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EP4059878B1 - Appareil de levage doté d'un dispositif destiné au support ou à la mise en uvre entièrement automatique d'un processus de levage et/ou de pose d'un système de flèche, ainsi que procédé correspondant - Google Patents

Appareil de levage doté d'un dispositif destiné au support ou à la mise en uvre entièrement automatique d'un processus de levage et/ou de pose d'un système de flèche, ainsi que procédé correspondant Download PDF

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Publication number
EP4059878B1
EP4059878B1 EP22161288.0A EP22161288A EP4059878B1 EP 4059878 B1 EP4059878 B1 EP 4059878B1 EP 22161288 A EP22161288 A EP 22161288A EP 4059878 B1 EP4059878 B1 EP 4059878B1
Authority
EP
European Patent Office
Prior art keywords
boom
luffing
main boom
main
lifting
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
EP22161288.0A
Other languages
German (de)
English (en)
Other versions
EP4059878C0 (fr
EP4059878A1 (fr
Inventor
Walter Mietschnig
Manfred Schapler
Tizian Lamprecht
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 Nenzing GmbH
Original Assignee
Liebherr Werk Nenzing 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.)
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Publication date
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Publication of EP4059878A1 publication Critical patent/EP4059878A1/fr
Application granted granted Critical
Publication of EP4059878C0 publication Critical patent/EP4059878C0/fr
Publication of EP4059878B1 publication Critical patent/EP4059878B1/fr
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Anticipated expiration legal-status Critical

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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
    • 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
    • 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
    • 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
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C2700/00—Cranes
    • B66C2700/03—Cranes with arms or jibs; Multiple cranes
    • B66C2700/0392—Movement of the crane arm; Coupling of the crane arm with the counterweights; Safety devices for the movement of the arm

