Crane driving method selecting and applying a priority load curve according to the inclination of a cantilever structural element

Abstract

A crane driving method for selecting and applying a priority load curve suitable for the work configuration of a crane, said crane comprising a mast supporting a lifting jib, said lifting jib comprising at least one jib structural element, said crane driving method implements: a tilt measurement step, by means of an inclinometer mounted on said jib structural element, of the actual tilt of the jib structural element in the work configuration with respect to a reference axis; a selection step, of the automatic selection of a priority load curve as a function of the actual tilt of said jib structural element, said priority load curve being selected from a plurality of load curves stored in a memory and calculated in advance for several tilts of said jib structural element; a driving step, of the application of said priority load curve for the manoeuvre of lifting and moving a load along the lifting jib in the work configuration of the crane.

Description

Technical Field

[0001] This invention relates to a crane drive method for selecting and applying a preferred load curve suitable for the crane's working configuration. The invention also relates to a crane comprising a mast supporting a lifting jib and devices for implementing this crane drive method.

[0002] This invention discovers a popular, but not limiting, application for self-elevating cranes with lifting and foldable cantilever booms. Background Technology

[0003] This type of crane includes a mast, typically of the folding or telescopic mast type, supporting a lifting and folding cantilever, which includes cantilever structural elements articulated to each other. In the context of this specification, this self-elevating crane can be configured between a transport configuration and at least one working configuration, in which the mast and cantilever are connected or folded together or side-by-side, and in at least one working configuration, the mast is vertical and the cantilever is extended to allow for manipulation of lifting and moving loads along the cantilever.

[0004] This type of crane can have several working configurations, including:

[0005] - A construction in which the cantilever is fully extended (allowing the cantilever to provide its maximum length) and extends substantially horizontally.

[0006] - A construction in which the cantilever is fully extended and tilted relative to the horizontal direction, in other words, the cantilever is raised relative to the horizontal direction. This working configuration is called an overhang crane configuration. The tilt of the cantilever allows the load to be set closer or further away, thus avoiding the crane being installed too high.

[0007] - A construction in which the cantilever is partially extended, wherein the end of the cantilever is in a retracted or extended position (so that the cantilever provides a reduced length) and extends substantially horizontally;

[0008] - A structure in which the cantilever is partially extended, wherein the end of the cantilever is in a retracted or extended position and is tilted relative to the horizontal direction (in other words, the cantilever is raised in an outrigger crane).

[0009] These configurations can also be associated with a certain height of the cantilever relative to the ground (also known as the hook height).

[0010] Once the crane is installed, the assemblers select a load curve suitable for the crane's working configuration. Note that this load curve will depend on the crane's working configuration, such as the length, height, and tilt of the boom. Furthermore, incorrect selection of a load curve suitable for the crane's actual working configuration by the assemblers can have serious consequences, such as damage or even malfunction of the lifting and handling equipment. Summary of the Invention

[0011] The object of the present invention is to solve all or part of this drawback by providing a solution for the actual working configuration of at least some known cranes, and automatically deriving a load curve suitable for the actual working configuration therefrom.

[0012] Therefore, the present invention provides a crane driving method for selecting and applying a preferred load curve suitable for the working structure of a crane, the crane including a mast supporting a lifting boom, the lifting boom including at least one cantilever structural element, the crane driving method implementing the following steps:

[0013] - Inclination measurement step, which uses an inclinometer mounted on the cantilever structural element to measure the actual inclination of the cantilever structural element relative to a reference axis in the working configuration;

[0014] - The selection step automatically selects a priority load curve based on the actual tilt of the cantilever structural element. This priority load curve is selected from multiple load curves stored in memory and pre-calculated for several tilts of the cantilever structural element.

[0015] - The driving step, which implements the application of the priority load curve, is used to manipulate the lifting and moving of the load along the lifting boom in the working structure of the crane.

