Method for the automatic transfer of a load hanging at a load rope of a crane or excavator with a load oscillation damping and a trajectory planner

US7831333B2 · kind B2 · utility

Assignee

• LIEBHERR-WERK NENZING GMBH · AT

Inventors

• Oliver Sawodny · Stuttgart, DE
• Alexander Hildebrandt · Unterensingen, DE
• Joerg Neupert · Stuttgart, DE
• Klaus Schneider · Hergatz, DE

Key dates

• Filing date: Mar 14, 2006
• Grant date: Nov 9, 2010
• Expiry date: Jul 8, 2028

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B66C23/62
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

The invention relates to a method for the transfer of a load hanging at a load rope of a crane or excavator comprising a slewing gear, a luffing mechanism and a hoisting gear comprising a computer-controlled regulator for the damping of the load oscillation which has a trajectory planner, a disturbance observer and a state regulator with a pre-control, wherein the working space is first fixed by selection of two points, with one of the two points being fixed as the destination point by direction presetting by means of the hand lever and with the nominal speeds for the slewing gear and the luffing mechanism being preset by the hand lever signals.