CRANE

Abstract

A crane including a crane arm with a crane tip and an implement arrangeable on the crane tip. The at least one part of the implement is movable in relation to the crane tip. A crane controller controls the crane arm and the at least one part of the implement. The crane controller can issue control commands by a user for movement of the crane arm and for movement of the at least one part of the implement. With an implement on the crane tip, when predetermined control commands are issued by a user for movement of the at least one part of the implement arranged on the crane tip, additional control commands for movement of the at least one crane arm can be given off by the crane controller to at least partially compensate for the movement of the at least one part of the implement.

Claims

1. Crane with at least one crane arm with a crane tip, wherein an implement is arrangeable on the crane tip, wherein the implement and/or at least one part of the implement is movable in relation to the crane tip, and a crane controller for controlling the at least one crane arm and the implement and/or the at least one part of the implement, wherein the crane controller in a first operating mode is configured to issue control commands by a user for movement of the at least one crane arm and for movement of the implement and/or for movement of the at least one part of the implement, wherein the crane controller has an activatable further operating mode, in which the crane controller is configured so that, with an implement arranged on the crane tip, when predetermined control commands are issued by a user for movement of the implement arranged on the crane tip and/or for movement of the at least one part of the implement arranged on the crane tip, additional control commands for movement of the at least one crane arm can be given off by the crane controller to at least partially compensate for at least one component of the movement of the implement and/or the movement of the at least one part of the implement.

2. The crane according to claim 1, wherein the additional control commands can be given off as a function of at least one parameter of the movement of the implement arranged on the crane tip and/or the movement of the at least one part of the implement arranged on the crane tip.

3. The crane according to claim 1, wherein the additional control commands can be given off by the crane controller substantially simultaneously with the issue of the predetermined control commands for movement of the implement and/or of the at least one part of the implement.

4. The crane according to claim 1, wherein the crane tip is displaceable in a plane of the crane arm during the movement of the crane arm due to the additional control commands of the crane controller.

5. The crane according to claim 1, wherein the crane tip is displaceable in a direction of the at least one componentpreferably along a straight lineduring the movement of the crane arm due to the additional control commands of the crane controller.

6. The crane according to claim 1, wherein the movement of the implement and/or of the at least one part of the implement is a pivoting movement in relation to the crane tip.

7. The crane according to claim 1, wherein the crane arm has at least one crane pillar preferably rotatable about a perpendicular axis of rotationand at least one lifting arm pivotally mounted on the crane pillar preferably about a first horizontal pivot axiswherein the lifting arm preferably has at least one extension arm.

8. The crane according to claim 1, wherein the crane arm further has at least one articulated arm pivotally mounted on the lifting armpreferably about a second horizontal pivot axiswherein the articulated arm preferably has at least one extension arm.

9. The crane according to claim 1, wherein the crane arm further has at least one articulated attachment arm pivotally mounted on the articulated arm preferably about a third horizontal pivot axiswherein the articulated attachment arm preferably has at least one extension arm.

10. The crane according to claim 1, wherein the crane controller has at least the following: a memory for storing data specific to the crane and/or data specific to implements arrangeable on the crane signal inputs for supplying sensor signals from sensors arrangeable on the crane and/or from sensors arrangeable on an implement arranged on the crane signal outputs for outputting control signals for the at least one crane arm and/or for the implement and/or for the at least one part of the implement operating elements for the issue of control commands for movement of the at least one crane arm and/or of the implement and/or of the at least one part of the implement a computing unit for processing data from the memory and sensor signals and for generating control commands.

11. The crane according to claim 1, wherein the crane controller is configured so that an implement arranged on the crane tip is able to be predefined to the crane controller by a user and/or an implement arranged on the crane tip is automatically recognizable by the crane controller, and additional control commands specific to the implement can be given off as a function of the predefined and/or recognized implement.

12. The crane according to claim 1 with an implement arranged on the crane tip of the crane arm.

13. The crane according to claim 1, wherein the implement is formed as a grab with at least two grab jaws, each pivotally movable about a bearing point on the implement, with grab tips or with at least two grab shells, each pivotally movable about a bearing point on the implement, with grab blades.

