EP0779239A1 - Crane hoist control - Google Patents
Crane hoist control Download PDFInfo
- Publication number
- EP0779239A1 EP0779239A1 EP96118129A EP96118129A EP0779239A1 EP 0779239 A1 EP0779239 A1 EP 0779239A1 EP 96118129 A EP96118129 A EP 96118129A EP 96118129 A EP96118129 A EP 96118129A EP 0779239 A1 EP0779239 A1 EP 0779239A1
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- European Patent Office
- Prior art keywords
- pressure
- control device
- hydraulic
- hoist
- drum
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- 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.)
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/42—Control devices non-automatic
- B66D1/44—Control devices non-automatic pneumatic of hydraulic
Definitions
- the invention relates to a control device for a hoist of a crane, preferably for a crane with a variable-length and luffing jib, with a hydraulic motor driving the hoist drum, which is driven by a hydraulic pump, which is driven by a motor, preferably by a diesel engine , forms a closed hydraulic circuit, and with a parking brake for the hoist drum.
- the hydraulic pump and the hydraulic motor which are located in a closed hydraulic circuit, have a leak that can be, for example, two to twenty l / min.
- this leakage is not particularly noticeable because the crane operator will always move the control lever in such a way that the load is held or raised or lowered at the desired speed, the crane operator not noticing that with the appropriate control, the unavoidable is always present Leakage is taken into account.
- the jerk-free inclusion of holding, lifting or lowering the load after releasing the parking brake would only be possible if the holding torque applied by the hydraulic motor after releasing the parking brake corresponds exactly to the moment of the hoist drum.
- the parking brake becomes temporary while the load is floating actuated, due to the inevitable leakage after releasing the parking brake, the pressure in the high-pressure line of the hydraulic circuit no longer corresponds exactly to the pressure with which the hydraulic motor held the floating load before the parking brake was applied, so that the parking brake is opened Because of the current pressure in the high pressure line of the hydraulic circuit, which deviates from the pressure required by the hydraulic motor, a jolt is unavoidable.
- the object of the invention is to provide a control device of the type specified which, after releasing the parking brake, enables jerk-free holding, lifting or lowering of a suspended load.
- this object is achieved in a control device of the generic type in that a pressure meter is arranged in the high-pressure line of the hydraulic circuit, the signals of which are fed to a comparison unit, and a device is provided for determining the torque of the hoist drum, the signals of which are fed to the comparison unit, and that the comparison unit, together with a processing unit, adjusts the pressure in the high-pressure line to the torque to be applied by the hydraulic motor, corresponding to the moment of the hoist drum, by correspondingly increasing or decreasing the pump output in such a way that, after the parking brake is opened, jerk-free holding, lifting or lowering the load is possible.
- the pressure in the high-pressure line of the hydraulic circuit is thus constantly monitored and the signals of the pressure meter arranged in the high-pressure line are compared with the moment of the hoist drum, a processing unit consisting, for example, of a computer being provided which is used before the loosening of the Parking brake the pressure in the high pressure line, which is proportional to the engine torque, the torque of the hoist winch adapts so that after releasing the parking brake the jerk-free start of the lifting operation is possible.
- the requirement to resume operation with the suspended load after releasing the parking brake arises not only when the parking brake is applied when the load is suspended, but also when the parking brake is engaged, for example, when the load resting on the ground is only rocked by the boom recorded and then the brake is released.
- the pressure of the hydraulic oil in the luffing cylinder, the luffing angle and the length of the boom are measured in order to determine the moment of the lifting drum.
- the corresponding measured values are usually available in the central unit of the crane, since they have to be processed for overload protection. From these values, the pressure can then also be determined with sufficient accuracy, which must be set in the high-pressure line of the hydraulic circuit in order to be able to resume jerk-free holding, lifting or lowering operation of the load after the parking brake has been released.
- the deflection is also taken into account to determine the effective length of the boom.
- vertical angle meters can be arranged in its lower and outer area. The deflection of the boom can be determined very precisely from the measured luffing angle of the boom and the values of the vertical angle meters, which indicate the angles of the corresponding sections of the boom to the vertical.
- the deflection of the boom can also be determined from the measured pressure of the hydraulic fluid in the luffing cylinder, the measured luffing angle and the line load of the boom. This may require iterative calculation methods, which can, however, be easily mastered using conventional computers.
- the hoist drum is provided with a counter or an incremental encoder for determining the current winding position of the hoist rope.
