Crane

Abstract

Crane (1), in particular a forestry crane or loading crane, with a multi-arm arm system, wherein the arm system comprises at least: - a main arm (3), which is preferably pivotably mounted on a crane column (2) - a knuckle arm (4), which is pivotably connected to the main arm (3) via a pivot bearing (5) - at least one actuator (10) for driving a pivoting movement of the knuckle arm (4) relative to the main arm (3), wherein the actuator (10) is pivotably mounted on the main arm (3) at a first end (11) with a bearing point (51) and the actuator (10) is pivotably mounted on the knuckle arm (4) at a second end (12) with a bearing point (52), or is pivotably connected with a bearing point (53) to a toggle lever assembly (19) with at least two levers (20, 30), wherein the toggle lever assembly (19) is pivotally connected with a bearing point (54) is mounted on the main arm (3) and pivotably mounted with a bearing point (55) on the knuckle arm (4),wherein preferably the at least two levers (20, 30) are pivotably connected to each other by a bearing point (53, 56), wherein at least one of the bearing points (51, 52, 53, 54, 55, 56) has a rotation angle sensor (13).

Description

[0001] The invention relates to a crane having the features of the preamble of claim 1 and a vehicle with such a crane.

[0002] Cranes are known in the prior art which have sensors for detecting the angular position of arms of the arm system in order to detect the position of an articulated arm system. Such arm systems usually also have at least one actuator in the form of a length-adjustable hydraulic cylinder for driving a pivoting movement of arms of the arm system, such as a main arm and an articulated arm, relative to one another. If the distances between the pivot points of an actuator acting between arms of the arm system and a pivot bearing of the pivotable connection of the arms are known, the angle between the arms can be determined by measuring the length of the actuator. It is known to use magnetostrictive sensors, which can be installed in the hydraulic cylinders, for such length measurements. The use of magnetostrictive sensors is associated with high costs and effort in the construction and maintenance of corresponding actuators.

[0003] Since the profiles of the arms of an arm system have a maximum cross-sectional area within the possible dimensions specified by the design to optimize strength, arranging angle sensors in the area of ​​the pivot bearing of the pivoting connection of the arms is problematic due to the limited installation space available, particularly in designs in which one arm of the arm system is accommodated in a fork-shaped receiving area of ​​another arm. Angle sensors arranged externally on the pivot bearing of the pivoting connection of the arms are, due to their exposed arrangement, more susceptible to errors due to collisions with objects in the crane's working area or collisions with loads.

[0004] The object of the invention is to provide a crane and a vehicle with such a crane, in which the above-mentioned problems do not occur. In particular, a crane with an arm system is to be provided, which has at least one sensor for detecting the angular position of the arms of the arm system, arranged in a protected manner and optimally utilizing the available installation space.

[0005] This object is achieved by a crane having the features of claim 1 and a vehicle with such a crane. Advantageous embodiments of the invention are defined in the dependent claims.

[0006] A crane of this type may have an arm system with multiple arms. An arm system may, for example, comprise a crane column, a main arm (also referred to as a lifting arm) pivotably mounted on the crane column, and an articulated arm pivotably mounted on the main arm via a pivot bearing. An articulated arm may comprise at least one extension arm displaceably mounted in the main arm and thus be designed to be adjustable in length.

[0007] A crane of this type can generally be designed to be foldable. Such a foldable crane can have a collapsible boom system with a crane column, a lifting arm, and an articulated boom, which are arranged in a Z-shape when the boom system is folded. This type of crane is called a Z-crane. With a Z-crane, the crane column, lifting arm, and articulated boom can be arranged in a common plane.

[0008] Such a Z-crane is disclosed, for example, in EP 1 770 050 B1 of the applicant.

[0009] The arm system can have multiple degrees of freedom thanks to the pivoting bearings of the arms. For example, the crane column can be pivotally mounted over a structurally predetermined crane column pivot range, for example in a base, and have one degree of freedom thanks to its pivoting bearing. The main arm can be pivotally mounted on the crane column over a structurally predetermined main arm pivot range and have one degree of freedom thanks to its pivoting bearing. The articulated arm can be pivotally connected to the main arm via a pivot bearing over a structurally predetermined articulated arm pivot range and have one degree of freedom thanks to the pivoting connection. A push arm mounted in the articulated arm can be displaceably mounted over a structurally predetermined push range and have one degree of freedom thanks to its displaceable bearing.

[0010] The arm system can have at least one actuator for driving a pivoting movement of the articulated arm relative to the main arm. Such an actuator can be designed, for example, as a length-adjustable hydraulic cylinder. The actuator can have a first and a second end, at which the actuator can be connected to the arm system in an articulated manner. Actuators known in the prior art can, for example, have articulated eyes for this purpose.

[0011] The actuator can be pivotally mounted on the main arm with a first end having a bearing point.

[0012] Depending on the design of the actuator linkage on the articulated arm, the actuator can essentially be connected directly to the articulated arm or indirectly via a toggle lever arrangement.

[0013] In a design with a second end, the actuator can be pivotally mounted on the articulated arm with a bearing point.

[0014] In a further embodiment, the actuator can be pivotally connected at its second end to a bearing point with a toggle lever arrangement, which can have at least two levers. The toggle lever arrangement can, in turn, be pivotally mounted to a bearing point on the main arm and pivotally mounted to a bearing point on the articulated arm.

