EP 3649072 B1 20220504 - CRANE AND METHOD FOR CONTROLLING SUCH A CRANE
Title (en)
CRANE AND METHOD FOR CONTROLLING SUCH A CRANE
Title (de)
KRAN UND VERFAHREN ZUM STEUERN EINES SOLCHEN KRANS
Title (fr)
GRUE ET PROCÉDÉ DE COMMANDE D'UNE TELLE GRUE
Publication
Application
Priority
- DE 102017114789 A 20170703
- EP 2018000320 W 20180626
Abstract (en)
[origin: WO2019007541A1] The invention relates to a crane, in particular a rotary tower crane, comprising a lifting cable (207) which runs out from a crane boom (202) and has a load receiving means (208), drive devices for moving multiple crane elements and displacing the load receiving means (208), a controller (3) for controlling the drive devices such that the load receiving means (208) is displaced along a movement path, and a pendulum damping device (340) for damping pendulum movements of the load receiving means (208) and/or of the lifting cable (207). The pendulum damping device (340) has a pendulum sensor system (60) for detecting pendulum movements of the lifting cable (207) and/or of the load receiving means (208) and a regulator module (341) comprising a closed control loop for influencing the actuation of the drive devices depending on a pendulum sensor system (60) signal returned to the control loop. The invention is characterized in that the pendulum damping device (340) has a structural dynamic sensor system (342) for detecting deformations and/or dynamic inherent movements of structural components of the crane, and the regulator module (341) of the pendulum damping device (340) is designed to take into consideration both the pendulum signal of the pendulum sensor system (60) as well as the structural dynamic signals which are returned to the control loop and specify deformations and/or dynamic inherent movements of the structural components, while influencing the actuation of the drive devices. The invention also relates to a corresponding method for controlling a crane, in particular a rotary tower crane, the load receiving means (208) of which, said means being attached to a lifting cable (207), are displaced by drive devices that are actuated by a controller (3) of the crane, wherein the actuation of the drive devices is influenced by a pendulum damping device (340) comprising a regulator module (341) with a closed control loop depending on pendulum-relevant parameters.
IPC 8 full level
B66C 13/06 (2006.01)
CPC (source: EP US)
B66C 13/06 (2013.01 - EP); B66C 13/063 (2013.01 - EP US); B66C 13/066 (2013.01 - EP US); B66C 23/16 (2013.01 - US); B66C 2700/0385 (2013.01 - US)
Citation (examination)
WO 2017174196 A1 20171012 - LIEBHERR-COMPONENTS BIBERACH GMBH [DE]
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
DOCDB simple family (publication)
DE 102017114789 A1 20190103; AU 2018296142 A1 20200130; AU 2018296142 B2 20231123; AU 2024201066 A1 20240307; BR 112019027928 A2 20200714; CN 111295354 A 20200616; CN 111295354 B 20211224; EP 3649072 A1 20200513; EP 3649072 B1 20220504; ES 2924332 T3 20221006; JP 2020525373 A 20200827; JP 7224330 B2 20230217; US 11447372 B2 20220920; US 2020148510 A1 20200514; WO 2019007541 A1 20190110
DOCDB simple family (application)
DE 102017114789 A 20170703; AU 2018296142 A 20180626; AU 2024201066 A 20240219; BR 112019027928 A 20180626; CN 201880044958 A 20180626; EP 18740502 A 20180626; EP 2018000320 W 20180626; ES 18740502 T 20180626; JP 2020500045 A 20180626; US 202016733619 A 20200103