à une charge élevée.
EP22709237.6A 2021-02-12 2022-02-10 Engrenage de levage Pending EP4263413A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021103320.9A DE102021103320A1 (de) 2021-02-12 2021-02-12 Hebezeug
PCT/EP2022/053274 WO2022171750A1 (fr) 2021-02-12 2022-02-10 Engrenage de levage

Publications (1)

Publication Number Publication Date
EP4263413A1 true EP4263413A1 (fr) 2023-10-25

Family

ID=80685031

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22709237.6A Pending EP4263413A1 (fr) 2021-02-12 2022-02-10 Engrenage de levage

Country Status (4)

Country Link
US (1) US20230399207A1 (fr)
EP (1) EP4263413A1 (fr)
DE (1) DE102021103320A1 (fr)
WO (1) WO2022171750A1 (fr)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10022658B4 (de) 1999-06-28 2007-10-04 Terex-Demag Gmbh & Co. Kg Teleskopkran
DE202008006167U1 (de) * 2008-05-06 2008-07-17 Terex-Demag Gmbh Seitlich abgespannter Gittermast
DE102010038218B4 (de) 2010-10-15 2014-02-13 Deutsches Zentrum für Luft- und Raumfahrt e.V. Kran mit einer Struktur, mit mindestens einem an der Struktur angreifenden Aktuator und einer den Aktuator zur Unterdrückung von Schwingungen der Struktur ansteuernden Steuerung
DE102015202734A1 (de) * 2015-02-16 2016-08-18 Terex Cranes Germany Gmbh Kran und Verfahren zum Beeinflussen einer Verformung eines Auslegersystems eines derartigen Krans
JP6766608B2 (ja) * 2016-11-14 2020-10-14 コベルコ建機株式会社 建設機械のバックストップ装置
DE102018005068A1 (de) 2018-06-26 2020-01-02 Liebherr-Components Biberach Gmbh Kran und Verfahren zum Steuern eines solchen Krans

Also Published As

Publication number Publication date
WO2022171750A1 (fr) 2022-08-18
US20230399207A1 (en) 2023-12-14
DE102021103320A1 (de) 2022-08-18

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