[0015] The toggle lever assembly may generally include at least a first lever and a second lever, each having a first and a second end.

[0016] The first lever can be mounted at its first end on a bearing point on the main arm. This bearing point can preferably be arranged outside the pivot bearing for the pivotable mounting of the articulated arm on the main arm, in particular at a fixed distance along the main arm from the pivot bearing for the pivotable mounting of the articulated arm on the main arm.

[0017] The second lever can be mounted with its first end on a bearing point on the articulated arm. This bearing point can preferably be arranged outside the pivot bearing for the pivotable mounting of the articulated arm on the main arm, in particular at a fixed distance along the articulated arm from the pivot bearing for the pivotable mounting of the articulated arm on the main arm.

[0018] The first lever and the second lever can each be connected by their second ends to the second end of the actuator at a bearing point. Designs are also conceivable in which the first lever is connected to the second end of the actuator via a bearing point, and the second lever is pivotally mounted to a bearing point on the first lever.

[0019] In a further embodiment with a length-adjustable main arm, the arrangement of the actuator can be substantially reversed. For such an embodiment, the actuator can be pivotally mounted on the articulated arm at a first end with a bearing point. At its second end, the actuator can be pivotally connected to a toggle lever arrangement, which can have at least two levers, via a bearing point. The toggle lever arrangement can, in turn, be pivotally mounted to a bearing point on the articulated arm and pivotally mounted to a bearing point on the main arm, in particular on a push arm of the main arm. Such an arrangement is also conceivable for designs of an arm system with an additional articulated arm.

[0020] The main arm and / or the articulated arm can be made, at least in sections, from a hollow profile with side surfaces and base and cover surfaces.

[0021] Particularly in a Z-crane design, the main arm can have a fork-shaped receiving area for the knuckle arm at one end through side surfaces protruding in the longitudinal direction of the main arm—formed by the side surfaces themselves or by extensions connected to the side surfaces—wherein the knuckle arm can be partially arranged in the fork-shaped receiving area of ​​the main arm. Designs of an arm system are also conceivable in which the knuckle arm has a fork-shaped receiving area for the main arm at one end through side surfaces protruding in the longitudinal direction of the knuckle arm—formed by the side surfaces themselves or by extensions connected to the side surfaces—wherein the main arm can be partially arranged in the fork-shaped receiving area of ​​the knuckle arm.A pivot bearing for the pivotable connection of the articulated arm to the main arm can have at least one bearing pin mounted in the projecting side surfaces of the main arm and in side surfaces of the articulated arm - or vice versa -, in particular a bearing pin passing through between the projecting side surfaces.

[0022] A fork-shaped mounting area on the main arm for the articulated arm - or vice versa - makes it possible to achieve an articulated arm swivel range of over 180 degrees, guided by the swivel bearing.

[0023] The bearing points of the at least one actuator on the main arm and / or the articulated arm can be formed at least partially on or in attachments on the main arm and / or the articulated arm. The attachments can be arranged on side surfaces, base surfaces, or cover surfaces of the main arm and / or the articulated arm. The bearing points can each have a bearing pin mounted in the attachment and one end of the actuator. The bearing points can be formed essentially entirely in attachments and the ends of the actuator or a lever of an articulated lever arrangement. In particular, the bearing points can be formed essentially entirely outside the side surfaces, base surfaces, or cover surfaces of the main arm and / or the articulated arm. A bearing pin of a bearing point can be formed at least partially on an attachment.The bearing points can also be formed between side surfaces, base surfaces or cover surfaces of the main arm and / or the articulated arm.

[0024] The bearing points of levers of a knee joint arrangement on the main arm and / or the articulated arm can be formed analogously on or in attachments on the main arm and / or the articulated arm. The bearing points can be formed essentially entirely in attachments and at least one end of a lever of a knee joint arrangement. In particular, the bearing points can be formed essentially entirely outside the side surfaces, base surfaces, or cover surfaces of the main arm and / or the articulated arm. The bearing points can optionally also be formed between the side surfaces, base surfaces, or cover surfaces of the main arm and / or the articulated arm.

[0025] The bearing point of the actuator and the knee joint assembly can each have a bearing pin mounted in at least one of the levers of the knee joint assembly and one end of the actuator. The bearing points can be formed substantially entirely in at least one of the levers of the knee joint assembly and one end of the actuator.

[0026] The bearings, the swivel bearing, and other articulated connections of the crane's boom system can be supplied with grease via an automatic central lubrication system. For example, an electric pump can automatically supply the bearings and other articulated connections with grease via lines internal to the boom system.

[0027] Bearing bolts can generally be connected in a rotationally fixed manner to the attachments on the main boom and / or the attachments on the articulated boom.

[0028] It is provided that at least one bearing point of the actuator or the toggle lever assembly, depending on the design of the actuator's linkage to the arm system, has a rotation angle sensor. Such a rotation angle sensor can be arranged outside the pivot bearing for the pivotable connection of the articulated arm to the main arm in a bearing point of the actuator and / or the toggle lever assembly.

[0029] In an embodiment in which the actuator is pivotally mounted on the main arm with a first end having a bearing point and is pivotally mounted on the articulated arm with a second end having a bearing point, the angle of rotation sensor can detect an angle of rotation between the first end of the actuator and the main arm and / or an angle of rotation between the second end of the actuator and the articulated arm.