- the values of the incremental encoder are also continuously input into the processing unit to determine the current winch torque.
- the hydraulic pump and the hydraulic motor can form a closed hydrostatic drive system.
- the pump and the motor expediently consist of an axial piston pump and an axial piston motor in a swash axis or swash plate design.
- the lifting gear drum 1 which is mounted, for example, on the superstructure of a vehicle crane with a telescopic boom, is driven by a controllable hydraulic motor 2, for example an axial piston motor in a swash axis or swash plate design.
- the output shaft 3 of the hydraulic motor is coupled to the shaft of the hoist drum and carries a brake disc 4 over which the hoist drum 1 can be fixed.
- the hydraulic motor 2 is connected to the hydraulic pump 5, which may also consist of an axial piston pump in a slanting axis or swashplate design, by hydraulic lines 6, 7, so that the hydraulic motor 2 and the hydraulic pump 5 are closed Form hydraulic circuit.
- a pressure meter 8 is arranged, the signals of which are constantly fed to the electronic control unit 10 via the signal line 9 and monitored therein.
- the hydraulic pump is driven by a diesel engine 11.
- the shaft of the hoist drum 1 is provided with an incremental encoder 12, the signals of which are continuously fed to the central control unit 10 via a signal line 13, so that signals are emitted via a corresponding counter, which signals the respective hoist rope position of the hoist drum from which the hoist rope 14 is currently operating expires, or on which this expires.
- the hydraulic pump 5 and the hydraulic motor 2 are provided with quantity control levers with which they can be controlled between the highest swallowed quantity and towards zero. The quantity control levers are controlled by control devices 15, 16 by the central control unit 10.
- the overload control is connected to the central control unit 10 and consists of a unit 20 which receives signals from the sensors which detect the load state via signal lines 21.
- sensors which detect the load state via signal lines 21.
- These are, for example, sensors that measure the pressure of the hydraulic oil in the luffing cylinder, the luffing angle and the length of the boom and its deflection. Not only the load state is calculated from the signals generated by the sensors, the moment of the hoist drum can also be determined from these.
- the parking brake 4 is only released again when the pressure in the high-pressure line 6 has been set via the central control unit 10 to a pressure at which the hydraulic motor 2 generates a torque that corresponds to the holding torque of the hoist drum corresponds to that which results from the current load condition.
- This current load state is determined in the manner described and the determined value is compared in the central control unit 10 with the pressure in the high-pressure line 6, which is adjusted to the engine torque before the parking brake is released, which is required for smooth start of the load operation.
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
Description
Die Erfindung betrifft eine Steuervorrichtung für ein Hubwerk eines Krans, vorzugsweise für einen Kran mit einem längenveränderlichen und wippbaren Ausleger, mit einem die Hubwerkstrommel antreibenden Hydraulik-Motor, der mit einer Hydraulik-Pumpe, die von einem Motor, vorzugsweise von einem Dieselmotor, angetrieben wird, einen geschlossenen Hydraulik-Kreis bildet, und mit einer Feststellbremse für die Hubwerkstrommel.The invention relates to a control device for a hoist of a crane, preferably for a crane with a variable-length and luffing jib, with a hydraulic motor driving the hoist drum, which is driven by a hydraulic pump, which is driven by a motor, preferably by a diesel engine , forms a closed hydraulic circuit, and with a parking brake for the hoist drum.