14. The crane according to claim 1, wherein the grab tips or grab blades move substantially along a straight line or in a plane during an opening and/or closing movement of the grab jaws or grab shells through the movement of the crane arm due to the additional control commands.

15. The crane according to claim 1, wherein the component of the movement at least partially compensated for is the normal distance, which changes during an opening and/or closing movement, from the straight line or plane to the respective bearing point.

16. The crane according to claim 1, wherein the predetermined control commands by a user for movement of the implement and/or for movement of the at least one part of the implement comprise control commands for opening and/or closing the grab jaws or grab shells of the grab.

17. The crane according to claim 2, wherein the at least one parameter of the movement is the opening and/or closing angle of the grab jaws or grab shells.

Description

[0027] Further details and advantages of the present invention are explained in more detail below with the aid of the description of the figures with reference to the embodiment examples represented in the drawings. There are shown in:

[0028] FIGS. 1a and 1b side and detail views of a first embodiment of a crane,

[0029] FIGS. 3a and 3b side views of the second embodiment of the crane and in each case a schematic representation of a crane controller with a sensor system,

[0030] FIG. 4 side views of the second embodiment of the crane,

[0031] FIG. 5 detail view of the second embodiment of the crane,

[0032] FIGS. 6a and 6b further side views of the second embodiment of the crane,

[0033] FIG. 7 a third embodiment of a crane, and

[0034] FIG. 8 a vehicle with a third embodiment of the crane.

[0035] FIG. 1 a shows a side view and detail views of a first embodiment of a crane 1 with a crane pillar 5 (optionally rotatable about a perpendicular axis of rotation), a lifting arm 6 pivotally mounted on the latter and an articulated arm 7 pivotally mounted thereon. In the position of the crane 1 shown the lifting arm 6 is arranged on the crane pillar 5 at a first articulation angle k1 and the articulated arm 7 is arranged on the lifting arm 6 at a second articulation angle k2. A main cylinder 17 or an articulation cylinder 18 is provided to pivot the lifting arm 6 or the articulated arm 7. In the embodiment 2 shown the articulated arm 7 has two extension arms 8, 9, by means of which the length of the articulated arm 7 can be altered. A freely suspended implement 3 in the form of a grab is arranged on the crane tip 2, which in the embodiment shown is formed by the free end of the articulated arm 7. The crane arm of the crane 1, as represented in this embodiment, comprises the crane pillar 5, the lifting arm 6 and the articulated arm 7 with its extension arms 8, 9.

[0036] In the adjacent detail views, in each case, a lower section of the articulated arm 7 with implement 3 arranged thereon in the form of a grab is shown, wherein the grab in the embodiment shown is rotated by 90? compared with the overall view of the crane 1 shown on the left, whereby two grab jaws 13, 14 with grab tips 15, 16 are visible. The grab jaws 13, 14 are pivotally mounted about bearing points 24. The opening angle of the grab or the grab jaws 13, 14 is given the reference a. In the first detail view the grab is shown in a closed position of the grab jaws 13, 14 and in the second detail view the grab is shown in an open position of the grab jaws 13, 14. Unless the crane arm of the crane 1 itself is moved, different heights (vertical distances) with respect, for example, to the lower edge of the crane pillar 5, the position of which is represented by the line running horizontally in the drawing, result for the grab tips 15, 16 due to the pivoting of the grab jaws 13, 14 during the opening and/or closing. For example, in the closed position of the grab a first distance L1 from the grab tips 15, 16 to the lower edge of the crane pillar 5 thus essentially results. In the open position of the grab a second distance L2 from the grab tips 15, 16 to the lower edge of the crane pillar 5 essentially results. The difference between the distances L1,

[0037] L2 is given the reference z, and corresponds, as represented, to the vertical component of the pivoting movement of the grab jaws 15, 16. The represented opening or closing position of the implement 3 designed as a grab results, for example, when the implement 3 is controlled in a first operating mode of the crane controller (not represented in FIG. 1a or 1b, for details on this see FIG. 3 for example).