[0030] From such a recorded angle of rotation, an angle between the main arm and the articulated arm can be determined.

[0031] In a design in which the actuator is pivotally mounted on the main arm at a first end with a bearing point and is pivotally connected to a toggle lever arrangement at a second end with a bearing point, the angle of rotation sensor can be used to detect an angle of rotation between the first end of the actuator and the main arm and / or an angle of rotation between a second end of the actuator and at least one lever of the toggle lever arrangement and / or an angle of rotation between a lever of the toggle lever arrangement and the main arm and / or the articulated arm. For designs in which a first lever is connected to the second end of the actuator at a bearing point and a second lever is articulated to a bearing point on the first lever, this bearing point can have an angle of rotation sensor, and the angle of rotation sensor can be used to detect an angle of rotation between the levers of the toggle lever arrangement.The detection of an angle of rotation between levers of the toggle lever arrangement is also conceivable for designs in which the actuator is pivotally connected to the ends of two levers of a toggle lever arrangement at a second end with a bearing point.

[0032] From such a recorded angle of rotation, an angle between the main arm and the articulated arm can be determined.

[0033] In one embodiment, the at least one bearing point containing the angle of rotation sensor can have a bearing pin that, at least in part, has an axial hollow cross-section with a cavity. A bearing pin with an axial hollow cross-section present at least in part can have an axial cavity at least in part. In particular, the bearing pin can be tubular, at least in part. The angle of rotation sensor of the bearing point can be arranged at least partially in the cavity of the axial hollow cross-section. Optionally, at least a section of a signal line of the angle of rotation sensor can run in the cavity of the axial hollow cross-section.

[0034] The bearing pin can be arranged in an attachment on the main arm and / or on the articulated arm or at least partially formed on it.

[0035] In a preferred embodiment of a bearing point, the bearing pin and the attachment part can have, at least in sections, an axial hollow cross-section with a cavity in which the rotation angle sensor of the bearing point can be arranged at least partially.

[0036] The bearing pin can be arranged in a lever of a toggle lever arrangement.

[0037] The angle of rotation sensor can be arranged essentially centrally or centrally in the cavity of the axial hollow cross-section of the bearing pin. If the angle of rotation sensor is arranged centrally or centrally, it can be arranged, at least partially, coaxially with a longitudinal axis of the bearing pin in the cavity of the axial hollow cross-section of the bearing pin.

[0038] In one embodiment, the angle of rotation sensor can have a stator and a rotor that can rotate relative to it.

[0039] The stator can be arranged at least partially within the hollow space of the axial hollow cross-section of the bearing pin. The stator can be connected in a rotationally fixed manner to the at least one bearing pin. The bearing pin itself can be connected in a rotationally fixed manner to the attachment part used for mounting on the main arm and / or the articulated arm, or to a lever of a toggle lever arrangement.

[0040] The rotor of the angle sensor can be arranged at least partially in one end of the actuator and / or an attachment. This allows the installation space in an interior area of ​​one end of the actuator and / or an attachment to be used to accommodate the angle sensor.

[0041] The rotor can be connected or connectable directly or indirectly via a driver to one end of the actuator or a lever of a toggle joint arrangement. The driver can, in particular, transmit a rotational movement between the bearing pin and one end of the actuator or a lever of a toggle joint arrangement to the rotor. Movements of one end of the actuator or a lever of a toggle joint arrangement in an axial and / or radial direction of the bearing pin can be decoupled by an axially floating bearing of the driver, thereby preventing unwanted force transmission to the rotation angle sensor.

[0042] Advantageously, the rotor can be arranged at least partially in the cavity of the axial hollow cross-section of the bearing pin, wherein a transmission of a rotational movement between the bearing pin, one end of the actuator or a lever of a knee joint arrangement to the rotor can be carried out with a driver.

[0043] With an articulated arm swivel range of over 180 degrees, if the at least one angle of rotation sensor is arranged in a bearing point of the first and / or second end of the actuator and / or a bearing point of a lever of a toggle lever arrangement, an absolute angular position of the articulated arm relative to the lifting arm can be determined from the detected angle of rotation position. In contrast to determining the angle based on a length measurement of the actuator, from which an absolute angular position of the articulated arm relative to the lifting arm cannot be clearly determined without additional sensors with an articulated arm swivel range of over 180 degrees, this can essentially be achieved solely by detecting the angle of rotation position in the at least one bearing point that has the angle of rotation sensor.

[0044] According to a preferred embodiment, the arm system can additionally comprise a second articulated arm, which can be pivotally connected to the articulated arm via a second pivot bearing over a structurally predetermined articulated arm pivot range and can have a degree of freedom due to the pivotable connection. An angular position of the second articulated arm relative to the articulated arm, adjustable by at least one further actuator, can be detected analogously to the detection of the angle of the articulated arm relative to the main arm, in that at least one of the corresponding bearing points has a rotation angle sensor.

