Crane

Abstract

Crane (7), in particular knuckle boom crane, with an arm system and - a pivotably mounted crane column (2) which has one degree of freedom (φ) detectable by a sensor (S2), - a knuckle boom (4) pivotably mounted on the crane column (2) which has one degree of freedom (β) detectable by a sensor (S4), wherein the crane (7) has at least one sensor (S1, S6) for detecting an inclination (n2, n4) of at least one pivot axis (a2, a4) relative to a spatial direction (H, V) and / or spatial plane, and a crane control system (6) for controlling and monitoring crane functions, wherein the crane control system (6) is configured to monitor the strength of the arm system as a function of the inclination (n2, n4) of at least one pivot axis (a2, a4) spatial plane, and of the currently detected values ​​of the degrees of freedom (β,to perform φ) of the arm system and to determine at least one reduction factor (f) and to limit a maximum permissible velocity and / or acceleration of a geometric change along at least one degree of freedom (β, φ) and / or a maximum permissible lifting force.

Description

[0001] The invention relates to a crane with an arm system and a crane control system, a vehicle with such a crane, and a method for monitoring the strength of an arm system of the crane. The invention further relates to a computer program for carrying out such a method and a data carrier signal for transmitting such a computer program.

[0002] Cranes are known in the prior art which have a crane control system for controlling and monitoring crane functions, which is designed to determine a maximum permissible load moment of the crane in its respective working position in order to maintain positional stability.

[0003] In a crane as known from EP 0 675 069 A1, which is mounted on a machine frame with rail bogies, measuring devices can be used to detect the lateral tilt of the machine frame, the slewing angle of the crane relative to the longitudinal direction of the machine, the change in length of the crane boom, and the pressure in a lifting cylinder of the crane. This allows a reference pressure value to be determined, which corresponds to the maximum permissible load moment required to maintain positional stability. For overload monitoring, the reference value can be compared with an actual pressure value provided by the measuring device.

[0004] The maximum permissible load moment of a crane can be influenced not only by its working position but also by its position relative to at least one predetermined or definable spatial direction and / or plane. Determining the lateral tilt of the machine frame on which the crane is mounted is insufficient to characterize the crane's position relative to at least one predetermined or definable spatial direction and / or plane. A maximum permissible load moment determined based on the lateral tilt of the machine frame may deviate adversely from the actual permissible load moment.

[0005] The object of the invention is to provide a crane with an arm system and a crane control system in which the aforementioned disadvantage does not occur. Furthermore, the object of the invention is to provide a vehicle with such a crane, a method for monitoring the strength of an arm system of the crane, a computer program for carrying out such a method, and a data carrier signal for transmitting such a computer program, in which the aforementioned disadvantage does not occur.

[0006] This problem is solved by a crane with an arm system and a crane control according to claim 1, a vehicle with such a crane, a method for monitoring the strength of an arm system of such a crane, a computer program product for carrying out such a method and a data carrier signal for transmitting such a computer program product.

[0007] Advantageous embodiments of the invention are defined in the dependent claims.

[0008] The crane according to the invention has an arm system with multiple arms. The arms of the arm system can be moved relative to each other along degrees of freedom of movement, thereby enabling the arm system to assume different positions with different geometries.

[0009] The arm system can include a crane column pivotally mounted in a crane base around a pivot axis. This pivotable mounting allows the column to have a degree of freedom detectable by a sensor. A pivoting movement can be driven, for example, by a slewing mechanism. The crane can be mounted on a vehicle frame using the crane base. In the crane's mounted position, the pivot axis of the crane column can be essentially upright, or in other words, oriented essentially along the vertical. The sensor can be designed as an angle sensor and output a sensor signal corresponding to the pivot position of the crane column relative to the crane base.

[0010] In one embodiment, the arm system can include an articulated arm that is pivotally mounted on the crane column about a pivot axis. This pivotable mounting provides a degree of freedom that can be detected by a sensor. In this embodiment, the articulated arm can assume different angles relative to the crane column. When the crane is in its installed position, the pivot axis of the articulated arm can be essentially horizontal, or in other words, oriented essentially along the horizontal plane. The sensor can be designed as an angle sensor and output a sensor signal corresponding to the pivot position of the articulated arm relative to the crane column.

[0011] In another embodiment, the arm system can include a main arm, also called a lifting arm, which is pivotally mounted on the crane column around a pivot axis. This pivotable mounting provides a degree of freedom that can be detected by a sensor. The main arm can assume different angle positions relative to the crane column. In the crane's installed position, the pivot axis of the main arm can be essentially horizontal, or in other words, oriented essentially along the horizontal plane. The sensor can be designed as an angle sensor and output a sensor signal corresponding to the pivot position of the main arm relative to the crane column. If the pivoting motion is driven by a slewing mechanism with at least one driven rack, the pivot position of the main arm relative to the crane column can be detected by at least one sensor for measuring the displacement of the rack.

[0012] In this configuration, the arm system can include an articulated arm that is pivotally mounted to the main arm about a pivot axis. This pivotable mounting provides a degree of freedom that can be detected by a sensor. The articulated arm can assume different angular positions relative to the main arm. In the crane's installed position, the pivot axis of the articulated arm can be essentially horizontal, or in other words, oriented essentially along the horizontal plane. The sensor can be an angle sensor and output a sensor signal corresponding to the pivot position of the articulated arm relative to the main arm. In this configuration, the articulated arm can be mounted to the crane column via the main arm.

[0013] The arm system can have at least one thrust arm, which is slidably mounted within the articulated arm and, due to its slidable mounting, has a degree of freedom that can be detected by a sensor. The thrust arm can assume different thrust positions relative to the articulated arm. The sensor can be designed as a length sensor and output a sensor signal corresponding to the thrust positions of the thrust arm relative to the articulated arm.

[0014] The crane can further include at least one sensor for detecting the inclination of at least one of its slewing axes relative to at least one predefined or predefined spatial direction and / or plane. A spatial direction with respect to which a relative inclination can be detected can, for example, be vertical or horizontal. By orienting the spatial direction, a component of the inclination relative to this direction can be detected. Similarly, a spatial plane with respect to which a relative inclination can be detected can, for example, be vertical or horizontal.

[0015] A sensor for detecting an inclination can be designed as an angle sensor, as a force or torque sensor, as an inclination sensor, in particular as a multi-axis inclination sensor, as an acceleration sensor, in particular as a multi-axis acceleration sensor, as a proximity sensor, in the form of strain gauges, as an optical detection device or as a device for emitting and receiving sound waves, in particular ultrasound, or as a device for emitting and receiving electromagnetic waves, in particular radar or laser light.

[0016] A sensor for detecting the inclination of at least one of the pivot axes can be arranged on or in a joint of the corresponding articulated connection.

[0017] Advantageously, the crane can have at least one sensor for detecting the inclination of the pivot axis of the swiveling bearing of the crane column in the crane base relative to at least one predetermined or predefinable spatial direction and / or spatial plane. Preferably, the inclination of the pivot axis of the swiveling bearing of the crane column in the crane base can be detected relative to the vertical. An inclination of the crane column can also be detected by a sensor for detecting an inclination of the crane base, whereby the inclination can be detected relative to the horizontal.