Die Hydraulik-Pumpe und der Hydraulik-Motor, die sich in einem geschlossenen Hydraulik-Kreis befinden, weisen eine Leckage auf, die beispielsweise zwei bis zwanzig l/min betragen kann. Während des Hubbetriebes macht sich diese Leckage nicht besonders bemerkbar, weil der Kranführer den Steuerhebel immer so bewegen wird, daß die Last gehalten oder mit der gewünschten Geschwindigkeit gehoben oder gesenkt wird, wobei der Kranführer nicht bemerkt, daß bei der entsprechenden Steuerung stets auch die unvermeidbare Leckage mitberücksichtigt wird. Im Kranbetrieb ist es jedoch auch erforderlich, ein Heben oder Absenken der Last nach dem Lösen der Feststellbremse neu aufzunehmen. Die ruckfreie Aufnahme des Haltens, Hebens oder Absenkens der Last nach dem Lösen der Feststellbremse wäre aber nur möglich, wenn das von dem Hydraulik-Motor aufgebrachte Haltemoment nach dem Lösen der Feststellbremse genau dem Moment der Hubwerkstrommel entspricht. Wird vorübergehend während des Schwebens der Last die Feststellbremse betätigt, entspricht wegen der unvermeidbaren Leckage nach einem Lösen der Feststellbremse der Druck in der Hochdruckleitung des Hydraulik-Kreislaufs nicht mehr genau dem Druck, mit dem der Hydraulik-Motor vor dem Einfallen der Feststellbremse die schwebende Last gehalten hat, so daß das Öffnen der Feststellbremse wegen des aktuellen Drucks in der Hochdruckleitung des Hydraulik-Kreislaufs, der von dem von dem Hydro-Motor benötigten Druck abweicht, ein Ruck unvermeidbar ist.The hydraulic pump and the hydraulic motor, which are located in a closed hydraulic circuit, have a leak that can be, for example, two to twenty l / min. During the lifting operation, this leakage is not particularly noticeable because the crane operator will always move the control lever in such a way that the load is held or raised or lowered at the desired speed, the crane operator not noticing that with the appropriate control, the unavoidable is always present Leakage is taken into account. In crane operation, however, it is also necessary to start lifting or lowering the load again after releasing the parking brake. The jerk-free inclusion of holding, lifting or lowering the load after releasing the parking brake would only be possible if the holding torque applied by the hydraulic motor after releasing the parking brake corresponds exactly to the moment of the hoist drum. The parking brake becomes temporary while the load is floating actuated, due to the inevitable leakage after releasing the parking brake, the pressure in the high-pressure line of the hydraulic circuit no longer corresponds exactly to the pressure with which the hydraulic motor held the floating load before the parking brake was applied, so that the parking brake is opened Because of the current pressure in the high pressure line of the hydraulic circuit, which deviates from the pressure required by the hydraulic motor, a jolt is unavoidable.
Aufgabe der Erfindung ist es, eine Steuervorrichtung der eingangs angegeben Art zu schaffen, die nach einem Lösen der Feststellbremse ein ruckfreies Halten, Heben oder Absenken eine schwebenden Last ermöglicht.The object of the invention is to provide a control device of the type specified which, after releasing the parking brake, enables jerk-free holding, lifting or lowering of a suspended load.
Erfindungsgemäß wird diese Aufgabe bei einer Steuervorrichtung der gattungsgemäßen Art dadurch gelöst, daß in der Hochdruckleitung des Hydraulikkreises ein Druckmesser angeordnet ist, dessen Signale einer Vergleichseinheit zugeführt werden, daß eine Einrichtung zur Bestimmung des Moments der Hubwerkstrommel vorgesehen ist, deren Signale der Vergleichseinheit zugeführt werden, und daß die Vergleichseinheit zusammen mit einer Verarbeitungseinheit den Druck in der Hochdruckleitung dem von dem Hydro-Motor aufzubringenden, dem Moment der Hubwerkstrommel entsprechenden Moment durch entsprechende Erhöhung oder Erniedrigung der Pumpenleistung in der Weise anpaßt, daß nach dem Öffnen der Feststellbremse ein ruckfreies Halten, Heben oder Absenken der Last möglich ist. Bei der erfindungsgemäßen Steuervorrichtung wird also der Druck in der Hochdruckleitung des Hydraulik-Kreislaufs ständig überwacht und die Signale des in der Hochdruckleitung angeordneten Druckmessers werden mit dem Moment der Hubwerkstrommel verglichen, wobei eine beispielsweise aus einem Rechner bestehende Verarbeitungseinheit vorgesehen ist, die vor dem Lösen der Feststellbremse den Druck in der Hochdruckleitung, der proportional zu dem Motormoment ist, dem Moment der Hubwerkswinde anpaßt, so daß nach dem Lösen der Feststellbremse die ruckfreie Aufnahme des Hubbetriebes möglich ist.According to the invention, this object is achieved in a control device of the generic type in that a pressure meter is arranged in the high-pressure line of the hydraulic circuit, the signals of which are fed to a comparison unit, and a device is provided for determining the torque of the hoist drum, the signals of which are fed to the comparison unit, and that the comparison unit, together with a processing unit, adjusts the pressure in the high-pressure line to the torque to be applied by the hydraulic motor, corresponding to the moment of the hoist drum, by correspondingly increasing or decreasing the pump output in such a way that, after the parking brake is opened, jerk-free holding, lifting or lowering the load is possible. In the control device according to the invention, the pressure in the high-pressure line of the hydraulic circuit is thus constantly monitored and the signals of the pressure meter arranged in the high-pressure line are compared with the moment of the hoist drum, a processing unit consisting, for example, of a computer being provided which is used before the loosening of the Parking brake the pressure in the high pressure line, which is proportional to the engine torque, the torque of the hoist winch adapts so that after releasing the parking brake the jerk-free start of the lifting operation is possible.