[0045] To record and process sensor signals from the at least one angle of rotation sensor, and optionally to control crane functions, the crane can have a crane control system with at least one computing unit and at least one memory unit. The memory unit can be in a data connection with the computing unit or can be brought into such a connection. Sensor signals from the at least one angle of rotation sensor can be fed to the crane control system via a suitable interface. Information about the arm system, such as the length of the arms, distances and positions of the bearing points, and general data on the geometry of the crane, can be stored in the memory unit. Commands can also be stored in the memory unit with which, for example, when executed by a computing unit, an angular position of the articulated arm relative to the lifting arm can be determined from the sensor signals supplied from the angle of rotation sensor, for example using angle functions.

[0046] Furthermore, protection is sought for a vehicle with a crane as described above.

[0047] Further details and advantages of the present invention are explained in more detail below with reference to the exemplary embodiments shown in the drawings. Figure 1 shows an embodiment of a crane, Figures 2a and 2b show detailed views of an arm system of a crane, Figure 3 shows an exploded view of a bearing point, Figure 4 shows a sectional view of a bearing point, Figure 5 shows a further embodiment of a crane, Figure 6 shows a schematic detailed view of a connection of a toggle lever arrangement to a main arm of a crane, Figure 7 shows a schematic detailed view of a connection of an actuator to a toggle lever arrangement, Figure 8 shows a schematic detailed view of a further embodiment of a connection of an actuator to a toggle lever arrangement, Figure 9 shows an embodiment of a crane with a schematically illustrated crane control, and Figure 10 shows an embodiment of a vehicle with a crane.

[0048] Figure 1 shows a first version of a crane 1. In the Figures 2a and 2b are detailed views of an arm system of the crane 1 according to an embodiment according to Figure 1 shown. Figure 3shows an exploded view of a bearing point 52 according to an embodiment of the Figures 2a and 2b . In Figure 4 A sectional view of a bearing point 52 is shown. In Figure 5 an embodiment of a crane 1 is shown in which an actuator 10 is connected to a toggle lever arrangement 19. In Figure 6 is shown schematically a detailed view of a connection of a lever 20 of a toggle lever arrangement 19 with a main arm 3 of the crane 1. In Figure 7 is a schematic detailed view of a connection of an actuator 10 with a toggle lever arrangement 19. In Figure 8 is a schematic detailed view of another embodiment of a connection of an actuator 10 with a toggle lever arrangement 19. In Figure 9 is shown schematically an embodiment of a crane 1 with a crane control 60. In Figure 10 a vehicle 70 with a crane 1 is shown.

[0049] Figure 1shows a first embodiment of a crane 1, wherein the crane 1 is designed to be foldable. Such a foldable crane 1 can have a foldable arm system with a crane column 2, a lifting arm 3, and an articulated arm 4, which are arranged in a Z-shape when the arm system is folded, as shown. Such a design of a crane 1 is referred to as a Z-crane. In such a crane 1, the crane column 2, lifting arm 3, and articulated arm 4 can be arranged in a common plane.

[0050] The main arm 3 of the arm system of the crane 1 can be pivotably mounted on the crane column 2. The articulated arm 4 can be pivotably connected to the main arm 3 by a pivot bearing 5. The articulated arm 3 can have a slidably mounted extension arm 16 and can therefore be adjustable in length.

[0051] The arm system can have at least one actuator 10 for driving a pivoting movement of the articulated arm 4 relative to the main arm 3. Such an actuator 10 can be designed as a length-adjustable hydraulic cylinder, as shown. The actuator 10 can have a first end 11 and a second end 12, at which the actuator 10 can be articulated to the arm system.

[0052] The actuator 10 can be pivotably mounted on the main boom 3 with a first end 11 having a bearing point 51. As in the illustrated embodiment of the crane 1, the actuator can be pivotably mounted on the articulated boom 4 with a second end 12 having a bearing point 52.

[0053] When the crane 1 is designed as a Z-crane, the main arm 3 can be arranged as shown in the Figures 2a and 2bParticularly clearly recognizable at one end by side surfaces 7 projecting in the longitudinal direction of the main arm 3 - formed by the side surfaces themselves or, as shown, by extensions 40 connected to the side surfaces 7 - have a fork-shaped receiving area for the articulated arm 4, wherein the articulated arm 4 can be partially arranged in the fork-shaped receiving area of ​​the main arm 3. A pivot bearing 5 for the pivotable connection of the articulated arm 3 to the main arm 4 can have at least one bearing pin 41 mounted in the projecting side surfaces 7 or the extensions 40 of the main arm 3 and in side surfaces 42 of the articulated arm 3, in particular a bearing pin 41 that extends through between the projecting side surfaces 7 or the extensions 40.

[0054] The main arm 3 and / or the articulated arm 4 can be made, at least in sections, from a hollow profile with side surfaces 7, 42 and base surfaces 8, 43 and cover surfaces 9, 44.

[0055] Due to a fork-shaped receiving area of ​​the main arm 3 for the articulated arm 4, an articulated arm swivel range of over 180 degrees is possible, guided by the swivel bearing 5.

[0056] The bearing points 51, 52 of the at least one actuator 10 on the main arm 3 and / or the articulated arm 4 can be formed on or in attachments 50, which can be formed or arranged on the main arm 3 and / or the articulated arm 4. The attachments 50 can be arranged, as shown, on side surfaces 7, 42 of the main arm 3 and / or the articulated arm 4.