[0018] In an advantageous embodiment, the crane can have at least one sensor for detecting the inclination of the pivot axis of the pivotable bearing of the knuckle boom on the crane column relative to at least one predetermined or predefinable spatial direction and / or spatial plane. Preferably, the inclination of the pivot axis of the pivotable bearing of the main boom on the crane column relative to the horizontal can be detected.

[0019] In an advantageous embodiment of the arm system, the crane can have at least one sensor for detecting the inclination of the pivot axis of the pivotable bearing of the main arm on the crane column relative to at least one predetermined or predefinable spatial direction and / or spatial plane. Preferably, the inclination of the pivot axis of the pivotable bearing of the main arm on the crane column relative to the horizontal can be detected.

[0020] In such an embodiment of the arm system, the crane can have at least one sensor for detecting the inclination of the pivot axis of the pivoting bearing of the knuckle arm on the main arm relative to at least one predetermined or predefinable spatial direction and / or spatial plane. Preferably, the inclination of the pivot axis of the pivoting bearing of the main arm on the crane column relative to the horizontal can be detected.

[0021] The crane has a crane control system for controlling and monitoring crane functions and for recording sensor signals from the sensors.

[0022] The crane control system can, in principle, comprise at least one processing unit and at least one storage unit. The processing unit can be connected to the storage unit via a data link or capable of such a link. The crane control system can be formed from an arrangement of several, possibly decentralized, processing units and storage units that are interconnected or capable of being connected via a data link. Such an arrangement can, for example, consist of at least one crane control system mounted or mountable on the crane and at least one computer or computational computer separate from the crane control system.

[0023] The crane control system can have multiple signal inputs to which sensor signals from the sensors installed on the crane can be fed. These sensor signals can be stored as sensor data in a memory unit of the crane control system. The crane control system can be operated remotely, with the remote control having at least one control element for issuing operating commands. Based on these operating commands, the crane control system can generate control commands for operating the crane.

[0024] The crane can be designed as a loading crane. A loading crane can generally be understood as a lifting device that can be mounted on a vehicle in order to load and unload it.

[0025] The arms of the arm system can be moved relative to each other using actuators, such as hydraulic cylinders. To change the geometry of the arm system, the crane control system can issue control commands to the actuators of the arm system. The crane control system can detect the current geometry of the arm system based on its degrees of freedom, using sensors installed on the arm system.

[0026] The crane control system is configured to perform strength monitoring of the arm system. This strength monitoring is performed based on at least one detected value of the inclination of at least one slewing axis relative to at least one predefined or predefinable spatial direction and / or plane, and additionally based on the currently detected values ​​of the degrees of freedom of the arm system. The crane control system is configured to determine at least one reduction factor for strength monitoring, whereby the at least one reduction factor a maximum permissible speed of a change in geometry along at least one degree of freedom and / or a maximum permissible acceleration of a change in geometry along at least one degree of freedom and / or a maximum permissible lifting force for a load lifted or to be lifted by the crane is restricted.

[0027] This allows the crane control system to limit the maximum permissible speed and / or acceleration and / or lifting force depending on the inclination and geometry.

[0028] Advantageously, for one design of the arm system, the strength monitoring can be carried out at least as a function of at least one recorded value of the inclination of the pivot axis of the pivotable bearing of the articulated arm relative to at least one predetermined or predefinable spatial direction and / or spatial plane, and additionally as a function of the currently recorded values ​​of the degrees of freedom of the arm system. Depending on the design of the arm system, the pivotable bearing of the articulated arm can be located on the crane column or on the main arm.

[0029] Advantageously, for a further embodiment of the arm system, the strength monitoring can be carried out at least as a function of the at least one recorded value of the inclination of the pivot axis of the pivotable bearing of the main arm on the crane column and / or the pivotable bearing of the knuckle arm on the main arm relative to at least one predetermined or predeterminable spatial direction and / or spatial plane, and additionally as a function of the currently recorded values ​​of the degrees of freedom of the arm system.

[0030] A lifting force can be a static force primarily determined by the weight of a lifted or to-be-lifted load. A lifting force can also be a dynamic force primarily determined by the weight and acceleration of a lifted or to-be-lifted load.

[0031] Strength monitoring can monitor the structural load-bearing capacity of the arm system. For certain arm system geometries, such as a steep arm angle and / or a large arm extension, a strength limit may be reached, particularly in the case of an inclined arm system, before a limit of the arm system's utilization is reached, for example, characterized by a maximum permissible static and / or dynamic load moment. Strength limits for different geometries, inclinations, and loads of the arm system can be determined, for example, based on data obtained from tests and / or model calculations. The corresponding data can be stored in the crane control system's memory, for example, in the form of conversion tables and / or a computational model.At least one reduction factor can be used to limit the load-bearing capacity of the arm system.

[0032] A reduction factor can be a multiplicative factor with a value in the range of 0 to 1, with which a maximum permissible speed and / or acceleration and / or lifting force can be reduced.

[0033] The crane control system allows for stepless limitation of a maximum permissible speed and / or acceleration and / or lifting force using at least one reduction factor.

[0034] A maximum permissible speed, acceleration, and / or lifting force can be limited by a common reduction factor. It should not be excluded that a maximum permissible speed, acceleration, and / or lifting force can be limited by its own individual reduction factor.

[0035] If a maximum permissible speed of a geometric change along at least one degree of freedom is limited, a maximum permissible rate of change over time of at least one degree of freedom of the movement of the arm system can be limited.

[0036] If a maximum permissible acceleration of a geometric change along at least one degree of freedom is limited, a maximum permissible rate of change over time of at least one degree of freedom of the movement of the arm system can be limited.

[0037] In the case of a limitation of the maximum permissible lifting force for a load lifted or to be lifted by the crane, at least one degree of freedom of movement of the arm system can be restricted and / or a force acting on the arm system, detected by at least one sensor, can be restricted.

[0038] The crane control system can be designed to perform strength monitoring of the arm system and a reduction factor to limit a maximum permissible speed of a geometric change along at least one degree of freedom and / or a reduction factor to limit a maximum permissible acceleration of a geometric change along at least one degree of freedom and / or a reduction factor to limit a maximum permissible lifting force for a load lifted or to be lifted by the crane to determine and to limit a maximum permissible speed and / or acceleration and / or lifting force.

[0039] In an advantageous embodiment, the crane control system can be configured to perform tipping load monitoring of the crane depending on the currently recorded values ​​of the degrees of freedom of the arm system and a maximum permissible speed of a change in geometry along at least one degree of freedom and / or a maximum permissible acceleration of a change in geometry along at least one degree of freedom and / or a maximum permissible lifting force for a load lifted or to be lifted by the crane To be determined. Preferably, the crane control system can be configured to additionally perform a tipping load monitoring of the crane depending on the detected value of the inclination of at least one slewing axis relative to at least one predetermined or predefinable spatial direction and / or spatial plane.