Das Erfordernis, den Betrieb mit der schwebenden Last nach einem Lösen der Feststellbremse wieder aufzunehmen, ergibt sich nicht nur, wenn die Feststellbremse bei schwebender Last einfällt, sondern beispielsweise auch dann, wenn bei eingerückter Feststellbremse die auf dem Boden ruhende Last nur durch Wippen des Auslegers aufgenommen und anschließend die Bremse gelöst wird.The requirement to resume operation with the suspended load after releasing the parking brake arises not only when the parking brake is applied when the load is suspended, but also when the parking brake is engaged, for example, when the load resting on the ground is only rocked by the boom recorded and then the brake is released.
Nach einer bevorzugten Ausführungsform der Erfindung ist vorgesehen, daß zur Bestimmung des Moments der Hubwerkstrommel der Druck des Hydraulik-Öls in dem Wippzylinder, der Wippwinkel und die Länge des Auslegers gemessen werden. Die entsprechenden Meßwerte stehen üblicherweise in der Zentraleinheit des Krans zur Verfügung, da sie zur Überlastsicherung verarbeitet werden müssen. Aus diesen Werten läßt sich sodann auch mit genügender Genauigkeit der Druck bestimmen, der in der Hochdruckleitung des Hydraulik-Kreislaufs eingestellt werden muß, um nach dem Lösen der Feststellbremse einen ruckfreien Halte-, Hub- oder Absenkbetrieb der Last wieder aufnehmen zu können.According to a preferred embodiment of the invention it is provided that the pressure of the hydraulic oil in the luffing cylinder, the luffing angle and the length of the boom are measured in order to determine the moment of the lifting drum. The corresponding measured values are usually available in the central unit of the crane, since they have to be processed for overload protection. From these values, the pressure can then also be determined with sufficient accuracy, which must be set in the high-pressure line of the hydraulic circuit in order to be able to resume jerk-free holding, lifting or lowering operation of the load after the parking brake has been released.
Nach einer bevorzugten Ausführungsform der Erfindung ist vorgesehen, daß zur Bestimmung der wirksamen Länge des Auslegers auch dessen Durchbiegung berücksichtigt wird. Zur Messung der Durchbiegung des Auslegers können in dessen unteren und äußeren Bereich Vertikalwinkelmesser angeordnet sein. Aus dem gemessenen Wippwinkel des Auslegers und den Werten der Vertikalwinkelmesser, die die Winkel der entsprechenden Abschnitte des Auslegers zur Vertikalen angeben, läßt sich die Durchbiegung des Auslegers sehr genau bestimmen.According to a preferred embodiment of the invention, it is provided that the deflection is also taken into account to determine the effective length of the boom. To measure the deflection of the boom, vertical angle meters can be arranged in its lower and outer area. The deflection of the boom can be determined very precisely from the measured luffing angle of the boom and the values of the vertical angle meters, which indicate the angles of the corresponding sections of the boom to the vertical.
Die Durchbiegung des Auslegers läßt sich nach einer weiteren Ausgestaltung der Erfindung auch aus dem gemessenen Druck der Hydraulikflüssigkeit in dem Wippzylinder, dem gemessenen Wippwinkel und der Streckenlast des Auslegers ermitteln. Hierzu können iterative Rechenmethoden erforderlich sein, die sich jedoch mit üblichen Rechnern einfach bewältigen lassen.According to a further embodiment of the invention, the deflection of the boom can also be determined from the measured pressure of the hydraulic fluid in the luffing cylinder, the measured luffing angle and the line load of the boom. This may require iterative calculation methods, which can, however, be easily mastered using conventional computers.