[0057] In the illustrated embodiment of the crane 1, at least one bearing point 51, 52 of the actuator 10 can have a rotation angle sensor 13. Such a rotation angle sensor 13 can be arranged outside the pivot bearing 5 for the pivotable connection of the articulated arm 4 to the main arm 3 in a bearing point 51, 52 of the actuator 10.

[0058] In a design of the crane 1 as shown, in which the actuator 10 is pivotally mounted on the main arm 3 with a first end 11 having a bearing point 50 and pivotally mounted on the articulated arm 4 with a second end 12 having a bearing point 52, the angle of rotation sensor 13 can detect a rotation angle between the first end 11 of the actuator 10 and the main arm 3 and / or a rotation angle between the second end 12 of the actuator 10 and the articulated arm 4. From such a detected angle of rotation, an angle between the main arm 3 and the articulated arm 4 can be determined.

[0059] Figure 3 shows an exploded view of the bearing point 52 according to an embodiment of the Figures 2a and 2b , wherein the bearing point 52 has a rotation angle sensor 13. In Figure 4is a sectional view of a bearing point 52 with the angle of rotation sensor 13. The bearing points 51, 52, 53, 54, 55, 56 which have a angle of rotation sensor 13 can basically be analogous to the Figure 4 bearing point 52 shown.

[0060] In this embodiment, the bearing point 52 is formed at least partially on an attachment 50 arranged on a side surface 42 of the articulated arm 4. A circular cylindrical section is formed on the attachment 50, which forms the bearing pin 17 of the bearing point 52. The second end 12 of the actuator 10 is pivotally mounted on the bearing pin 17. In the embodiment of the Figure 4 This is done via a cylinder eye with a pendulum joint.

[0061] The bearing point 52 can be formed substantially entirely within an attachment 50 and an end 12 of the actuator 10. In particular, the bearing point 52 can be formed substantially entirely outside the side surface 42 of the articulated arm 4. The bearing pin 17 can generally be connected in a rotationally fixed manner to the attachment 50 on the articulated arm 4.

[0062] The angle of rotation sensor 13 can be fastened to the attachment 50 via a holding plate 16.

[0063] In a preferred embodiment of a bearing point 52 as shown, the bearing pin 17 and the attachment 50 can have, at least in sections, an axial hollow cross-section with a cavity 18 in which the rotation angle sensor 13 of the bearing point 52 can be at least partially arranged. At least a section of a signal line 16 of the rotation angle sensor 13 can run in the axial cavity 18.

[0064] As shown, the angle of rotation sensor 13 can be arranged substantially centrally or centrally in the cavity 18 of the axial hollow cross-section of the bearing pin 17 and the attachment part 50. With a central or central arrangement of the angle of rotation sensor 13, it can be arranged, at least partially, coaxially with a longitudinal axis of the bearing pin 17 in the cavity 18.

[0065] In the illustrated embodiment, the angle of rotation sensor 13 can comprise a stator 14 and a rotor 15 rotatable relative thereto. The stator 14 can be arranged at least partially within the axial cavity 18. The stator 14 can be connected in a rotationally fixed manner to the at least one bearing pin 17 or the attachment part 50.

[0066] The rotor 15 of the rotation angle sensor 13 can be arranged at least partially in one end 12 of the actuator 10 and / or the attachment part 50.

[0067] The rotor 15 can be connected or connectable directly or, as shown, indirectly via a driver 45 to an end 12 of the actuator 10. The driver 45 can in particular transmit a rotary movement between the bearing pin 17 and an end 12 of the actuator 10 to the rotor 15. In the embodiment of the Figures 3 and 4 The driver 45 can be connected to the end 12 of the actuator 10 via fastening means 46 and a connecting part 47 of the actuator 10 for transmitting a rotary movement.

[0068] In Figure 5A design of a crane 1 is shown, in which a second end 12 of the actuator 10 can be connected to a toggle lever arrangement 19 via a bearing point 53. A lever 20 of the toggle lever arrangement 19 can be pivotally connected to the main arm 3 via a bearing point 54 and a lever 30 of the toggle lever arrangement 19 can be pivotally connected to the articulated arm 4 via a bearing point 55. At least one of the bearing points 51, 53, 54, 55 can have a rotation angle sensor 13. A bearing point 51 of the actuator 10 on the main arm 3, which has a rotation angle sensor 13, can be analogous to the design of the Figure 4 be trained. In Figure 6 is shown schematically a detailed view of a bearing point 54 of a lever 20 of the knee joint arrangement 19 on the main arm 3, said bearing point being provided with a rotation angle sensor 13. A bearing point 55 of a second lever 30 of the knee joint arrangement 19 of the articulated arm 4, said bearing point being provided with a rotation angle sensor 13, can be shown analogously to the illustration of the Figure 6be trained. In Figure 7 schematically shows a bearing point 53 of the actuator 10 on a toggle lever arrangement 19, which has a rotation angle sensor 13. In Figure 8 schematically shows a bearing point 56 of a toggle lever arrangement 19 having a rotation angle sensor 13.

[0069] In Figure 6 is shown schematically a detailed view of an embodiment of a crane 1, in which a second end 12 of the actuator 10 is connected to a toggle lever arrangement 19 and a lever 20 of the toggle lever arrangement 19 is pivotally connected to the main arm 3 with its first end 21 via a bearing point 54 having a rotation angle sensor 13. A bearing point 55 of a second lever 30, which is pivotally connected to the knuckle arm 4 with a first end 31, can be analogous to the representation of the Figure 6 be trained.