[0040] The crane control system can be configured to perform tipping load monitoring based on sensor signals from sensors installed on the crane, whereby the crane's stabilizing moments and tipping moments can be determined. Stabilizing moments, which counteract the crane's tipping, can generally correspond to the product of forces such as the weight of the crane and / or a carrier vehicle, and / or a ballast weight, and a perpendicular distance to a tipping edge, which can be determined by the dimensions of a support for the crane and / or a carrier vehicle. Tipping moments can generally correspond to the product of forces such as the weight of a load being lifted or lifted by the crane and / or the weight of the arms of the boom system and their supports.Determining the crane's stabilizing moments and tipping moments for different geometries, inclinations, and loads of the arm system can be done, for example, based on data obtained from tests and / or model calculations. The relevant data can be stored in the crane control system's memory, for example, in the form of conversion tables and / or a computational model.

[0041] With at least one reduction factor, it is possible the maximum permissible speed of a geometric change along at least one degree of freedom, as determined for monitoring the tipping load of the crane, and / or the maximum permissible acceleration of a geometric change along at least one degree of freedom, as determined for monitoring the tipping load of the crane, and / or the maximum permissible lifting force for a load lifted or to be lifted by the crane, as determined for monitoring the tipping load of the crane be restricted.

[0042] For a given geometry and inclination of the arm system, tipping load monitoring can be performed using the crane control system designed for this purpose. Based on the detected inclination value of at least one slewing axis and the currently detected degrees of freedom of the arm system, a maximum permissible speed and / or acceleration and / or lifting force can be determined. From this maximum permissible speed and / or acceleration and / or lifting force, the maximum permissible speed and / or acceleration and / or lifting force can be further limited by at least one reduction factor used for strength monitoring.

[0043] Advantageously, the crane can have at least one sensor for detecting a force acting on the arm system, and the crane control system can be configured to perform tipping load monitoring of the crane depending on the currently detected values ​​of the degrees of freedom and the detected value of the force acting on the arm system. Preferably, the crane control system can also be configured to perform tipping load monitoring of the crane depending on the detected value of the inclination of at least one slewing axis relative to at least one predetermined or predefinable spatial direction and / or spatial plane.

[0044] A sensor for detecting a force acting on the arm system can generally be designed as a strain gauge, a capacitive sensor, or a piezoelectric force transducer. A sensor for detecting a force acting on the arm system can detect dynamic and / or static tensile and compressive loads acting on the arms of the arm system.

[0045] A sensor for detecting a force acting on the arm system can, for example, be designed in the form of at least one pressure sensor in one of the actuators of the arm system.

[0046] In an advantageous embodiment, the crane can have at least one sensor for detecting a force acting on the arm system, and the crane control system can be configured to monitor the strength of the arm system as a function of the recorded value of the inclination of at least one pivot axis relative to at least one predetermined or predefinable spatial direction and / or spatial plane, and the currently recorded values ​​of the degrees of freedom of the arm system and the recorded value of the force acting on the arm system and a stiffness of the arms of the arm system to determine an elastic deformation of the arm system and at least one reduction factor.

[0047] For a given geometry, inclination and load of the arm system, the crane control system designed for strength monitoring can determine the resulting elastic deformation of the arm system and a reduction factor corresponding to the deformation for the maximum permissible speed and / or acceleration and / or lifting force.

[0048] An elastic deformation of the arm system for different geometries, inclinations and loads of the arm system can be determined for a crane, for example, by tests and / or model calculations and accordingly stored in a memory of the crane control, for example in the form of conversion tables and / or a calculation model.

[0049] An elastic deformation of the arm system can be determined, for example, by comparing the recorded values ​​of the inclinations of at least two of the pivot axes of the arm system relative to at least one given or predeterminable spatial direction and / or spatial plane.

[0050] The crane control system can be designed to determine elastic deformation of the arm system due to natural moments of the arms and elastic deformation due to an applied lifting force for a load lifted or to be lifted by the crane.

[0051] For a given geometry, inclination and load of the arm system, it is advantageous to determine, using the crane control system designed for tipping load monitoring, any resulting elastic deformation of the arm system and to take it into account in determining the maximum permissible speed and / or acceleration and / or lifting force.

[0052] In an advantageous embodiment, the crane control system can be configured to perform strength monitoring of the arm system as a function of the detected value of the inclination of the pivot axis of the swivel bearing of the crane column in the crane base and the detected value of the inclination of the pivot axis of the swivel bearing of the knuckle boom, and to determine at least one reduction factor. In such an embodiment, an inclination of the pivot axis of the crane column, for example, due to setting up the crane on an inclined surface, and an elastic deformation of the crane column can be detected to determine the at least one reduction factor.

[0053] In a configuration of the arm system with a main arm pivotally mounted on the crane column, the crane control system can be designed to perform strength monitoring of the arm system based on the detected value of the inclination of the pivot axis of the crane column's pivoting bearing in the crane base and the detected value of the inclination of the pivot axis of the main arm's pivoting bearing, and to determine at least one reduction factor. Additionally or alternatively to the detected value of the inclination of the pivot axis of the main arm's pivoting bearing, the crane control system can be designed to perform strength monitoring of the arm system based on the detected value of the inclination of the pivot axis of the knuckle boom's pivoting bearing.

[0054] Advantageously, the crane control system can be designed to monitor the strength of the arm system, at least as a function of the angle sum of the degree of freedom of the pivoting bearing of the knuckle arm – which, depending on the design of the arm system, is located on the main arm or on the crane column – and to determine at least one reduction factor. Such an angle sum can essentially characterize the steepness of the arm system's position.

[0055] When calculating an angle sum, the value of the degree of freedom of the pivoting bearing of the knuckle arm on the crane column, and preferably also the value of the component of the inclination of the pivot axis of the pivoting bearing of the crane column in the crane base in a spatial plane of the pivoting bearing of the knuckle arm on the crane column, can be taken into account.

[0056] When calculating an angle sum for an embodiment of the arm system with a main arm, the value of the degree of freedom of the pivoting bearing of the main arm on the crane column, the value of the degree of freedom of the pivoting bearing of the knuckle arm on the main arm, and preferably additionally the value of the component of the inclination of the pivot axis of the pivoting bearing of the crane column in the crane base in a spatial plane of the pivoting bearing of the main arm on the crane column can be taken into account.

[0057] In arm system positions and geometries with a large sum of angles, the stress on the arm system structure increases. Additional tilting of the arm system can cause significant elastic deformation, further stressing the structure. A tipping load monitoring system can determine a maximum permissible speed, acceleration, and / or lifting force, which, however, exceeds the arm system's strength. A crane control system designed for arm system strength monitoring can determine a reduction factor and limit the maximum permissible speed, acceleration, and / or lifting force.

[0058] A limitation of the maximum permissible speed and / or acceleration and / or lifting force using the reduction factor can preferably be intensified for a large angle sum. In other words, the maximum permissible speed and / or acceleration and / or lifting force can be limited more severely the larger the angle sum. A limitation of the maximum permissible speed and / or acceleration and / or lifting force using the reduction factor can be disproportionate to the angle sum.