Definitions

  • the boom system is on the ground.
  • the overall center of gravity of the boom system must first be brought towards the base unit with the luffing boom head in contact with the ground before the boom system can be lifted off the ground.
  • Leverage tools are also from the publications: EP 3 428 112 A1 , DE 10 2014 012422 A1 or DE 10 2011 107754 A1 known.
  • the needle boom must be moved at the same time as the main boom, whereby the necessary control speed is very difficult for the machine operator to estimate. It depends on the tether pretension of the luffing boom, which can only be seen correctly from a distant, side plan view of the boom system, which requires a guide who is in communication with the operator.
  • the hoist is characterized by a device for supporting or fully automatically carrying out an erecting and/or depositing process of a boom system comprising the main boom and the luffing jib, which is designed to carry out steps for erecting and/or depositing the hoist depending on the tilting moment detected by the tipping moment detection unit Execute boom system.
  • the winch arrangement which can be arranged on the superstructure, for example, serves to pivot the main boom relative to the superstructure and/or the luffing boom relative to the main boom.
  • the present invention is advantageous over this rigid method, since it is no longer necessary to wait until, for example, the main boom is in its predetermined upright position, so that the needle boom can be pivoted earlier relative to the main boom.
  • the exact time depends on the values recorded by the tipping moment detection unit.
  • the tilting moment that acts on the hoist is now taken into account and a decision is made depending on when, for example, a movement of the needle boom relative to the main boom can be carried out during an erection process.
  • this is already possible when the main boom has not yet reached its maximum erected position, so that the main boom is simultaneously pivoted relative to the superstructure and the luffing boom relative to the main boom, since the detected tilting moment ensures that there is no danger tipping of the hoist.
  • the invention allows, with appropriate consideration of the tilting moment, an earlier movement of the needle boom relative to the main boom in the lowering direction, so that it can be moved towards the main boom when the main boom is not yet in its maximum erect position or (according to the prior art required) has reached the position to be assumed to carry out the depositing process.
  • This speeds up the raising or lowering of the boom system on the hoist and thus enables more efficient use and associated improved cost efficiency.
  • the device for supporting or fully automatically carrying out an erecting and / or laying down process is further designed to carry out the steps for erecting and / or laying down the boom system only depending on the tipping moment detected by the tipping moment detection unit, so that rigid Boom positions do not have to be reached in the sequence of steps for erecting and / or putting down the boom system.
  • the boom when executing the steps, can be continued regardless of whether certain angular positions of the boom have been reached, in which case attention is preferably paid exclusively to the tilting moment acting on the hoist and other parameters are not taken into account.
  • the device for supporting or fully automatically carrying out an erecting and / or laying down process is further designed to, during an erecting and / or laying down process, in a state in which the needle boom is in contact with the ground has to control a luffing jib winch for lowering and raising the luffing jib so that the holding strand to the luffing jib exceeds a predetermined first tension value in order to enable correct winding on the luffing jib winch.
  • the device for supporting or fully automatically carrying out an erecting and/or laying down process is designed to use a luffing boom winch for lowering and/or lowering during an erecting and/or laying down process, in a state in which the needle boom is in contact with the ground To control the lifting of the needle boom so that the holding strand to the needle boom does not exceed a predetermined second tension value in order to prevent the hoist from tipping over.
  • the tilting moment detection unit is also used to regulate the holding rope tension in order to find out whether the tension applied to the holding rope threatens to tip over the hoist.
  • the predetermined first voltage value is smaller than the predetermined second voltage value.
  • the steps for erecting the boom system from a position placed on the ground include controlling the main boom in the lifting direction and simultaneously controlling the luffing boom relative to the main boom in the lowering direction, so that the Connection area of the main boom and luffing jib comes (into the so-called jackknife position), preferably as soon as the tilting moment detected by the tilting moment detection unit is sufficiently low, the luffing boom is controlled in the lifting direction (by fixing it relative to the main boom or pivoting away from it). preferably already when the main boom has not yet reached its maximum erected position.
  • the steps for depositing the boom system from an erected position include controlling the luffing jib relative to the main boom in the lowering direction, whereby, if the tilting moment detected by the tilting moment detection unit exceeds a threshold value, first actuating the The main boom is in the lifting direction and, as soon as the activation of the luffing boom relative to the main boom in the lowering direction results in the luffing boom having crossed the horizontal, the luffing boom is actuated relative to the main boom in the lowering direction at the same time as the main boom is actuated in the lowering direction, provided that this is done by the Tilting moment detected by the tilting moment detection unit does not exceed a threshold value, with the needle boom preferably being controlled in the lowering direction relative to the main boom until the tip of the needle boom is in contact with the ground or is pivoted in relative to the main boom to the maximum.
  • the steps for placing the boom system from an upright position also include controlling the main boom in the lowering direction and simultaneous control of the needle boom relative to the main boom in the lifting direction, so that the connection area of the main boom and the needle boom is lowered, preferably the control of the main boom in the lowering direction and simultaneous control of the needle boom relative to the main boom in the lifting direction until the main boom is in contact with the ground