Um das Moment der Hubwerkstrommel möglichst genau zu bestimmen, ist es erforderlich, den wirksamen Trommelradius zu kennen, der von der jeweiligen Wickellage abhängig ist, von der das Hubseil gerade abläuft. Nach einer weiteren Ausgestaltung der Erfindung ist daher vorgesehen, daß die Hubwerkstrommel mit einem Zähler, bzw. einem Inkrementalgeber, zur Bestimmung der aktuellen Wickellage des Hubseils versehen ist. Die Werte des Inkrementalgebers werden ständig ebenfalls in die Verarbeitungseinheit zur Ermittlung des aktuellen Windenmoments eingegeben.In order to determine the moment of the hoist drum as precisely as possible, it is necessary to know the effective drum radius, which depends on the respective winding position from which the hoisting rope is currently running. According to a further embodiment of the invention it is therefore provided that the hoist drum is provided with a counter or an incremental encoder for determining the current winding position of the hoist rope. The values of the incremental encoder are also continuously input into the processing unit to determine the current winch torque.
Die Hydraulik-Pumpe und der Hydraulik-Motor können ein geschlossenes hydrostatisches Antriebssystem bilden. In diesem hydrostatischen Antriebssystem bestehen die Pumpe und der Motor zweckmäßigerweise aus einer Axialkolbenpumpe und aus einem Axialkolbenmotor in Schrägachsen- oder Schrägscheibenbauweise.The hydraulic pump and the hydraulic motor can form a closed hydrostatic drive system. In this hydrostatic drive system, the pump and the motor expediently consist of an axial piston pump and an axial piston motor in a swash axis or swash plate design.
Ein Ausführungsbeispiel der Erfindung wird nachstehend anhand der Zeichnung, in deren einziger Figur ein Antrieb der Hubwerkstrommel schematisch dargestellt ist, näher erläutert.An embodiment of the invention is explained below with reference to the drawing, in the single figure of which a drive of the hoist drum is shown schematically.
Die beispielsweise auf dem Oberwagen eines Fahrzeugskran mit Teleskopausleger gelagerte Hubwerkstrommel 1 wird von einem steuerbaren Hydraulik-Motor 2, beispielsweise einem Axialkolbenmotor in Schrägachsen- oder Schrägscheibenbauweise angetrieben. Die Abtriebswelle 3 des Hydraulik-Motors ist mit der Welle der Hubwerkstrommel gekuppelt und trägt eine Bremsscheibe 4, über die die Hubwerkstrommel 1 festsetzbar ist. Der Hydraulik-Motor 2 ist mit der Hydraulik-Pumpe 5, die ebenfalls aus einer Axialkolbenpumpe in Schrägachsen- oder Schrägscheibenbauweise bestehen kann, durch Hydraulik-Leitungen 6, 7 verbunden, so daß der Hydraulik-Motor 2 und die Hydraulik-Pumpe 5 einen geschlossenen Hydraulik-Kreis bilden. In der Hochdruckleitung 6 des Hydraulik-Kreises ist ein Druckmesser 8 angeordnet, dessen Signale über die Signalleitung 9 ständig der elektronischen Steuereinheit 10 zugeführt und in dieser überwacht werden.The lifting gear drum 1, which is mounted, for example, on the superstructure of a vehicle crane with a telescopic boom, is driven by a controllable
Die Hydro-Pumpe wird von einem Dieselmotor 11 angetrieben.The hydraulic pump is driven by a
Die Welle der Hubwerkstrommel 1 ist mit einem Inkrementalgeber 12 versehen, dessen Signale über eine Signalleitung 13 ständig der zentralen Steuereinheit 10 zugeführt werden, so daß über einen entsprechenden Zähler Signale abgegeben werden, die die jeweilige Hubseillage der Hubwerkstrommel melden, von der gerade das Hubwerksseil 14 abläuft, bzw. auf welche dieses aufläuft. Die Hydro-Pumpe 5 und der Hydro-Motor 2 sind mit Mengenstellhebeln versehen, mit denen diese zwischen der höchsten Schluckmenge und gegen Null steuerbar sind. Die Ansteuerung der Mengenstellhebel erfolgt über Ansteuereinrichtungen 15, 16 durch die zentrale Steuereinheit 10.The shaft of the hoist drum 1 is provided with an