[0016] Therefore, the present invention proposes to evaluate the working configuration of a crane based on the measurement of the tilt of at least one cantilever structural element, thereby allowing it to be determined whether the cantilever is horizontal or raised, and thus allowing the load curve to be adjusted based on this tilt.

[0017] According to one variation, the cantilever structural element whose actual tilt is being measured is selected from:

[0018] - The first cantilever structural element forming the cantilever foot, which is hinged to the mast.

[0019] - A second cantilever structural element hinged to the first cantilever structural element.

[0020] According to one characteristic, the lifting cantilever is foldable and comprises at least two cantilever structural elements hinged to each other, wherein:

[0021] - The tilt measurement step involves measuring the actual tilt of the two cantilever structural elements relative to a reference axis during their working configuration using inclinometers mounted on the two cantilever structural elements; and

[0022] - The selection step automatically selects the preferred load curve based on the actual tilt angles of the two cantilever structural elements. The preferred load curves are selected from multiple load curves pre-calculated for several tilt angles of the two cantilever structural elements.

[0023] This solution is particularly advantageous because it selects the preferred load curve based on the inclination of the two cantilever structural elements, thereby allowing for more working configurations of the crane, especially working configurations with the cantilever partially extended.

[0024] According to one possible embodiment, the two cantilever structural elements include a first cantilever structural element hinged to the mast to form a cantilever foot, and a second cantilever structural element hinged to the first cantilever structural element.

[0025] According to another possible embodiment, the lifting boom includes a third cantilever structural element forming the end of the boom. This third cantilever structural element is hinged to a second cantilever structural element and is movable between two positions: a retracted position and a deployed position. In the retracted position, the third cantilever structural element is folded and pulled toward the second cantilever structural element; in the deployed position, the third cantilever structural element is unfolded and extended to align with the second cantilever structural element.

[0026] The position detection step involves detecting the actual position of the third cantilever structural element in its two positions.

[0027] Furthermore, the selection step automatically selects a priority load curve based on the actual tilt angles of the two cantilever structural elements and the actual position of the third cantilever structural element. The priority load curve is selected from multiple load curves pre-calculated for several tilt angles of the two cantilever structural elements and two positions of the third cantilever structural element.

[0028] Therefore, the selection of the priority load curve is based on the inclination of the two first cantilever structural elements, and also on the position of the third structural element forming the cantilever end, which will allow for even more working configurations of the crane, and in particular working configurations with the cantilever end extended or retracted.

[0029] According to another possible approach, the position detection step (to detect the actual position of the third cantilever structural element) is implemented by means of a detector selected from:

[0030] - Inclinometer mounted on the third cantilever structural element, or

[0031] - A position sensor or proximity sensor mounted on the second or third cantilever structural element to detect the presence / absence of the third cantilever structural element in one of two positions.

[0032] Therefore, an inclinometer (as with the two first cantilever structural elements) can be used for the third cantilever structural element, but alternatively, a sensor position or proximity sensor can be used, since the third cantilever structural element is in the deployed or retracted position and there is no intermediate position in the working configuration.

[0033] In a particular embodiment, the crane driving method further includes a height measurement step, which measures the actual height of the lifting boom relative to the ground in its working configuration.

[0034] Furthermore, the selection step automatically selects a priority load curve based on the actual tilt angle of the cantilever structural element and the actual height of the lifting cantilever. The priority load curve is selected from multiple load curves pre-calculated for several tilt angles of the cantilever structural element and several heights of the lifting cantilever.

[0035] Therefore, the selection of the preferred load curve is also based on the actual height of the lifting boom (similar to the hook height typically involved in the crane industry), thereby increasing the range of working configurations of the crane.

[0036] According to one possible approach, the mast is a telescopic mast that includes telescopically mounted mast structural elements, and the height measurement step is performed by means of a sensor that measures the telescopic level between the mast structural elements.