  • the hoist is further provided with a user interface for actuating the device for supporting or fully automatically carrying out an erecting and / or laying down process, wherein the user interface preferably has a lever, the deflection of which influences a speed of the steps to be carried out, with preferably non-deflection of the lever leading to a stopping of the steps to be carried out.
  • the advantage of this is that the machine operator is able to control the entire boom system in the direction of erecting and/or in the direction of lowering the boom system using only one operating lever. In addition, he can specify the speed of movement of the boom system by deflecting the lever.
  • another configuration of the user interface can also be provided, for example in the form of an actuation button or the like, which, after activation, ensures that the erecting or lowering of the boom system is fully automatic. It may be necessary for the button to be kept pressed during raising or lowering so that a standstill occurs when the button is released and any dangerous situations identified by the operator can be avoided.
  • the main and the needle boom adjustment winch are controlled based on these specifications of the user interface and / or the device for supporting or fully automatically carrying out an erecting and / or laying down process.
  • the advantage of this is that the boom system does not have to be brought into predefined geometric positions, since the device for supporting or fully automatically carrying out an erecting and / or laying down process uses calculation values from the tipping moment detection unit, and the boom system lifts off the ground as soon as this is possible on the part of the tipping moment detection unit.
  • the invention further relates to a method for supporting or fully automatically carrying out an erecting and/or laying down process of a boom system comprising a main boom and a needle boom of a hoist, preferably a hoist according to one of the previously discussed variants, wherein in the method steps for erecting and / or putting down the boom system are carried out depending on a tilting moment detected by a tilting moment detection unit of the hoist.
  • the method according to the invention can further be modified in that when the boom system is erected from a position placed on the ground, the main boom is moved in the lifting direction and at the same time the luffing boom is moved relative to the main boom in the lowering direction, so that a connection area of the main boom and luffing boom is raised , and as soon as the tilting moment detected by the tilting moment detection unit is sufficiently low, the luffing boom is moved in the lifting direction, preferably when the main boom has not yet reached its maximum erected position, wherein preferably the luffing boom is already moved in the lifting direction when the main boom has not yet reached its maximum erect position.
  • the luffing boom when the boom system is placed down from an upright position, the luffing boom is moved in the lowering direction relative to the main boom, whereby, if the tipping moment detected by the tipping moment detection unit exceeds a threshold value, the main boom is initially in the lifting direction is moved, and as soon as the movement of the luffing boom relative to the main boom in the lowering direction results in the luffing boom having crossed the horizontal, the luffing boom is moved relative to the main boom in the lowering direction simultaneously with the main boom in the lowering direction, provided that the tilting moment detected by the tilting moment detection unit has a threshold value does not exceed, whereby preferably the needle boom is moved in the lowering direction relative to the main boom until the tip of the needle boom is in contact with the ground or is pivoted in relative to the main boom to the maximum.
  • the needle boom is already moved in the lowering direction when the main boom has not yet reached its maximum upright position.
  • the invention can provide that the method of the main boom and luffing jib when carrying out the steps for erecting and / or putting down the boom system is only carried out as a function of a tilting moment detected by a tilting moment detection unit of the hoist and is not based on any rigid angular ranges to be achieved by the main boom and /or the needle boom is switched off.
  • the needle boom can be moved much earlier than the main boom, so that the hoist is consistently operated closer to a limit range of the permissible tilting moment, which results in an improved or accelerated procedure when assembling or dismantling enabled.
  • the invention enables the advantages explained below when erecting and/or lowering a boom system of a hoist.
  • the operation when setting up and putting down is simplified, but at the same time the active monitoring during setting up using the tilting moment detection unit ensures that setting up and putting down is safe.
  • the boom system can also be lifted off the ground as early as possible and thus erected more quickly.
  • it is not necessary that the boom system has to be brought into predetermined angular positions (target positions) in a time-consuming manner when laying down and/or erecting, which typically have to be approached according to the prior art.
  • Fig. 3 now shows the hoist 1 in its erect position, opposite Fig. 2 the needle boom 4 has been pivoted into a lifting direction relative to the main boom 3.
  • the hoist 1 is ready for use.
  • the main boom adjustment winch continues to be controlled in the direction of lifting until it reaches its steepest position for the erecting process.
  • the needle boom adjustment winch is also controlled parallel to the main boom adjustment winch in the direction of lifting before the main boom has reached its steepest position, which brings with it a significant time advantage.
  • the device for supporting or fully automatically carrying out an erecting and/or laying down process continues to control the main boom adjustment winch in the lowering direction and the luffing jib adjustment winch in the lifting direction in order to keep the holding strand of the luffing jib under tension and the rope wind the needle boom adjustment winch correctly.
  • the process of raising or lowering the boom system is carried out fully automatically, with only a trigger having to be actuated by an operator to initiate the process.
  • the fully automatic execution is only carried out if the operator continuously presses a button or holds a lever in the appropriate position, so that when the lever or the button is released, the automatic movement of the boom system is interrupted the Operator can continue to react to any dangerous situations that may arise.