[0059] A reduction factor can be a multiplicative factor with a value in a range from 0 to 1, where the value of the reduction factor is smaller the larger the sum of the angles is.

[0060] The crane control system can be configured to include in the angle sum a value representing the component of the inclination of the pivot axis of the swiveling bearing of the crane column in the crane base, as detected by a sensor, in a spatial plane corresponding to the swiveling bearing of the knuckle boom or the main boom on the crane column. This allows the inclination, which depends on the pivot position of the crane column relative to the crane base, to be taken into account in the angle sum.

[0061] Analogous to a position of the arm system with a large sum of angles, a position of the arm system with a large extension can result in a load on the structure due to elastic deformation of the arm system.

[0062] The crane control system can be designed to perform strength monitoring of the arm system depending on the detected value of the degree of freedom of the movable bearing of a push arm in the knuckle arm and to determine at least one reduction factor.

[0063] A limitation of the maximum permissible speed and / or acceleration and / or lifting force by the reduction factor can preferably be intensified for a large detected value of the degrees of freedom of the sliding arm's bearing. In other words, the maximum permissible speed and / or acceleration and / or lifting force can be limited more severely the larger the detected value of the degrees of freedom of the sliding arm's bearing. A limitation of the maximum permissible speed and / or acceleration and / or lifting force by the reduction factor can be proportional or disproportionate, in other words, linear or more than linear, to the detected value of the degrees of freedom of the sliding arm's bearing.

[0064] A reduction factor can be a multiplicative factor with a value in a range from 0 to 1, where the value of the reduction factor is smaller the larger the measured value of the degree of freedom of the movable bearing of the thrust arm.

[0065] In an advantageous design of the crane, a restriction of the maximum permissible speed and / or acceleration and / or lifting force can be implemented, divided into zones, using a reduction factor.

[0066] The reduction factor can be a multiplicative factor with a value in the range of 0 to 1, whereby the crane control can be designed to For a detected inclination value below a first limit value, for example, for an inclination below 1° to the horizontal, to determine the reduction factor with the value 1; for a detected inclination value above the first and below a second limit value, for example, for an inclination between 1° to the horizontal and 2° to the horizontal, to interpolate the reduction factor between the value 1 and the reduction factor determined for the second limit value of the inclination and the currently detected values ​​of the degrees of freedom of the arm system; and for a detected inclination value above the second limit value, for example, for an inclination above 2° to the horizontal, to determine the reduction factor as a function of the detected inclination value and the currently detected values ​​of the degrees of freedom of the arm system.

[0067] This prevents a sudden increase in the restriction when the reduction factor is determined continuously.

[0068] Protection is also sought for a method for monitoring the strength of the arm system of the previously described crane. The crane control system designed for this purpose allows... The following steps are performed: recording the instantaneous values ​​of the degrees of freedom of the arm system; recording the value of the inclination of at least one pivot axis relative to at least one predetermined or predefinable spatial direction and / or spatial plane; determining at least one reduction factor as a function of the recorded value of the inclination of at least one pivot axis and of the instantaneous recorded values ​​of the degrees of freedom of the arm system; using the reduction factor, limiting the maximum permissible speed of a change in geometry along at least one degree of freedom and / or the maximum permissible acceleration of a change in geometry along at least one degree of freedom and / or the maximum permissible lifting force for a load lifted or to be lifted by the crane.

[0069] A limitation of the maximum permissible speed, acceleration, and / or lifting force using the reduction factor can preferably be intensified for larger detected incline values. In other words, the maximum permissible speed, acceleration, and / or lifting force can be limited more severely the greater the detected incline value. This limitation of the maximum permissible speed, acceleration, and / or lifting force using the reduction factor can be proportional or disproportionate to the detected incline value.

[0070] A reduction factor can be a multiplicative factor with a value in the range of 0 to 1, where the value of the reduction factor is smaller the larger the value of a detected slope.

[0071] The method can include a tipping load monitoring system for the crane, wherein the crane control system configured for this purpose adjusts based on the currently detected values ​​of the degrees of freedom of the arm system, and preferably the detected value of the inclination of at least one pivot axis relative to at least one predetermined or predeterminable spatial direction and / or spatial plane, and optionally a detected value of the force acting on the arm system. a maximum permissible speed of a change in geometry along at least one degree of freedom and / or a maximum permissible acceleration of a change in geometry along at least one degree of freedom and / or a maximum permissible lifting force for a load lifted or to be lifted by the crane can determine.

[0072] The determination of the reduction factor for strength monitoring by the strength monitoring system can be carried out essentially independently of the determination of the maximum permissible speed and / or acceleration and / or lifting force by the tipping load monitoring system. In particular, the temporal sequence of the determinations can be carried out independently of each other.

[0073] With at least one reduction factor, a restriction can be imposed. the maximum permissible speed of a geometric change along at least one degree of freedom and / or the maximum permissible acceleration of a geometric change along at least one degree of freedom and / or the maximum permissible lifting force for a load lifted or to be lifted by the crane, as determined for monitoring the tipping load of the crane take place.

[0074] In an advantageous embodiment of the method for strength monitoring, an elastic deformation of the arm system as described above and at least one reduction factor including this deformation are determined.

[0075] The method for strength monitoring can include determining an angle sum which includes at least the value of the degree of freedom of the pivoting bearing of the articulated arm, whereby at least one reduction factor including the angle sum can be determined.

[0076] Protection is also sought for a computer program product, comprising commands that cause the previously described crane, with the crane control system trained for this purpose, to perform a strength monitoring procedure as previously described.

[0077] Commands of a computer program product can cause a computing unit to execute a procedure as described above from a storage unit that is in a data connection with the computing unit or can be brought into such a connection.

[0078] Commands of the computer program product can, for example, be stored in at least one memory unit of the crane control system and executed by at least one computing unit of the crane control system.

[0079] Protection is also sought for a data carrier signal that transmits a previously described computer program product.

[0080] Protection is also sought for a vehicle, in particular a rail vehicle, road vehicle, tracked vehicle or road-rail vehicle, equipped with a crane as described above. The crane can be mounted on the vehicle's frame using the crane base.

[0081] Further details and advantages of the present invention are explained in more detail below with reference to the exemplary embodiments shown in the drawings, as described in the figures. These show: Fig. 1 A design of a crane. Fig. 2 Schematic representation of a method for monitoring the strength of the crane's arm system. Figs. 3a to 3f Side views of different designs of a vehicle with a crane and different arm system designs. Figs. 4a to 4c Rear views of different designs of a vehicle with a crane. Figs. 5a to 5f Further rear views of different designs of a vehicle with a crane and different arm system designs, showing greater elastic deformation of the arm system. Fig. 6 Exemplary illustration of a reduction factor as a function of an inclination and an angle sum. Fig. 7 A load capacity diagram for different inclinations of the pivot axis of the pivotable bearing of the main arm.