[0037] In a particular embodiment, the selection step is performed by a control / command system connected to a memory storing multiple load curves and to the crane's actuators to perform the drive step.

[0038] The present invention also relates to a crane comprising a mast supporting a lifting boom, the lifting boom including at least one cantilever structural element, the crane further comprising:

[0039] - An inclinometer mounted on a cantilever structural element is used to measure the actual tilt of the cantilever structural element relative to a reference axis during its working configuration;

[0040] - A control / command system connected to an inclinometer and a memory that stores multiple load curves pre-calculated for several inclinations of the cantilever structural element;

[0041] The control / command system is configured to automatically select a preferred load curve based on the actual tilt of the cantilever structural element. This preferred load curve is selected from a plurality of load curves stored in memory.

[0042] The control / command system is connected to the manipulator and is configured to drive the manipulation of lifting and moving loads along the lifting boom in the working configuration of the crane by applying a priority load curve.

[0043] According to one feature, the lifting cantilever is foldable and comprises at least two cantilever structural elements hinged to each other, and corresponding inclinometers are mounted on the at least two cantilever structural elements for measuring the actual tilt of the two cantilever structural elements relative to a reference axis in the working configuration, and a control / command system is configured to perform automatic selection of a priority load curve based on the actual tilt of the two cantilever structural elements, the priority load curve being selected from a plurality of load curves pre-calculated for several tilts of the two cantilever structural elements.

[0044] According to another feature, the lifting boom includes a third cantilever structural element forming the end of the cantilever, the third cantilever structural element being hinged to the second cantilever structural element and movable between two positions: a retracted position and a deployed position. In the retracted position, the third cantilever structural element is folded and pulled toward the second cantilever structural element; in the deployed position, the third cantilever structural element is extended and aligned with the second cantilever structural element.

[0045] The detector is configured to detect the actual position of the third cantilever structural element in its two locations.

[0046] Furthermore, the control / command system is configured to perform automatic selection of priority load curves based on the actual tilt angles of the two cantilever structural elements and the actual position of the third cantilever structural element. The priority load curves are selected from multiple load curves pre-calculated for several tilt angles of the two cantilever structural elements and two positions of the third cantilever structural element.

[0047] In a particular embodiment, the crane includes a height measuring device for measuring the actual height of the lifting boom relative to the ground in its working configuration.

[0048] Furthermore, the control / command system is configured to automatically select a priority load curve based on the actual tilt angle of the cantilever structural element and the actual height of the lifting cantilever, the priority load curve being selected from multiple load curves pre-calculated for several tilt angles of the cantilever structural element and several heights of the lifting cantilever.

[0049] According to one feature, the mast is a telescopic mast that includes telescopically mounted mast structural elements, and the height measuring device includes a sensor that measures the telescopic level between the mast structural elements.

[0050] Other height measurement devices are also feasible, such as laser rangefinders, ultrasonic rangefinders, and cameras. Attached Figure Description

[0051] Other features and advantages of the invention will become apparent upon reading the following detailed description of non-limiting examples of embodiments with reference to the accompanying drawings, in which:

[0052] Figure 1 This is a schematic diagram of a crane according to the present invention, showing four different working configurations;

[0053] Figure 2 This is a partial schematic diagram of the first cantilever element forming the cantilever foot, on which the first inclinometer is mounted;

[0054] Figure 3 This is a partial schematic diagram of the second cantilever element on which the second inclinometer is installed; Detailed Implementation

[0055] Reference Figure 1 The crane 1 according to the invention includes a mast 2 mounted on a platform 10 and supporting a lifting boom 3. The mast 2 may be a collapsible mast including mast elements hinged to each other, or a telescopic mast including telescopically mounted mast structural elements 21, 22, as shown in the illustrated example. In turn, the lifting boom 3 is a collapsible boom including cantilever structural elements 31, 32, 33 hinged to each other.