[0038] FIG. 1b shows an opening or closing position of the implement 3 designed as a grab analogous to FIG. 1 a, wherein here the control of the implement 3 is effected in a second operating mode of the crane controller according to the invention. Due to a movement of the crane arm, here specifically a raising or lowering of the crane tip 2 by the vertical component, which changes during the closing or opening of the grab, of the position of the grab tips 15, 16 in relation to, for example, the lower edge of the crane pillar 5, the distance L2 or the effective height position of the grab tips 15, 16 can be kept constant. The same distance L2 to the lower edge of the crane pillar 5 thus results both in the closed position and in the open position of the grab. Through such a guiding of the grab tips 15, 16 running substantially horizontally as represented, for example damage to the crane 1, to the implement 3, to any load to be lifted or to a base which serves as supporting surface for the crane 1 or as depositing surface for any load to be lifted can be avoidable.

[0039] FIG. 2 shows a second embodiment of a crane 1, wherein structurally and functionally similar elements of the crane 1 have the same references as in the embodiment of FIG. 1a or 1b. The crane arm of the crane 1, as represented in this embodiment, again comprises the crane pillar 5, the lifting arm 6 and the articulated arm 7 with its extension arms 8, 9.

[0040] FIGS. 3a and 3b show side views of the second embodiment of the crane 1 and in each case a schematic representation of a crane controller 4 with a sensor system. The crane 1 has a first rotary encoder d1 for detecting the first articulation angle k1, a second rotary encoder d2 for detecting the second articulation angle k2, a first extension position sensor s1 for detecting the extension position of the first extension arm 8 and a second extension position sensor s2 for detecting the extension position of the second extension arm 9. Contrary to what is represented, however, the detection of the first articulation angle k1 and/or of the second articulation angle K 2 can also be effected by detection of the extension length of the main cylinder 17 or by detection of the extension length of the articulation cylinder 18. The implement 3 arranged on the crane and formed as a grab has a third rotary encoder d3 for detection of the opening angle ?. The detection of the opening angle ? can, however, also be effected by detection of the extension length of a hydraulic cylinder (not represented) for actuation of the grab jaws 13, 14. Through the sensor system fitted on the crane and on the implement 3, the crane position can be detected by detection of the crane geometry and the opening or closing position of the implement 3. In the embodiment shown the crane controller 4 has signal inputs 25 for supplying sensor signals via signal lines of the sensors and signal outputs 26 for outputting control commands via a control line 20. For conversion of the control commands into corresponding movements of the crane arm of the crane 1 as well as of the implement 3, it has a valve block 19, by which, for example by means of corresponding control commands, hydraulic valves for the hydraulic powering of hydraulic positioning devices (such as for example the main cylinder 17 and the articulation cylinder 18) can be controlled. The crane controller 4 further has a memory 10, a computing unit 12 and operating elements 11, by means of which control commands for the crane 1 or the implement 3 can be input by a user. The operating elements 11 can, for example, also be arranged or present on a mobile radio remote control. The computing unit 12 serves, for example, to generate control commands, optionally taking into account data stored in the memory 10.

[0041] In the position of the crane 1 or the implement 3 shown in FIG. 3a the first articulation angle k1 has the detected value k11, the second articulation angle k2 has the detected value k21, the extension position of the first extension arm 8 has the detected value s11, the extension position of the second extension arm 9 has the detected value s21 and the opening angle ? of the implement 3 formed as a grab has the detected value ?1. Contrary to what is represented, however, the detection of the extension position of the first extension arm 8 and the second extension arm 9and thus the detection of the effective length of the articulated arm 7can be effected by a common or individual extension position sensor, such as can be advantageous for example in a movement-coupled embodiment of the extension arms 8, 9 (for example by a chain, not represented). The corresponding sensor signals can be fed to the crane controller 4 via the signal inputs 25 and stored in the memory 10 and used for further calculations by the computing unit 12.

[0042] If, in the second operating mode of the crane controller 4, a control command is now issued by a user, for example by actuation of one of the operating elements 11, to close the implement 3 formed as a grab arranged on the crane tip 2, then additional control commands for movement of the crane arm are given off by the crane controller 4 automatically and without further intervention by the user, to at least partially compensate for the vertical component of the movement of the grab jaws 13, 14 or the grab tips 15, 16 of the implement 3 formed as a grab.