[0082] Figure 1 Figure 7 shows an embodiment of a crane in the form of a knuckle boom crane with a multi-arm arm system. The arm system, in the embodiment shown, has... a crane column 2 pivotably mounted in a crane base 1 about a pivot axis a2, which has a degree of freedom φ detectable by a sensor S2 due to its pivotable mounting, a main arm 3 which is pivotably mounted on the crane column 2 about a pivot axis a3 and has a degree of freedom α detectable by a sensor S3 due to its pivotable mounting, a knuckle arm 4 which is pivotably mounted on the main arm 3 about a pivot axis a4 and has a degree of freedom β detectable by a sensor S4 due to its pivotable mounting, and at least one push arm 5 which is slidably mounted in the knuckle arm 4 and has a degree of freedom L detectable by a sensor S5 due to its slidable mounting, on.

[0083] The crane 7 can have a sensor S1 for detecting an inclination n2 of the pivot axis a2 of the pivotable bearing of the crane column 2 in the crane base 1 relative to at least one predetermined or predefinable spatial direction H, V and / or spatial plane. Preferably, an inclination n2 of the pivot axis a2 of the pivotable bearing of the crane column 2 in the crane base 1 can be detected relative to the vertical V. An inclination n2 of the crane column 2 can be detected by detecting an inclination of the crane base 1, wherein the inclination can be detected relative to the horizontal H.

[0084] The crane 7 can have a sensor S6 for detecting an inclination n3 of the pivot axis a3 of the pivotable bearing of the main arm 3 on the crane column 2 relative to at least one predetermined or predefinable spatial direction H, V and / or spatial plane. Preferably, an inclination n3 of the pivot axis a3 of the pivotable bearing of the main arm 3 on the crane column 2 relative to the horizontal H can be detected. The crane 7 can have a sensor S9 for detecting an inclination n4 of the pivot axis a4 of the pivotable bearing of the knuckle arm 4 relative to at least one predetermined or predefinable spatial direction H, V and / or spatial plane. Preferably, an inclination n4 of the pivot axis a4 of the pivotable bearing of the knuckle arm 4 on the main arm 3 relative to the horizontal H can be detected.

[0085] The arms of the arm system can be moved relative to each other by actuators, for example, hydraulic cylinders. The main arm 3 can be moved relative to the crane column 2 by a main actuator 10. The articulated arm 4 can be moved relative to the main arm 3 by an articulated actuator 11. To change the geometry of the arm system, the crane control unit 6 can issue control commands to actuators 10 and 11 of the arm system. The crane control unit 6 can detect the instantaneous geometry of the arm system based on the degrees of freedom α, β, φ, and L of the arm system using sensors S1, S2, S3, S4, S5, S6, S7, S8, and S9 installed on the arm system.

[0086] To detect a force acting on the arm system, the crane can have 7 sensors S7 and S8 for detecting operating parameters of the crane 7, in particular of the actuators 10 and 11. The sensors S7 and S8 can be configured as force sensors. If the actuators 10 and 11 are designed as hydraulic cylinders, the sensors S7 and S8 can be configured as pressure sensors.

[0087] The crane control unit 6 can have at least one processing unit 9 and at least one storage unit 8. The processing unit 9 can be connected to the storage unit 8 in a data connection or be capable of being connected to such a connection. The crane control unit 6 can have several signal inputs to which sensor signals from the sensors S1, S2, S3, S4, S5, S6, S7, S8, S9 installed on the crane 7 can be fed and stored as sensor data in a storage unit 8 of the crane control unit 6.

[0088] In an alternative embodiment, the arm system of the crane 7 can have a knuckle arm 4 pivotally mounted on a crane base 1. Such an embodiment can essentially be the one described in Figure 1 The illustrated version corresponds without a main arm 3. The articulated arm 4 can, as in the Figures 3d to 3f and 5d to 5f shown to be pivotably mounted on the crane column 2 about a pivot axis a4 and to have a degree of freedom β detectable by a sensor S4 due to its pivotable mounting.

[0089] The crane control unit 6 is designed to monitor the strength of the arm system depending on to perform calculations based on the recorded value of the inclination n2, n3, n4 of at least one pivot axis a2, a3, a4 relative to at least one predetermined or predefinable spatial direction and / or spatial plane, and the currently recorded values ​​of the degrees of freedom α, β, φ, L of the arm system, and to determine at least one reduction factor f, and with the at least one reduction factor f to determine a maximum permissible velocity of a change in geometry along at least one degree of freedom α, β, φ, L and / or a maximum permissible acceleration of a change in geometry along at least one degree of freedom α, β, φ, L and / or a maximum permissible lifting force for a load lifted or to be lifted by the crane 7 14 to restrict.

[0090] This can limit a maximum permissible rate of change over time of at least one degree of freedom α, β, φ, L of the movement of the arm system, and / or a maximum permissible rate of change over time of a rate of change over time of at least one degree of freedom α, β, φ, L of the movement of the arm system, and / or at least one degree of freedom α, β, φ, L of the movement of the arm system, and / or a force acting on the arm system detected by at least one sensor S7, S8.

[0091] Commands of a computer program product, which can be stored in at least one memory unit 8 of the crane control 6 and can be executed by at least one processing unit 9 of the crane control 6, can cause a processing unit 9 of the crane control 6 to generate a data from a memory unit 8, which is in a data connection with the processing unit 9 or can be brought into such a connection. Figure 2A schematically depicted method for monitoring the strength of the arm system of crane 7 is to be carried out. The computer program product can be transmitted to the crane control 6 via a data carrier signal.

[0092] In a flowchart like the Figure 2 illustrated method for monitoring the strength of the arm system of the crane 7 by the crane control system 6 designed for this purpose can a measurement i of the instantaneous values ​​of the degrees of freedom α, β, φ, L of the arm system, a measurement ii of the value of the inclination n2, n3, n4 of at least one pivot axis a2, a3, a4 relative to at least one given or predefinable spatial direction H, V and / or spatial plane, a determination iii of at least one reduction factor f as a function of the measured value of the inclination n2, n3, n4 of at least one pivot axis a2, a3, a4 and of the instantaneous measured values ​​of the degrees of freedom α, β, φ, L of the arm system, and with the reduction factor f a limitation iv of the maximum permissible speed of a geometric change along at least one degree of freedom α, β, φ, L and / or of the maximum permissible acceleration of a geometric change along at least one degree of freedom α, β, φ, L and / or of the maximum permissible lifting force for a crane 7. Lifted or to-be-lifted load 14.

[0093] A maximum permissible speed of a change in geometry along at least one degree of freedom α, β, φ, L and / or a maximum permissible acceleration of a change in geometry along at least one degree of freedom α, β, φ, L and / or a maximum permissible lifting force for a load 14 lifted or to be lifted by the crane 7 can be determined by the crane control 6 designed for this purpose for monitoring the tipping load of the crane 7 as a function of the currently detected values ​​of the degrees of freedom α, β, φ, L of the arm system, and preferably the detected value of the inclination n2, n3, n4 of at least one pivot axis a2, a3, a4 relative to at least one predetermined or predeterminable spatial direction H, V and / or spatial plane and optionally a value of the force acting on the arm system detected by at least one sensor S7, S8.