Mit der zentralen Steuereinheit 10 ist die Überlastsicherung verbunden, die aus einer Einheit 20 besteht, die über Signalleitungen 21 Signale von den Lastzustand erfassenden Sensoren erhält. Dies sind beispielsweise Meßfühler, die den Druck des Hydrauliköls in dem Wippzylinder, den Wippwinkel und die Länge des Auslegers sowie dessen Durchbiegung erfassen. Aus den von den Meßfühlern erzeugten Signalen wird nicht nur der Lastzustand errechnet, aus diesen kann auch das Moment der Hubwerkstrommel ermittelt werden.The overload control is connected to the
Während des Kranbetriebes wird nach einem Einfallen der Feststellbremse 4 diese erst wieder gelöst, wenn über die zentrale Steuereinheit 10 der Druck in der Hochdruckleitung 6 auf einen Druck eingestellt worden ist, bei dem der Hydraulik-Motor 2 ein Moment erzeugt, das dem Haltemoment der Hubwerkstrommel entspricht, das sich aus dem aktuellen Lastzustand ergibt. Dieser aktuelle Lastzustand wird in der beschriebenen Weise ermittelt und der ermittelte Wert wird in der zentralen Steuereinheit 10 mit dem Druck in der Hochdruckleitung 6 verglichen, der vor dem Lösen der Feststellbremse dem Motormoment angeglichen wird, das zur ruckfreien Aufnahme des Lastbetriebes erforderlich ist.During crane operation, the parking brake 4 is only released again when the pressure in the high-pressure line 6 has been set via the
Claims (7)
dadurch gekennzeichnet,
characterized,
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19546579 | 1995-12-13 | ||
| DE19546579 | 1995-12-13 | ||
| DE19604428 | 1996-02-07 | ||
| DE19604428A DE19604428C2 (en) | 1995-12-13 | 1996-02-07 | Control device for a hoist of a crane |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0779239A1 true EP0779239A1 (en) | 1997-06-18 |
| EP0779239B1 EP0779239B1 (en) | 2002-05-02 |
| EP0779239B2 EP0779239B2 (en) | 2006-09-13 |
Family
ID=26021222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP96118129A Expired - Lifetime EP0779239B2 (en) | 1995-12-13 | 1996-11-12 | Crane hoist control |
Country Status (3)
| Country | Link |
|---|---|
| US (1) | US6079576A (en) |
| EP (1) | EP0779239B2 (en) |
| JP (1) | JPH09175778A (en) |
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| EP1103511A3 (en) * | 1999-11-23 | 2001-07-18 | Liebherr-Werk Ehingen GmbH | Method and device for monitoring a drive of a lifting winch |
| US6269635B1 (en) | 1999-01-20 | 2001-08-07 | Manitowoc Crane Group, Inc. | Control and hydraulic system for a liftcrane |
| EP1748022A1 (en) * | 2005-07-25 | 2007-01-31 | Liebherr-Werk Nenzing GmbH | Crane |
| WO2018145806A1 (en) * | 2017-02-09 | 2018-08-16 | Liebherr-Components Biberach Gmbh | Lifting gear and method for starting up the lifting mechanism of such a lifting gear |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6269635B1 (en) | 1999-01-20 | 2001-08-07 | Manitowoc Crane Group, Inc. | Control and hydraulic system for a liftcrane |
| EP1022247A3 (en) * | 1999-01-20 | 2003-11-12 | Manitowoc Crane Companies, Inc. | Control and hydraulic system for a liftcrane |
| EP1103511A3 (en) * | 1999-11-23 | 2001-07-18 | Liebherr-Werk Ehingen GmbH | Method and device for monitoring a drive of a lifting winch |
| EP1748022A1 (en) * | 2005-07-25 | 2007-01-31 | Liebherr-Werk Nenzing GmbH | Crane |
| US7490728B2 (en) | 2005-07-25 | 2009-02-17 | Liebherr-Werk Nenzing Gmbh | Crane |
| WO2018145806A1 (en) * | 2017-02-09 | 2018-08-16 | Liebherr-Components Biberach Gmbh | Lifting gear and method for starting up the lifting mechanism of such a lifting gear |
| CN110494384A (en) * | 2017-02-09 | 2019-11-22 | 比伯拉赫利勃海尔零部件有限公司 | Lifting device and method for starting a hoisting winch of the same |
| CN110494384B (en) * | 2017-02-09 | 2021-06-01 | 比伯拉赫利勃海尔零部件有限公司 | Hoisting device and method for starting a hoisting winch of such a hoisting device |
| US11027951B2 (en) | 2017-02-09 | 2021-06-08 | Liebherr-Components Biberach Gmbh | Lifting device and method for starting up the hoisting gear of such a lifting device |
Also Published As
| Publication number | Publication date |
|---|---|
| US6079576A (en) | 2000-06-27 |
| JPH09175778A (en) | 1997-07-08 |
| EP0779239B1 (en) | 2002-05-02 |
| EP0779239B2 (en) | 2006-09-13 |
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