[0043] Due to the additional control commands the crane 1 is now in the position shown in FIG. 3b. In this position of the crane 1 or the implement 3 the first articulation angle k1 has the detected value k12, the second articulation angle k2 has the detected value k22, the extension position of the first extension arm 8 has the detected value s12, the extension position of the second extension arm 9 has the detected value s22 and the opening angle ? of the implement 3 formed as a grab has the detected value ?2. The change in the articulation angle positions as well as the extension positions can be effected continuously and simultaneously with the change in the opening angle ? of the implement 3 formed as a grab.

[0044] The positions of the crane 1 or the implement 3 shown in FIGS. 3a and 3b are represented next to each other in FIG. 4. It is recognizable that effectively a raising of the crane tip 2, the vertical component z, has resulted from the additional control commands given off in the second operating mode of the crane controller 4 during the closing of the implement 3 formed as a grab with the resultant change in geometry of the crane arm. The grab tips 15, 16 of the grab jaws 14, 15 of the implement 3 formed as a grab have thereby effectively remained at the same height during the closing process, i.e. have been guided substantially horizontally.

[0045] FIG. 5 shows a comparison of a closing movement of an implement 3 designed as a grab without compensation for the vertical component z, as would be the case for example in the case of a control of the implement 3 in the first operating mode of the crane controller 4, and with compensation for the vertical component z, as would be the case for example in the case of a control of the implement 3 in the second operating mode of the crane controller 4. In each case an implement 3 formed as a grab freely suspended on a crane tip 2 of a crane arm represented in sections is represented, wherein the implement 3 in the open position is shown with continuous lines and the implement 3 in the closed position is shown with dotted or dashed lines. It is clearly recognizable that in the case of a control of the implement 3 in a first operating mode of the crane controller 4 the vertical position of the grab tips 15, 16 during the closing process changes by the vertical component z. In the case of a control of the implement 3 in the second operating mode of the crane controller 4 the change in the vertical component z can be compensated for by the output of additional control commands for movement of the crane arm. In the example shown this is effected by raising the crane tip 2 by the corresponding vertical component z, as represented.

[0046] FIGS. 6a and 6b show a superposition of the end positions of the crane 1 in the case of a closing or opening movement of an implement 3 designed as a grab and arranged on the crane tip 2 of the crane 1 in the case of a control of the implement 3 in the second operating mode of the crane controller 4. It is clearly recognizable that a movement, and thus a change in geometry, of the crane arm of the crane 1 is effected by the additionally output control commands to compensate for the vertical component z of the closing or opening movement of the grab.

[0047] FIGS. 7 and 8 show a third embodiment of a crane 1, as well as a vehicle 28 with such a crane 1. Structurally and functionally similar elements of the crane 1 are given the same references as in the previously discussed embodiments. The crane arm of the crane 1, as represented in this embodiment, comprises the crane pillar 5, the lifting arm 6, the articulated arm 7 with at least one extension arm 8 as well as an articulated attachment arm 21 with at least one extension arm 22. To change the articulation position of the articulated attachment arm 21 relative to the articulated arm 7, a further articulation cylinder 27 is provided.

LIST OF REFERENCES

[0048] Crane 1 [0049] Crane tip 2 [0050] Implement 3 [0051] Crane controller 4 [0052] Crane pillar 5 [0053] Lifting arm 6 [0054] Articulated arm 7 [0055] Extension arm 8 [0056] Extension arm 9 [0057] Memory 10 [0058] Operating elements 11 [0059] Computing unit 12 [0060] Grab jaw 13 [0061] Grab jaw 14 [0062] Grab tip 15 [0063] Grab tip 16 [0064] Main cylinder 17 [0065] Articulation cylinder 18 [0066] Valve block 19 [0067] Control line 20 [0068] Articulated attachment arm 21 [0069] Extension arm 22 [0070] Vehicle 23 [0071] Bearing point 24 [0072] Signal inputs 25 [0073] Signal outputs 26 [0074] Articulation cylinder 27 [0075] Articulation angle k1 [0076] Articulation angle k2 [0077] Opening angle ? [0078] Distance L1 [0079] Distance L2 [0080] Difference z [0081] Rotary encoder d1 [0082] Rotary encoder d2 [0083] Extension position sensor s1 [0084] Extension position sensor s2 [0085] Rotary encoder d3 [0086] Articulation angle k11, k12, k21, k22 [0087] Opening angle ?1, ?2