[0094] For a given geometry, inclination and load of the arm system of the crane 7, the resulting elastic deformation of the arm system can be determined using the crane control 6 designed for strength monitoring, and a reduction factor f corresponding to the deformation can be determined for the maximum permissible speed and / or acceleration and / or lifting force.

[0095] Similarly, for a given geometry, inclination and load of the arm system of the crane 7, the resulting elastic deformation of the arm system can also be determined using the crane control 6 designed for tipping load monitoring and taken into account in determining the maximum permissible speed and / or acceleration and / or lifting force.

[0096] An elastic deformation of the arm system of the crane 7 can be caused by natural moments of the arms and by an applied lifting force for a load 14 lifted or to be lifted by the crane 7.

[0097] Figure 3a Figure 1 shows a side view of a vehicle 12 designed as a two-way vehicle with a crane 7 mounted on it, the design of the crane 7 being essentially that of the Figure 1 corresponds. Figure 4a shows a rear view of the Figure 3a , whereby at least one push arm 5 of the articulated arm 4 was also extended. The vehicle 12 is on a longitudinally oriented (see Figure 3a ) and transverse direction (see Figure 4a ) of vehicle 12 parked on inclined track 13.

[0098] Figure 3b Figure 1 shows a side view of a vehicle 12 designed as a rail vehicle with a crane 7 mounted on it, the design of the crane 7 being essentially that of the Figure 1 corresponds. Figure 4b shows a rear view of the Figure 3b , whereby at least one push arm 5 of the articulated arm 4 was also extended. The vehicle 12 is on a longitudinally oriented (see Figure 3b ) and transverse direction (see Figure 4b) of vehicle 12 parked on inclined track 13.

[0099] Figure 3c Figure 1 shows a side view of a vehicle 12 designed as a road vehicle with a crane 7 mounted on it, the design of the crane 7 being essentially that of the Figure 1 corresponds. Figure 4c shows a rear view of the Figure 3c , whereby at least one push arm 5 of the articulated arm 4 was also extended. The vehicle 12 is on a longitudinally oriented (see Figure 3c ) and transverse direction (see Figure 4c ) of the vehicle 12 inclined roadway 15 parked.

[0100] In the 3d figures , 3e and 3f are among the Figure 3a , 3b and 3c Analogous representations are shown, with crane 7 exhibiting a version of the arm system with a knuckle arm 4 pivotally mounted on a crane column 2. Corresponding rear views with a severely deformed arm system are shown in the Figure 5d , 5e and 5fshown.

[0101] As shown, the component of the inclination n2 of the pivot axis a2 of the pivotable bearing of the crane column 2 in the crane base 1 relative to the horizontal H aligned in the direction of the longitudinal axis, optionally measured relative to the vertical V, can be detected by the sensor S1. Preferably, an inclination n2 of the pivot axis a2 of the pivotable bearing of the crane column 2 in the crane base 1 relative to the vertical V can be detected. An inclination n2 of the crane column 2 can also be detected by detecting an inclination of the crane base 1.

[0102] In the Figures 3a to 3cThis illustrates a variant of calculating an angle sum S of the degree of freedom α of the pivoting bearing of the main arm 3 on the crane column 2 and the degree of freedom β of the pivoting bearing of the knuckle arm 4 on the main arm 3. Additionally, a value of the component of the inclination of the pivot axis a2 of the pivoting bearing of the crane column 2 in the crane base 1, detected by a sensor S1 in a spatial plane of the pivoting bearing of the main arm 3 on the crane column 2 – in the case shown, this is the inclination n1 of the pivot axis a2 relative to the vertical V – is included in the angle sum S. To calculate the angle sum S, the value of the inclination n2 relative to the horizontal H, the excess component α1 of the degree of freedom α, and the excess component β1 of the degree of freedom β can be added. Such an angle sum S can essentially characterize the steepness of the arm system's position.

[0103] For an embodiment of the arm system in which the articulated arm 4 is directly mounted on the crane column 2, the calculation of the angle sum S can be carried out analogously. It goes without saying that a value of one degree of freedom α of a pivotable mounting of a main arm 3 on the crane column 2 does not appear in the angle sum S.

[0104] In the Figures 4a to 4c Rear views of vehicle 12 with a crane 7 mounted on it are shown.

[0105] The component of the inclination n2 of the pivot axis a2 of the pivotable bearing of the crane column 2 in the crane base 1 relative to the horizontal H aligned in the direction of the transverse axis of the vehicle 12, optionally measured relative to the vertical V, can be detected by the sensor S1. Preferably, an inclination n2 of the pivot axis a2 of the pivotable bearing of the crane column 2 in the crane base 1 relative to the vertical V can be detected. An inclination n2 of the crane column 2 can also be detected by detecting an inclination of the crane base 1.

[0106] A sensor S6 can detect the inclination n3 of the pivot axis a3 of the pivotable bearing of the main arm 3 on the crane column 2 relative to at least one predetermined or predefinable spatial direction H, V and / or spatial plane. Preferably, the inclination n3 of the pivot axis a3 of the pivotable bearing of the main arm 3 on the crane column 2 can be detected relative to the horizontal H.

[0107] A sensor S9 can detect the inclination n4 of the pivot axis a4 of the pivotable bearing of the articulated arm 4 on the main arm 3 relative to at least one predetermined or predefinable spatial direction H, V and / or spatial plane. Preferably, the inclination n4 of the pivot axis a4 of the pivotable bearing of the articulated arm 4 on the main arm 3 can be detected relative to the horizontal H.

[0108] A sensor S5 can detect a value of the degree of freedom L, i.e. the thrust position of at least one thrust arm 5.

[0109] An elastic deformation of the arm system can be determined, for example, by comparing the recorded values ​​of the inclinations n2, n3, n4 of at least two of the pivot axes a2, a3, a4 of the arm system relative to at least one given or predeterminable spatial direction H, V and / or spatial plane.

[0110] In the Figures 5a to 5c and 5d to 5fRear views of the vehicle 12 with a crane 7 mounted on it are shown, where larger values ​​of the inclinations n2, n3, n4 – for example, due to a greater inclination of the ground used for parking – and / or a higher load on the arm system from a load 14 result in greater elastic deformation of the arm system. By comparing the recorded values ​​of the inclinations n2, n3, n4 of at least two of the pivot axes a2, a3, a4 of the arm system, optionally including a load on the arm system from a load 14, the elastic deformation of the arm system can be determined. Using the crane control 6 designed for strength monitoring, a larger reduction factor f corresponding to the greater deformation can be determined for the maximum permissible speed and / or acceleration and / or lifting force. In a scenario as shown in the flowchart of the Figure 2illustrated method for monitoring the strength of the arm system of the crane 7 by the crane control system 6 designed for this purpose can a measurement i of the instantaneous values ​​of the degrees of freedom α, β, φ, L of the arm system, a measurement ii of the value of the inclination n2, n3, n4 of at least one pivot axis a2, a3, a4 relative to at least one given or predefinable spatial direction H, V and / or spatial plane, a determination iii of at least one reduction factor f as a function of the measured value of the inclination n2, n3, n4 of at least one pivot axis a2, a3, a4 and of the instantaneous measured values ​​of the degrees of freedom α, β, φ, L of the arm system, and with the reduction factor f a limitation iv of the maximum permissible speed of a geometric change along at least one degree of freedom α, β, φ, L and / or of the maximum permissible acceleration of a geometric change along at least one degree of freedom α, β, φ, L and / or of the maximum permissible lifting force for a crane 7. Lifted or to-be-lifted load 14.