[0056] In the illustrated example, the lifting cantilever 3 includes three consecutive cantilever structural elements 31, 32, and 33, namely:

[0057] - The first cantilever structural element 31, forming the cantilever foot, is hinged to the mast 2.

[0058] - A second cantilever structural element 32 forming the central element, which is hinged to the first cantilever element 31, and

[0059] - A third cantilever structural element 33 forms the end of the cantilever and is hinged to the second cantilever element 32.

[0060] The first cantilever structural element 31 and the second cantilever structural element 32 form two first cantilever structural elements 31 and 32.

[0061] Crane 1 can be configured in several working configurations, including Figure 1 The following four working structures, CW1, CW2, CW3, and CW4, are illustrated in the diagram:

[0062] - First working structure CW1, wherein the lifting cantilever 3 is horizontal and fully extended, and its cantilever structural elements 31, 32, 33 are extended to extend substantially horizontally, in other words, along a horizontal axis;

[0063] - Second working configuration CW2 (or extended crane configuration), wherein the lifting boom 3 is raised and fully extended, and its cantilever structural elements 31, 32, 33 are extended to extend along an axis inclined at a given angle AN relative to the horizontal direction.

[0064] - The third working structure CW3, wherein the lifting arm 3 is horizontal and partially extended, its two first cantilever structural elements 31, 32 are extended and extend substantially horizontally, in other words, extend along the horizontal axis, and its third cantilever structural element 33 is folded backward on the second cantilever element 32.

[0065] - Fourth working configuration CW4, wherein the lifting cantilever 3 is raised and partially unfolded, its two first cantilever structural elements 31, 32 unfolded and extend substantially along an axis inclined at a given angle AN relative to the horizontal direction, and its third cantilever structural element 33 is folded back over the second cantilever structural element 32.

[0066] In the third working configuration CW3 and the fourth working configuration CW4, the third cantilever structural element 33 remains folded backward above the second cantilever structural element 32, which facilitates operation with the shorter lifting cantilever 3 as needed and under local working conditions. In other words, the third cantilever structural element 33 can move between two positions, which include:

[0067] - The retracted position (in the third working configuration CW3 and the fourth working configuration CW4), wherein the third cantilever structural element 33 is folded and pulled toward the second cantilever structural element, and

[0068] - Deployment location (in the first working configuration CW1 and the second working configuration CW2), wherein the third cantilever structural element 33 is deployed and extended to align with the second cantilever structural element 32.

[0069] In different working configurations, mast 2 is deployed, and more specifically, mast structural elements 21 and 22 are either unfolded (in the folding mast version) or deployed (in the telescopic mast version).

[0070] Furthermore, the crane 1 can be a self-elevating crane type, and therefore can also be configured as a transport structure CT (not shown), wherein the mast 2 and the lifting cantilever 3 are connected together or side by side and extend horizontally to form a transportable package, and more specifically, wherein the mast structural elements 21, 22 are folded on themselves (in the foldable mast version) or retracted on themselves (in the telescopic mast version), and the cantilever structural elements 31, 32, 33 are folded on themselves and on the mast structural elements 21, 22.

[0071] Therefore, the crane 1 is equipped with a motor-driven folding / unfolding system 7, which is connected to the mast 2 and the lifting boom 3 to fold and unfold the crane 1 by acting on the mast 2 and the lifting boom 3, thereby switching it from a working configuration to a transport configuration, and vice versa. In other words, the motor-driven folding / unfolding system 7 allows for configuration change operations, thereby enabling the folding and unfolding of the lifting boom 3, and deploying the mast and retracting the mast 2 when appropriate.

[0072] Crane 1 further includes a control / command system 5 connected to manipulators (e.g., a hoisting winch 81 for lowering / raising the lifting hook 9, and a distribution winch 82 for moving the distribution trolley 4 along the cantilever 3). This control / command system 5 is configured to drive the manipulation of lifting and moving loads along the lifting cantilever 3 in the working configuration of crane 1 by controlling the manipulators 81, 82 according to drive commands applied by the crane operator on a drive interface and by applying a priority load curve that defines the maximum operating load considered along the span of the lifting cantilever 3. The control / command system 5 may be, for example, a microcontroller, a microprocessor, or an electronic control card.