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

Claims (14)

  1. Appareil de levage (1), en particulier grue mobile ou pelle à câbles, comprenant :
    un châssis supérieur (2),
    une flèche principale (3) qui part du châssis supérieur (2),
    une flèche relevable (4) qui part de l'extrémité de la flèche principale (3) éloignée du châssis supérieur (2),
    un agencement de treuil sur le châssis supérieur et/ou sur la flèche principale, et
    une unité de détection de couple de renversement destinée à déterminer le couple de renversement agissant sur l'appareil de levage (1) par le réglage de la flèche principale (3) et de la flèche relevable (4),
    caractérisé par
    un dispositif destiné au support ou à la mise en oeuvre entièrement automatique d'un processus de levage et/ou de pose d'un système de flèche (3, 4) comprenant la flèche principale (3) et la flèche relevable (4), ledit dispositif étant conçu pour exécuter les étapes pour le levage et/ou la pose du système de flèche (3, 4) en fonction du couple de renversement détecté par l'unité de détection de couple de renversement, le dispositif destiné au support ou à la mise en oeuvre entièrement automatique d'un processus de levage et/ou de pose étant en outre conçu pour exécuter les étapes pour le levage et/ou la pose du système de flèche (3, 4) uniquement en fonction du couple de renversement détecté par l'unité de détection de couple de renversement, de telle sorte que des positions de flèche rigides ne doivent pas être atteintes lors de la succession d'étapes pour le levage et/ou la pose du système de flèche (3, 4).
  2. Appareil de levage (1) selon l'une des revendications précédentes, dans lequel le dispositif destiné au support ou à la mise en oeuvre entièrement automatique d'un processus de levage et/ou de pose est en outre conçu pour :
    a) lors d'un processus de levage, commander la flèche relevable (4) dans la direction de levage avant même que la flèche principale (3) n'ait atteint sa position relevée maximale, et/ou
    b) lors d'un processus de pose, commander la flèche relevable (4) dans la direction de descente avant même que la flèche principale (3) n'ait atteint sa position relevée maximale, dans lequel de préférence
    la commande de la flèche relevable (4) dans la direction de levage ou dans la direction de descente peut également s'effectuer par le fait que la flèche relevable (4) est maintenue fixée par rapport à la flèche principale (3) et le mouvement de la flèche relevable (4) est effectué par un levage ou une descente de la flèche principale (3).
  3. Appareil de levage (1) selon l'une des revendications précédentes, dans lequel le dispositif destiné au support ou à la mise en oeuvre entièrement automatique d'un processus de levage et/ou de pose est en outre conçu pour :
    a) lors d'un processus de levage, faire pivoter la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de levage simultanément à un levage de la flèche principale (3), de préférence pour enlever une pointe de flèche relevable (5) du sol, et/ou
    b) lors d'un processus de pose, faire pivoter la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de descente simultanément à un levage de la flèche principale (3), et/ou
    c) lors d'un processus de pose, faire pivoter la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de descente simultanément à une descente de la flèche principale (3).
  4. Appareil de levage (1) selon l'une des revendications précédentes, dans lequel le dispositif destiné au support ou à la mise en oeuvre entièrement automatique d'un processus de levage et/ou de pose est en outre conçu pour, pendant un processus de levage et/ou de pose, dans un état dans lequel la flèche relevable (4) est en contact avec le sol, commander un treuil de flèche relevable destiné à la descente et au levage de la flèche relevable (4) de telle manière que le brin de retenue (6) jusqu'à la flèche relevable (4) dépasse une valeur de tension prédéfinie pour permettre un enroulement correct sur le treuil de flèche relevable.
  5. Appareil de levage (1) selon la revendication précédente 5, dans lequel le dispositif destiné au support ou à la mise en oeuvre entièrement automatique d'un processus de levage et/ou de pose est en outre conçu pour, pendant un processus de levage et/ou de pose, dans un état dans lequel la flèche relevable (4) est en contact avec le sol, commander un treuil de flèche relevable destiné à la descente et au levage de la flèche relevable (4) de telle manière que le brin de retenue (6) jusqu'à la flèche relevable (4) ne dépasse pas une seconde valeur de tension prédéfinie pour empêcher un basculement de l'appareil de levage (1).
  6. Appareil de levage (1) selon l'une des revendications précédentes, dans lequel les étapes pour le levage du système de flèche (3, 4) à partir d'une position posée sur le sol comprennent :
    la commande de la flèche principale (3) dans la direction de levage et la commande simultanée de la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de descente, de telle sorte qu'un levage de la zone de liaison (8) entre la flèche principale (3) et la flèche relevable (4) se produit dès que le couple de renversement détecté par l'unité de détection de couple de renversement est suffisamment faible,
    la commande de la flèche relevable (4) dans la direction de levage, de préférence avant même que la flèche principale (3) n'ait atteint sa position relevée maximale.
  7. Appareil de levage (1) selon l'une des revendications précédentes, dans lequel les étapes pour la pose du système de flèche (3, 4) à partir d'une position relevée comprennent :