[0070] In this embodiment, the bearing point 54 is formed at least partially on an attachment 50 arranged on a side surface 7 of the main arm 3. A circular cylindrical bearing pin 17 of the bearing point 52 is arranged in the attachment 50. The first end 21 of the lever 20 of the knee joint arrangement 19 is pivotally mounted on the bearing pin 17. The bearing point 54 can be formed essentially entirely in the attachment 50 and one end 21 of the lever 20. In particular, the bearing point 54 can be formed essentially entirely outside the side surface 7 of the main arm 3. The bearing pin 17 can generally be connected to the attachment 50 in a rotationally fixed manner.

[0071] The angle of rotation sensor 13 can be fastened to the attachment 50 in a rotationally fixed manner, in particular by a rotationally fixed connection with the bearing bolt 17.

[0072] In a design of a bearing point 54 as shown, the bearing pin 17 and the attachment 50 can have, at least in sections, an axial hollow cross-section with a cavity 18 in which the angle of rotation sensor 13 of the bearing point 52 can be at least partially arranged. At least a section of a signal line 16 of the angle of rotation sensor 13 can run in the axial cavity 18.

[0073] As shown, the angle of rotation sensor 13 can be arranged substantially centrally or centrally in the cavity 18 of the axial hollow cross-section of the bearing pin 17 and the attachment part 50. With a central or central arrangement of the angle of rotation sensor 13, it can be arranged, at least partially, coaxially with a longitudinal axis of the bearing pin 17 in the cavity 18.

[0074] In the illustrated embodiment, the angle of rotation sensor 13 can comprise a stator 14 and a rotor 15 rotatable relative thereto. The stator 14 can be arranged at least partially within the axial cavity 18. The stator 14 can be connected in a rotationally fixed manner to the at least one bearing pin 17 or the attachment part 50.

[0075] The rotor 15 of the rotation angle sensor 13 can be arranged at least partially in one end 21 of the lever 20 and / or the attachment part 50.

[0076] The rotor 15 can be connected or connectable directly or, as shown, indirectly via a driver 45 to one end 21 of the lever 20. The driver 45 can, in particular, transmit a rotational movement between the bearing pin 17 and one end 21 of the lever 20 to the rotor 15.

[0077] In Figure 7A schematic detailed view of an embodiment of a crane 1 is shown, in which a second end 12 of the actuator 10 is connected to a toggle lever arrangement 19. The levers 20, 30 of the toggle lever arrangement 19 are pivotally connected to the second end 12 of the actuator 10 by their second ends 22, 32 via a bearing point 53 having a rotation angle sensor 13.

[0078] In this embodiment, the bearing point 53 is formed at least partially on a bearing pin 17. The ends 22, 32 of the levers 20, 30 of the knee joint assembly 19 are mounted on the bearing pin 17, with the first lever 20 being connected in a rotationally fixed manner to the bearing pin 17 and the second lever 30 being pivotally mounted on the bearing pin 17.

[0079] In a design of a bearing point 53 as shown, the bearing pin 17 can have, at least in sections, an axial hollow cross-section with a cavity 18 in which the angle of rotation sensor 13 of the bearing point 53 can be at least partially arranged. At least a section of a signal line 16 of the angle of rotation sensor 13 can run in the axial cavity 18. The angle of rotation sensor 13 can be connected to the bearing pin 17 in a rotationally fixed manner.

[0080] As shown, the angle of rotation sensor 13 can be arranged substantially centrally or centrally in the cavity 18 of the axial hollow cross-section of the bearing pin 17. With a central or central arrangement of the angle of rotation sensor 13, it can be arranged, at least partially, coaxially with a longitudinal axis of the bearing pin 17 in the cavity 18.

[0081] In the illustrated embodiment, the rotation angle sensor 13 can comprise a stator 14 and a rotor 15 rotatable relative thereto. The stator 14 can be arranged at least partially within the axial cavity 18. The stator 14 can be connected in a rotationally fixed manner to the at least one bearing pin 17.

[0082] The rotor 15 of the rotation angle sensor 13 can be arranged at least partially in one end 12 of the actuator 10 and / or the bearing pin 17.

[0083] The rotor 15 can be connected or connectable directly or, as shown, indirectly via a driver 45 to one end 12 of the actuator 10. The driver 45 can, in particular, transmit a rotational movement between the bearing pin 17, which in this embodiment is non-rotatably connected to a lever 20 of the knee joint assembly 19, and one end 12 of the actuator 10 to the rotor 15.

[0084] In Figure 8is a schematic detail view of an embodiment of a crane 1, in which a second end 12 of the actuator 10 is connected via a bearing point 53 to a second end 22 of a lever 20 of a toggle lever arrangement 19. The bearing point 53 in this embodiment does not have a rotation angle sensor 13, but the bearing point 53 can be analogous to the bearing point 53 of the Figure 7 be trained.

[0085] The levers 20, 30 of the toggle lever assembly 19 are pivotally connected to one another via a bearing point 56 having a rotation angle sensor 13. The lever 30 is connected to the lever 20 between the ends 21, 22 of the lever. The ends 21, 31 of the levers 20, 30 (not shown) can be connected to the main arm 3 and the articulated arm 4 of the arm system (see Figure 5 ).