[0073] According to the invention, the crane 1 includes at least one inclinometer mounted on one of the cantilever structural elements 32, 33, for measuring the actual tilt of the cantilever element relative to a reference axis (e.g., a horizontal or vertical axis). Figure 1 In the example shown, the crane 1 includes two inclinometers, namely a first inclinometer 61 and a second inclinometer 62, which are respectively mounted on the first cantilever structural element 31 and the second cantilever structural element 32, for measuring the actual tilt of the first cantilever element 31 and the second cantilever element 32, respectively.

[0074] refer to Figure 2 The first inclinometer 61, fastened to the first cantilever structural element 31, can be positioned near the hinge of the first cantilever element 31 at the top of the mast. (Reference) Figure 3 The second inclinometer 62, which is fastened to the second cantilever structural element 32, can be positioned close to the hinge between the second cantilever structural element 32 and the first cantilever structural element 31.

[0075] Depending on the model, each of the two inclinometers 61, 62 can be an inclinometer that measures absolute angles relative to the vertical or horizontal direction. Inclinometers 61, 62 can be miniaturized sensors that are directly mounted in the protected position of the structure of each cantilever structural element 31, 32.

[0076] A detector 63 may also be provided, which detects the actual position of the third cantilever structural element 33 from two positions (retracted position and deployed position). This detector 63 may be an inclinometer mounted on the third cantilever structural element 33, or alternatively, a position sensor or proximity sensor mounted on the second cantilever structural element 32 or the third cantilever structural element 33, to detect the presence / absence of the third cantilever structural element 33 in one of the two positions.

[0077] like Figure 1 As shown, the control / command system 5 is connected to two inclinometers 61 and 62 and a memory 50, which stores multiple load curves pre-calculated for several inclinations of the two first cantilever structural elements 31 and 32. Therefore, the control / command system 5 is configured to automatically select a preferred load curve based on the actual inclination of the two first cantilever structural elements 31 and 32, the preferred load curve being selected from the multiple load curves stored in the memory 50.

[0078] Advantageously, the control / command system 5 is connected to two inclinometers 61, 62 and also to detector 63, and the memory 50 stores multiple load curves pre-calculated for several inclinations of the two first cantilever structural elements 31, 32 and two positions of the third cantilever structural element 33. Therefore, the control / command system 5 is configured to perform automatic selection of a preferred load curve based on the actual inclinations of the two first cantilever structural elements 31, 32 and the actual position of the third cantilever structural element 33, the preferred load curve being selected from the multiple load curves stored in the memory 50.

[0079] Therefore, the control / command system 5 selects a preferred load curve that suits the working configuration of the crane 1; this working configuration depends on the actual inclination of the two first cantilever structural elements 31, 32 and the actual position of the third cantilever structural element 33. Thus, the present invention allows for the selection and application of a preferred load curve suitable for the working configuration of the crane 1.

[0080] To enhance this adaptability, a height sensor 64 can be provided, which allows measurement of the actual height of the lifting boom 3 relative to the ground in its working configuration. In the case of the telescopic mast 2, the height sensor 64 can be a sensor that measures the telescopic level between mast structural elements 21, 22. In this improved version, the control / command system 5 is connected to two inclinometers 61, 62, which can be connected to a detector 63 and the height sensor 64, and the memory 50 stores multiple load curves pre-calculated for several tilt angles of the two first cantilever structural elements 31, 32, two positions of the third cantilever structural element 33, and several heights of the lifting boom 3. Therefore, the control / command system 5 is configured to perform automatic selection of a preferred load curve selected from the multiple load curves stored in the memory 50 based on the actual tilt angles of the two first cantilever structural elements 31, 32, the actual position of the third cantilever structural element 33, and the actual height of the lifting boom 3.