    la commande de la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de descente, dans lequel, dans la mesure où le couple de renversement détecté par l'unité de détection de couple de renversement dépasse une valeur seuil, une commande de la flèche principale (3) dans la direction de levage est d'abord effectuée dès que la commande de la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de descente entraîne le franchissement de l'horizontale par la flèche relevable (4), la commande de la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de descente simultanément à une commande de la flèche principale (3) dans la direction de descente, dans la mesure où le couple de renversement détecté par l'unité de détection de couple de renversement ne dépasse pas une valeur seuil, la commande de la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de descente étant de préférence effectuée jusqu'à ce que la pointe de flèche relevable (5) soit en contact avec le sol ou soit rabattue au maximum par rapport à la flèche principale (3).
  8. Appareil de levage (1) selon la revendication précédente 8, dans lequel, après une commande de la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de descente jusqu'à ce que la pointe de flèche relevable (5) soit en contact avec le sol ou soit rabattue au maximum par rapport à la flèche principale (3), les étapes pour la pose du système de flèche (3, 4) à partir d'une position relevée comprennent en outre :
    la commande de la flèche principale (3) dans la direction de descente et la commande simultanée de la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de levage, de telle sorte qu'une descente de la zone de liaison entre la flèche principale (3) et la flèche relevable (4) se produit, la commande de la flèche principale (3) dans la direction de descente et la commande simultanée de la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de levage s'effectuant de préférence jusqu'à ce que la flèche principale (3) soit en contact avec le sol.
  9. Appareil de levage (1) selon l'une des revendications précédentes, comportant en outre une interface utilisateur destinée à l'actionnement du dispositif destiné au support ou à la mise en oeuvre entièrement automatique d'un processus de levage et/ou de pose, l'interface utilisateur présentant de préférence un levier dont l'actionnement influence une vitesse des étapes à mettre en oeuvre, un non-actionnement du levier entraînant de préférence un arrêt des étapes à exécuter.
  10. Procédé destiné au support ou à la mise en oeuvre entièrement automatique d'un processus de levage et/ou de pose d'un système de flèche (3, 4) comprenant une flèche principale (3) et une flèche relevable (4) d'un appareil de levage (1) selon l'une des revendications précédentes, dans lequel, dans le procédé :
    des étapes pour le levage et/ou la pose du système de flèche (3, 4) sont exécutées uniquement en fonction d'un couple de renversement détecté par une unité de détection de couple de renversement de l'appareil de levage (1).
  11. Procédé selon la revendication 10, dans lequel lors d'un levage du système de flèche (3, 4) à partir d'une position posée sur le sol :
    la flèche principale (3) est déplacée dans la direction de levage et simultanément la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de descente, de telle sorte qu'un levage d'une zone de liaison (8) entre la flèche principale (3) et la flèche relevable (4) se produit et
    dès que le couple de renversement détecté par l'unité de détection de couple de renversement est suffisamment faible, la flèche relevable (4) est déplacée dans la direction de levage, de préférence avant même que la flèche principale (3) n'ait atteint sa position relevée maximale.
  12. Procédé selon l'une des revendications précédentes 10 ou 11, dans lequel, lors d'une pose du système de flèche (3, 4) à partir d'une position relevée : la flèche relevable (4) est déplacée par rapport à la flèche principale (3) dans la direction de descente, dans lequel, dans la mesure où le couple de renversement détecté par l'unité de détection de couple de renversement dépasse une valeur seuil, la flèche principale (3) est d'abord déplacée dans la direction de levage et
    dès que le déplacement de la flèche relevable (4) par rapport à la flèche principale (3) dans la direction de descente entraîne le franchissement de l'horizontale par la flèche relevable (4), la flèche relevable (4) est déplacée par rapport à la flèche principale (3) dans la direction de descente simultanément au déplacement de la flèche principale (3) dans la direction de descente, dans la mesure où le couple de renversement détecté par l'unité de détection de couple de renversement ne dépasse pas une valeur seuil, la flèche relevable (4) étant de préférence déplacée par rapport à la flèche principale (3) dans la direction de descente jusqu'à ce que la pointe de flèche relevable (5) soit en contact avec le sol ou soit rabattue au maximum par rapport à la flèche principale (3).
  13. Procédé selon la revendication précédente 12, dans lequel, lors d'un processus de pose à partir d'une position relevée, la flèche relevable (4) est déplacée dans la direction de descente avant même que la flèche principale (3) n'ait atteint sa position relevée maximale.
  14. Procédé selon l'une des revendications précédentes 10 à 13, dans lequel le déplacement de la flèche principale (3) et de la flèche relevable (4) est exécuté lors de l'exécution des étapes pour le levage et/ou la pose du système de flèche (3, 4) uniquement en fonction d'un couple de renversement détecté par une unité de détection de couple de renversement de l'appareil de levage (1) et il n'y a aucun arrêt sur des zones angulaires rigides à atteindre de la flèche principale ou la flèche relevable (4).
EP22161288.0A 2021-03-19 2022-03-10 Appareil de levage doté d'un dispositif destiné au support ou à la mise en uvre entièrement automatique d'un processus de levage et/ou de pose d'un système de flèche, ainsi que procédé correspondant Active EP4059878B1 (fr)