[0086] In this embodiment, the bearing point 56 is formed at least partially on a bearing pin 17.

[0087] In a design of a bearing point 56 as shown, the bearing pin 17 can have, at least in sections, an axial hollow cross-section with a cavity 18 in which the angle of rotation sensor 13 of the bearing point 56 can be at least partially arranged. At least a section of a signal line 16 of the angle of rotation sensor 13 can run in the axial cavity 18. The angle of rotation sensor 13 can be connected to the bearing pin 17 in a rotationally fixed manner.

[0088] As shown, the angle of rotation sensor 13 can be arranged substantially centrally or centrally in the cavity 18 of the axial hollow cross-section of the bearing pin 17. With a central or central arrangement of the angle of rotation sensor 13, it can be arranged, at least partially, coaxially with a longitudinal axis of the bearing pin 17 in the cavity 18.

[0089] In the illustrated embodiment, the rotation angle sensor 13 can comprise a stator 14 and a rotor 15 rotatable relative thereto. The stator 14 can be arranged at least partially within the axial cavity 18. The stator 14 can be connected in a rotationally fixed manner to the at least one bearing pin 17.

[0090] The rotor 15 of the rotation angle sensor 13 can be arranged at least partially in a lever 20 and / or the bearing pin 17.

[0091] The rotor 15 can be connected or connectable to the lever 20 directly or, as shown, indirectly via a driver 45. The driver 45 can, in particular, transmit a rotational movement between the bearing pin 17, which in this embodiment is rotationally fixedly connected to a lever 30 of the knee joint assembly 19, and a lever 20 to the rotor 15.

[0092] For detecting and processing sensor signals of the at least one angle of rotation sensor 13, and if necessary for controlling crane functions, the crane 1 can be configured as shown schematically in Figure 9 shown a crane control 60 with at least one computing unit 61 and at least one memory unit 62. The memory unit 62 can be in a data connection with the computing unit 61 or can be brought into such a connection. Sensor signals from the at least one angle of rotation sensor 13, for example via signal lines 16 of the angle of rotation sensor 13, can be fed to the crane control 60 via a suitable interface. The arrangement of a angle of rotation sensor 13 in the bearing point 51 on the main arm 3 of the crane 1 of the Figure 9 can be analogous to Figure 4 The arrangement of a rotation angle sensor 13 in the bearing point 53 on the knee joint arrangement 19 of the crane 1 of the Figure 7 can be analogous to Figure 7 be executed.

[0093] In Figure 10 a vehicle 70 with a crane 1 as described above is shown. List of reference symbols

[0094] 1Crane 2Crane column 3Main boom 4Knuck boom 5Pivot bearing 6Thrust arm 7Side surface of main arm 8Base surface of main arm 9Cover surface of main arm 10 actuator 11 first end actuator 12 second end actuator 13Rotation angle sensor 14Stator 15Rotor 16Signal line 17Bearing bolt 18Cavity 19Knee lever arrangement 20First lever 21First end 22Second end 30second lever 31first end 32second end 40Extension 41Bearing bolt 42Side surface of the articulated arm 43Base surface of the articulated arm 44Cover surface of the articulated arm 45Carrier 46Fasteners 47Connecting part 48Retaining plate 50Attachment 51Bearing 52Bearing 53Bearing 54Bearing 55Bearing 56Bearing 60Crane control 61CPU 62Storage unit 70 vehicles

Claims

1. Crane (1), in particular a forestry crane or loading crane, with an arm system comprising a plurality of arms, wherein the arm system comprises at least: - a main arm (3), which is preferably pivotably mounted on a crane column (2) - an articulated arm (4), which is pivotally connected to the main arm (3) via a pivot bearing (5) - at least one actuator (10) for driving a pivoting movement of the articulated arm (4) relative to the main arm (3), wherein the actuator (10) is pivotally mounted on the main arm (3) with a first end (11) at a bearing point (51) and the actuator (10) is pivotally mounted on the articulated arm (4) with a second end (12) - with a bearing point (52), or - with a bearing point (53), pivotally connected to a toggle lever arrangement (19) with at least two levers (20, 30), wherein the toggle lever arrangement (19) is pivotally mounted with a bearing point (54) on the main arm (3) and is pivotally mounted with a bearing point (55) on the articulated arm (4),wherein preferably the at least two levers (20, 30) are pivotally connected to one another by a bearing point (53, 56), , characterized in that at least one of the bearing points (51, 52, 53, 54, 55, 56) has a rotation angle sensor (13).

2. Crane according to claim 1, wherein the actuator (10) is pivotally mounted on the main arm (3) with a first end (11) having a bearing point (51) and is pivotally mounted on the articulated arm (4) with a second end (12) having a bearing point (52), wherein the angle of rotation sensor (13) can detect an angle of rotation between the first end (11) of the actuator (10) and the main arm (3) and / or between the second end (12) of the actuator (10) and the articulated arm (4).