[0081] Therefore, the control / command system 5 acquires measurement data from different sensors 61, 62, 63, and 64, and automatically applies a priority load curve suitable for the working structure derived from these measurement data.

Claims

1. A crane driving method for selecting and applying a preferred load curve suitable for the working configuration of a crane (1), the crane (1) including a mast (2) supporting a lifting boom (3), the lifting boom including at least one cantilever structural element (31; 32), the crane driving method performing the following steps: The tilt measurement step is performed by means of an inclinometer (61; 62) mounted on the cantilever structural element to measure the actual tilt of the cantilever structural element (31; 32) relative to the reference axis in the working configuration; The selection step automatically selects the preferred load curve based on the actual tilt of the cantilever structural element (31; 32), the preferred load curve being selected from a plurality of load curves stored in a memory (50) and pre-calculated for several tilts of the cantilever structural element (31; 32); The driving step implements the application of the priority load curve for manipulating the lifting and moving of the load along the lifting boom (3) in the working structure of the crane (1).

2. The crane driving method according to claim 1, wherein, The lifting cantilever (3) is foldable and includes at least two cantilever structural elements (31; 32) hinged to each other, and: The tilt measurement step is performed by means of inclinometers (61; 62) mounted on the two cantilever structural elements (31; 32) to measure the actual tilt of the two cantilever structural elements (31; 32) relative to the reference axis in the working configuration; and The selection step automatically selects the priority load curve based on the actual tilt angle of the two cantilever structural elements (31; 32), which is selected from multiple load curves pre-calculated for several tilt angles of the two cantilever structural elements (31; 32).

3. The crane driving method according to claim 2, wherein, The two cantilever structural elements (31; 32) include a first cantilever structural element (31) hinged to the mast (2) to form a cantilever foot, and a second cantilever structural element (32) hinged to the first cantilever structural element (31).

4. The crane driving method according to claim 3, wherein, The lifting cantilever (3) includes a third cantilever structural element (33) forming the end of the cantilever, the third cantilever structural element being hinged to the second cantilever structural element (32), and the third cantilever structural element being movable between two positions, the two positions being a retracted position and a deployed position, in which the third cantilever structural element (33) is folded and pulled toward the second cantilever structural element (32), and in the deployed position, the third cantilever structural element (33) is unfolded and extended to align with the second cantilever structural element (32). The position detection step involves detecting the actual position of the third cantilever structural element (33) in its two positions. Furthermore, the selection step implements the automatic selection of the priority load curve based on the actual tilt of the two cantilever structural elements (31; 32) and the actual position of the third cantilever structural element (33). The priority load curve is selected from multiple load curves pre-calculated for several tilts of the two cantilever structural elements (31; 32) and two positions of the third cantilever structural element (33).

5. The crane driving method according to claim 4, wherein, The position detection step is implemented using a detector (63), which is selected from: - Inclinometer mounted on the third cantilever structural element (33), or - A position sensor or proximity sensor installed on the second cantilever structural element (32) or the third cantilever structural element (33) for detecting the presence / absence of the third cantilever structural element (33) at one of the two positions.

6. The crane driving method according to claim 1, comprising a height measurement step, said height measurement step performing a measurement of the actual height of the lifting boom (3) relative to the ground in the working structure, Furthermore, the selection step implements the automatic selection of the priority load curve based on the actual tilt of the cantilever structural element (31; 32) and the actual height of the lifting cantilever (3), the priority load curve being selected from multiple load curves pre-calculated for several tilts of the cantilever structural element (31; 32) and several heights of the lifting cantilever (3).

7. The crane driving method according to claim 6, wherein, The mast (2) is a telescopic mast including telescopically mounted mast structural elements (21; 22), and the height measurement step is performed by means of a sensor that measures the telescopic level between the mast structural elements (21, 22).