[0111] The maximum permissible speed and / or acceleration and / or lifting force can be determined by the crane control system 6 designed for this purpose for monitoring the tipping load of the crane 7 as a function of the currently detected values ​​of the degrees of freedom α, β, φ, L of the arm system, and preferably the detected value of the inclination n2, n3, n4 of at least one pivot axis a2, a3, a4 relative to at least one predetermined or predeterminable spatial direction and / or spatial plane and, if applicable, a value of the force acting on the arm system detected by at least one sensor S7, S8.

[0112] In the Figures 4a to 4c The geometry of the arm system shown can be determined based on the opposite side. Figures 3a to 3c With the thrust arm 5 extended further, a smaller reduction factor f is present, and thus a greater restriction of the maximum permissible speed and / or acceleration and / or lifting force will occur.

[0113] Figure 6This illustrates, by way of example, the course of a reduction factor f for different values ​​of the inclination n3 of the pivot axis a3 of the pivoting bearing of the main arm 3 on the crane column 2, detectable by a sensor S6, relative to at least one given or predefinable spatial direction H, V and / or spatial plane, and different angle sums S. Similarly, such a course of a reduction factor f can apply for different values ​​of the inclination n4 of the pivot axis a4 of the pivoting bearing of the knuckle arm 4, detectable by a sensor S9 – depending on the design of the arm system on the crane column 2 or the main arm 3 – relative to at least one given or predefinable spatial direction H, V and / or spatial plane, and different angle sums S.

[0114] The reduction factor f is a multiplicative factor with a value between 0 and 1. A maximum permissible speed, acceleration, and / or lifting force can be limited by the reduction factor f. It should not be excluded that a maximum permissible speed, acceleration, and / or lifting force can be limited by its own separate reduction factor(s). A reduction factor f can be determined in combination with, or depending on, other measured inclinations of the arm system's pivot axes.

[0115] Figure 6The graph initially shows a line with a constant value. In a crane control system known in the prior art, no inclination n3 of the pivot axis a3 of the pivotable bearing of the main arm 3 on the crane column 2 and / or an inclination 4 of the pivot axis a4 of the pivotable bearing of the knuckle arm 4 is detected or taken into account. Consequently, no inclination- and geometry-dependent limitation of a maximum permissible speed and / or acceleration and / or lifting force is imposed.

[0116] The dotted line in Figure 6 shows the course of a reduction factor f for different values ​​of the inclination n3 detectable with a sensor S6 and / or the inclination n4 detectable with a sensor S9 for a position of the arm system of the crane 7 which has an angle sum S of 0°.

[0117] The dotted line in Figure 6shows the course of a reduction factor f for different values ​​of the inclination n3 detectable with a sensor S6 and / or the inclination n4 detectable with a sensor S9 for a position of the arm system of the crane 7 which has an angle sum S of 30°.

[0118] The dotted line in Figure 6 shows the course of a reduction factor f for different values ​​of the inclination n3 detectable with a sensor S6 and / or the inclination n4 detectable with a sensor S9 for a position of the arm system of the crane 6 which has an angle sum S of 55°.

[0119] The dotted line in Figure 6 shows the course of a reduction factor f for different values ​​of the inclination n3 detectable with a sensor S6 and / or the inclination n4 detectable with a sensor S9 for a position of the arm system of the crane 7 which has an angle sum S of 80°.

[0120] A limitation of the maximum permissible speed and / or acceleration and / or lifting force by a reduction factor f can preferably be intensified for a large angle sum S. The maximum permissible speed and / or acceleration and / or lifting force can be limited more severely the larger the angle sum S. A limitation of the maximum permissible speed and / or acceleration and / or lifting force by the reduction factor can be proportional, for example, linear, or disproportionate, for example, stronger than linear, to the angle sum S. A reduction factor f can be a multiplicative factor with a value in the range of 0 to 1, where the value of the reduction factor f decreases as the angle sum S increases.

[0121] Similarly, a limitation of the maximum permissible speed and / or acceleration and / or lifting force by the reduction factor f can be applied more strongly for larger values ​​of a detected inclination n3 and / or a detected inclination n4. In other words, the maximum permissible speed and / or acceleration and / or lifting force can be limited more severely the larger the value of a detected inclination n3 and / or a detected inclination n4. A limitation of the maximum permissible speed and / or acceleration and / or lifting force by the reduction factor f can be proportional or disproportionate to the value of the detected inclination n3. A reduction factor f can be a multiplicative factor with a value in the range of 0 to 1, whereby the value of the reduction factor f is smaller the larger the value of a detected inclination n3 and / or a detected inclination n4.

[0122] In Figure 6It is further illustrated that the crane control 6 can be designed to For a detected inclination value n3 below a first limit value, for example, as shown for an inclination below 1° to the horizontal H, the reduction factor f is to be determined with the value 1; for a detected inclination value n3 above the first and below a second limit value, for example, as shown for an inclination between 1° to the horizontal H and 2° to the horizontal H, the reduction factor f is to be interpolated between the value 1 and the reduction factor f determined for the second limit value of inclination n3 and / or inclination n4 and the currently detected values ​​of the degrees of freedom α, β, φ, L of the arm system; and for a detected inclination value above the second limit value, for example, as shown for an inclination above 2° to the horizontal H, the reduction factor f is to be determined as a function of the detected value of inclination n3 and / or detected inclination n4 and the currently detected values ​​of the degrees of freedom α, β, φ, L.To determine L of the arm system.

[0123] In Figure 7 is for different inclinations n3 of the pivot axis a3 of the pivotable bearing of the main arm 3 on the crane column 2 of 0° and 2° relative to the horizontal H (see approximately Figures 4a to 4c ) for a version of a crane 7 analogous to Figure 1 A load-bearing capacity diagram is shown.

[0124] The load capacity diagram shows three pairs of curves for three different load capacities, each corresponding to a maximum permissible lifting force for a load 14 lifted or to be lifted by crane 7 over the course of the angle sum S from 0° to 80°. The solid lines of the curve pairs refer to an inclination n3 value of 0°. The dashed lines of the curve pairs refer to an inclination n3 value of 2°.

[0125] For a maximum permissible lifting force for a load 14 with a specific load mass lifted or to be lifted by the crane 7, different maximum permissible lengths of the knuckle arm 5, which can correspond to different values ​​of the degree of freedom L, can result over the course of the angle sum S from 0° to 80°. It is immediately apparent that the crane control 6, designed for strength monitoring, limits the maximum permissible lifting force for a load 14 lifted or to be lifted by the crane 7 depending on at least the detected value of the inclination n3 of at least the pivot axis a3 with a corresponding specific reduction factor f.