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DE102021106745.6A DE102021106745A1 (de) 2021-03-19 2021-03-19 Hebezeug mit einer Vorrichtung zum Unterstützen oder vollautomatischen Durchführen eines Aufricht- und/oder Ablegevorgangs eines Auslegersystems sowie entsprechendes Verfahren

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EP4059878C0 EP4059878C0 (fr) 2024-01-10
EP4059878B1 true EP4059878B1 (fr) 2024-01-10

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US (1) US11912542B2 (fr)
EP (1) EP4059878B1 (fr)
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Publication number Priority date Publication date Assignee Title
US6378653B1 (en) * 1998-12-28 2002-04-30 Kabushiki Kaisha Aichi Corporation Travel and rotation control device for boom lift
DE102007056289B4 (de) * 2007-10-29 2009-06-04 Liebherr-Werk Ehingen Gmbh Verfahren zum Aufrichten eines Kranauslegers
DE102011107754B4 (de) 2011-06-10 2021-07-22 Liebherr-Werk Ehingen Gmbh Winkelbezogenes Verfahren zur Überwachung der Kransicherheit während des Rüstvorgangs, sowie Kran und Kransteuerung
DE102014012422B4 (de) * 2014-08-20 2023-02-09 Liebherr-Werk Ehingen Gmbh Automatisches Aufrichten eines Krans
DE102014019465A1 (de) * 2014-12-23 2016-06-23 Liebherr-Werk Biberach Gmbh Verfahren zur Überwachung der Kransicherheit sowie ein System zur Überwachung der Kransicherheit
DE102016015388B4 (de) * 2016-12-22 2024-09-12 Liebherr-Werk Ehingen Gmbh Verfahren zur assistierten Ausführung von Kranbewegungen eines Krans sowie Kran
CN110291254B (zh) * 2017-03-10 2022-07-05 住友建机株式会社 挖土机
DE102017113386A1 (de) * 2017-06-19 2018-12-20 Liebherr-Werk Nenzing Gmbh Hebezeug, insbesondere ein Mobilkran oder ein Seilbagger, mit einer Vorrichtung zur Überwachung des Aufricht- und Ablegevorganges eines Auslegersystems und entsprechendes Verfahren
KR102602382B1 (ko) * 2017-07-05 2023-11-14 스미도모쥬기가이고교 가부시키가이샤 쇼벨
JP6638718B2 (ja) * 2017-12-18 2020-01-29 コベルコ建機株式会社 クレーン立組方法
KR102259549B1 (ko) * 2018-03-12 2021-06-03 히다찌 겐끼 가부시키가이샤 작업 기계
JP7126981B2 (ja) * 2019-03-29 2022-08-29 住友重機械建機クレーン株式会社 クレーン

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US20220297989A1 (en) 2022-09-22
DE102021106745A1 (de) 2022-09-22
US11912542B2 (en) 2024-02-27
EP4059878C0 (fr) 2024-01-10
EP4059878A1 (fr) 2022-09-21
JP2022145592A (ja) 2022-10-04

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