8. The crane driving method according to claim 1, wherein, The selection step is performed by a control / command system (5) connected to a memory (50) storing the plurality of load curves and to the manipulators (81; 82) of the crane (1) to perform the drive step.

9. A crane (1) comprising a mast (2) supporting a lifting boom (3), the lifting boom comprising at least one cantilever structural element (31; 32), the crane (1) further comprising: Inclinometer (61; 32) mounted on the cantilever structural element (31; 32) 62), the inclinometer is used to measure the actual tilt of the cantilever structural element (31; 32) relative to the reference axis in the working configuration; A control / command system (5) is connected to the inclinometers (61; 62) and a memory (50) that stores multiple load curves pre-calculated for several tilt angles of the cantilever structural elements (31; 32); The control / command system (5) is configured to automatically select a preferred load curve based on the actual tilt of the cantilever structural elements (31; 32), the preferred load curve being selected from a plurality of load curves stored in the memory (50); and The control / command system (5) is connected to the manipulation actuators (81; 82) and is configured to drive the manipulation of lifting and moving loads along the lifting boom (3) in the working configuration of the crane (1) by applying the preferred load curve.

10. The crane (1) according to claim 9, wherein, The lifting cantilever (3) is foldable and comprises at least two cantilever structural elements (31, 32) hinged to each other, and corresponding inclinometers (61, 62) are mounted on the at least two cantilever structural elements to measure the actual tilt of the two cantilever structural elements (31, 32) relative to the reference axis in the working configuration. Furthermore, the control / command system (5) is configured to perform automatic selection of the priority load curve based on the actual tilt of the two cantilever structural elements (31; 32), the priority load curve being selected from multiple load curves pre-calculated for several tilts of the two cantilever structural elements (31; 32).

11. The crane (1) according to claim 10, wherein, The two cantilever structural elements (31; 32) include a first cantilever structural element (31) hinged to the mast (2) to form a cantilever foot, and a second cantilever structural element (32) hinged to the first cantilever structural element (31).

12. The crane (1) according to claim 11, wherein, The lifting cantilever (3) includes a third cantilever structural element (33) forming the end of the cantilever, which is hinged to the second cantilever structural element (32) and movable between two positions, namely a retracted position and a deployed position, in which the third cantilever structural element (33) is folded and pulled toward the second cantilever structural element (32), and in the deployed position, the third cantilever structural element (33) is unfolded and extended to align with the second cantilever structural element (32). The detector (63) is configured to detect the actual position of the third cantilever structural element (33) in two locations. Furthermore, the control / command system (5) is configured to perform automatic selection of priority load curves based on the actual tilt of the two cantilever structural elements (31; 32) and the actual position of the third cantilever structural element (33), the priority load curves being selected from multiple load curves pre-calculated for several tilts of the two cantilever structural elements (31; 32) and two positions of the third cantilever structural element (33).

13. The crane (1) according to claim 12, wherein, The detector (63) is selected from: Inclinometer mounted on the third cantilever structural element (33), or A position or proximity sensor is mounted on the second cantilever structural element (32) or the third cantilever structural element (33), the position or proximity sensor being used to detect the presence / absence of the third cantilever structural element (33) at one of two locations.

14. The crane (1) according to claim 9, comprising a height measuring device for measuring the actual height of the lifting boom (3) relative to the ground in the working configuration. Furthermore, the control / command system (5) is configured to perform automatic selection of the priority load curve based on the actual tilt of the cantilever structural element (31; 32) and the actual height of the lifting cantilever (3), the priority load curve being selected from multiple load curves pre-calculated for several tilts of the cantilever structural element (31; 32) and several heights of the lifting cantilever (3).

15. The crane (1) according to claim 14, wherein, The mast (2) is a telescopic mast including telescopically mounted mast structural elements (21; 22), and the height measuring device includes a sensor that measures the telescopic level between the mast structural elements (21, 22).

Images