3. Crane according to one of the preceding claims, wherein the actuator (10) is pivotally mounted on the main arm (3) with a first end (11) having a bearing point (51) and is pivotally mounted on the articulated arm (4) with a second end (12) having a bearing point (52), wherein the at least one angle of rotation sensor (13) has a stator (14) and a rotor (15), wherein - the stator (14) is connected to the main arm (3) in the at least one bearing point (51) having the angle of rotation sensor (13), and the rotor (15) is connected to the first end (11) of the actuator (10), or - the stator (14) is connected to the articulated arm (4) in the at least one bearing point (52) having the angle of rotation sensor (13), and the rotor (15) is connected to the second end (12) of the actuator (10).

4. Crane according to claim 1, wherein the actuator (10) is pivotally mounted on the main arm (3) with a first end (11) having a bearing point (51) and is pivotally connected to at least one of the two levers (20, 30) of a toggle lever arrangement (19) with a second end (12) having a bearing point (53), wherein the angle of rotation sensor (13) can detect an angle of rotation between the first end (11) of the actuator (10) and the main arm (3) and / or between a second end (12) of the actuator (10) and at least one lever (20, 30) of the toggle lever arrangement (19) and / or between a lever (20, 30) of the toggle lever arrangement (19) and the main arm (3) and / or the articulated arm (4).

5. Crane according to one of claims 1 or 4, wherein the at least one angle of rotation sensor (13) has a stator (13) and a rotor (14), wherein - the stator (14) is connected to the main arm (3) in the at least one bearing point (54) which has the angle of rotation sensor (13), and the rotor (15) is connected to at least one lever (20) of the toggle lever arrangement (19), or - the stator (14) is connected to the articulated arm (4) in the at least one bearing point (55) which has the angle of rotation sensor (13), and the rotor (15) is connected to at least one lever (30) of the toggle lever arrangement (19), or - the stator (14) is connected to the toggle lever arrangement (19) in the at least one bearing point (53) which has the angle of rotation sensor (13), and the rotor (15) is connected to the second end (12) of the actuator (10).

6. Crane according to claim 1 or one of claims 4 or 5, wherein the actuator (10) is pivotally mounted on the main arm (3) with a first end (11) having a bearing point (51) and is pivotally connected to a toggle lever arrangement (19) with a second end (12) having a bearing point (52), wherein the toggle lever arrangement (19) has at least a first lever (20) and a second lever (30), wherein - the first lever (20) is mounted on the main arm (3) with a first end (21) at a bearing point (54), preferably outside the pivot bearing (5) for the pivotable mounting of the articulated arm (4) on the main arm (3), and - the second lever (30) is mounted on the articulated arm (4) with a first end (31) at a bearing point (55), preferably outside the pivot bearing (5) for the pivotable mounting of the articulated arm (4) on the main arm (3). is stored,and - the first lever (20) is connected to a second end (22) and the second lever (30) is connected to a second end (32) at a bearing point (53) to a second end (12) of the actuator (10).

7. Crane according to one of the preceding claims, wherein the at least one bearing point (51, 52, 53, 54, 55, 56) which has the angle of rotation sensor (13) has at least one bearing pin (17), wherein the bearing pin (17) has at least in sections an axial hollow cross-section with a cavity (18), wherein the angle of rotation sensor (13) is arranged at least partially in the cavity (18) of the axial hollow cross-section, wherein preferably additionally at least in sections a signal line (16) of the angle of rotation sensor (13) is arranged in the axial hollow cross-section (18).

8. Crane according to the preceding claim, wherein the rotation angle sensor (13) is arranged substantially centrally in the cavity (18) of the axial hollow cross-section.

9. Crane according to one of the two preceding claims, wherein the rotation angle sensor (13) has a stator (14) and a rotor (15), wherein the stator (14) is arranged at least partially in the cavity (18) of the axial hollow cross-section and is or can be connected in a rotationally fixed manner to the at least one bearing pin (17).

10. Crane according to the preceding claim, wherein the rotor (15) is or can be connected directly or indirectly via a driver (45) to one end of the actuator (10) or a lever (20, 30) of a knee joint arrangement (19).

11. Crane according to one of the two preceding claims, wherein the rotor (15) is at least partially received in one end (11, 12) of the actuator (10).

12. Crane according to one of the preceding claims, wherein at least one of the bearing points (51, 52, 54, 55) on the main arm (3) and / or on the articulated arm (4) is formed at least partially on or in at least one attachment part (50) on the main arm (3) and / or on the articulated arm (4), wherein preferably the at least one attachment part (50) is arranged on a side surface (7, 42), base surface (8, 43) or cover surfaces (9, 44) of the main arm (3) and / or the articulated arm (4).

13. Crane according to the preceding claim, wherein the at least one bearing point (51, 52, 54, 55) which has the angle of rotation sensor (13) has at least one bearing pin (17), wherein the bearing pin (17) is at least partially formed on the attachment part (50) or is arranged in or on the latter, wherein the bearing pin (17) and / or the attachment part (50) have at least in sections an axial hollow cross-section with a cavity (18), wherein the angle of rotation sensor (13) is at least partially arranged in the cavity (18) of the axial hollow cross-section.

14. Crane according to one of the preceding claims, wherein the crane (1) has a crane control (60) with at least one computing unit (61) and at least one memory unit (62), which is in a data connection with the computing unit (61) or can be brought into such a connection, wherein sensor signals of the at least one angle of rotation sensor (13) can be fed to the crane control (60) via an interface.

15. Vehicle (70) with one (1) crane according to one of the preceding claims.

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