[0126] For a version of the arm system in which the knuckle arm 4 is mounted directly on the crane column, a reduction factor f can be determined analogously, and a restriction as described above can be applied based on a recorded inclination of the pivot axis of the pivotable mounting of the knuckle arm 4 on the crane column 2. Reference symbol list

[0127] 1 Crane base 2 Crane column 3 Main boom 4 Knuckle boom 5 Extension boom 6 Crane control unit 7 Crane 8 Storage unit 9 Computing unit 10 Main actuator 11 Knuckle actuator 12 Vehicle 13 Track 14 Load 15 Roadway H Horizontal V Vertical a2, a3, a4 Swivel axes S1, S2, S3 Sensor S4, S5, S6 Sensor S7, S8, S9 Sensor α, β, φ, L Degrees of freedom Arm system n2, n3, n4 Inclination α1, β1 Proportion

Claims

1. Crane (7), in particular a knuckle boom crane, with a multi-arm arm system, wherein the arm system comprises at least: - a crane column (2) pivotably mounted in a crane base (1) about a pivot axis (a2), which, by virtue of its pivotable mounting, has one degree of freedom (φ) detectable by a sensor (S2), - a knuckle boom (4) which is pivotably mounted on the crane column (2) about a pivot axis (a4) and, by virtue of its pivotable mounting, has one degree of freedom (β) detectable by a sensor (S4), wherein the crane (7) comprises at least one sensor (S1, S6) for detecting an inclination (n2, n4) of at least one pivot axis (a2, a4) relative to at least one predetermined or predefinable spatial direction (H, V) and / or spatial plane, and wherein the crane (7) comprises a crane control system (6) for controlling and monitoring crane functions and for detecting sensor signals from the sensors (S1, S2, S4, S6). exhibits, wherein the crane control (6) is designed toto perform strength monitoring of the arm system depending on - the detected value of the inclination (n2, n4) of at least one pivot axis (a2, a4) relative to at least one predetermined or predeterminable spatial direction (H, V) and / or spatial plane, and - the currently detected values ​​of the degrees of freedom (β, φ) of the arm system and to determine at least one reduction factor (f) and to limit with the at least one reduction factor (f) - a maximum permissible velocity of a change in geometry along at least one degree of freedom (β, φ) and / or - a maximum permissible acceleration of a change in geometry along at least one degree of freedom (β, φ) and / or - a maximum permissible lifting force for a load (14) lifted or to be lifted by the crane (7).

2. Crane according to the preceding claim, wherein the arm system further comprises at least: - a main arm (3) which is pivotably mounted on the crane column (2) about a pivot axis (a3) ​​and has, by virtue of its pivotable mounting, a degree of freedom (α) detectable by a sensor (S3), wherein the articulated arm (4) is pivotably mounted on the crane column (2) via the main arm (3), wherein the crane (7) comprises at least one sensor (S1, S6, S9) for detecting an inclination (n2, n3, n4) of at least one pivot axis (a2, a3, a4) relative to at least one predetermined or predefinable spatial direction (H, V) and / or spatial plane, and wherein the crane (7) comprises a crane control unit (6) for controlling and monitoring crane functions and for detecting sensor signals from the sensors (S1, S2, S3, S4, S6), wherein the crane control unit (6) is configured to perform strength monitoring of the arm system as a function of - the recorded value of the inclination (n2, n3,n4) at least one pivot axis (a2, a3, a4) relative to at least one predetermined or predeterminable spatial direction (H, V) and / or spatial plane, and - to perform the currently recorded values ​​of the degrees of freedom (α, β, φ) of the arm system and to determine at least one reduction factor (f) and to limit with the at least one reduction factor - a maximum permissible velocity of a change in geometry along at least one degree of freedom (α, β, φ) and / or - a maximum permissible acceleration of a change in geometry along at least one degree of freedom (α, β, φ) and / or - a maximum permissible lifting force for a load (14) lifted or to be lifted by the crane (7).

3. Crane according to one of the preceding claims, wherein the crane control (6) is configured to perform tipping load monitoring of the crane (7) as a function of the currently detected values ​​of the degrees of freedom (α, β, φ) of the arm system, and preferably the detected value of the inclination (n2, n3, n4) of at least one pivot axis (a2, a3, a4) relative to at least one predetermined or predeterminable spatial direction (H, V) and / or spatial plane, and to determine - a maximum permissible velocity of a change in geometry along at least one degree of freedom (α, β, φ) and / or - a maximum permissible acceleration of a change in geometry along at least one degree of freedom (α, β, φ) and / or - a maximum permissible lifting force for a load (14) lifted or to be lifted by the crane (7), and with the at least one reduction factor (f) - the maximum permissible velocity of a change in geometry along at least one degree of freedom determined for tipping load monitoring of the crane (7). degree of freedom (α,β, φ) and / or - the maximum permissible acceleration of a change in geometry along at least one degree of freedom (α, β, φ) determined for monitoring the tipping load of the crane (7) and / or - the maximum permissible lifting force determined for monitoring the tipping load of the crane (7) for a load (14) lifted or to be lifted by the crane (7).

4. Crane according to the preceding claim, wherein the crane (7) has at least one sensor (S7) for detecting a force acting on the arm system and the crane control (6) is configured to perform tipping load monitoring of the crane (7) depending on the currently detected values ​​of the degrees of freedom (α, β, φ) and the detected value of the force acting on the arm system.

5. Crane according to one of the preceding claims, wherein the crane (7) has at least one sensor (S7) for detecting a force acting on the arm system and the crane control (6) is configured to determine, for the purpose of monitoring the strength of the arm system, an elastic deformation of the arm system and the at least one reduction factor (f) depending on - the detected value of the inclination (n2, n3, n4) of at least one pivot axis (a2, a3, a4) relative to at least one predetermined or predeterminable spatial direction (H, V) and / or spatial plane, and - the currently detected values ​​of the degrees of freedom (α, β, φ) of the arm system and - the detected value of the force acting on the arm system and - a stiffness of the arms of the arm system.

6. Crane according to the preceding claim, wherein the crane control (6) is configured to determine an elastic deformation of the arm system due to natural moments of the arms and an elastic deformation due to an applied lifting force for a load (14) lifted or to be lifted by the crane (7).

7. Crane according to one of the preceding claims, wherein the crane (7) has at least one sensor (S1) for detecting an inclination (n2) of the pivot axis (a2) of the pivotable bearing of the crane column (2) in the crane base (1) relative to at least one predetermined or predefinable spatial direction (H, V) and / or spatial plane, and a sensor (S9) for detecting an inclination (n4) of the pivot axis (a4) of the pivotable bearing of the knuckle arm (4) relative to at least one predetermined or predefinable spatial direction (H, V) and / or spatial plane, wherein the crane control (6) is configured to perform strength monitoring of the arm system as a function of the detected value of the inclination (n2) of the pivot axis (a2) of the pivotable bearing of the crane column (2) in the crane base (1) and the detected value of the inclination (n4) of the pivot axis (a4) of the pivotable bearing of the knuckle arm (4) and to determine the at least one reduction factor (f).

8. Crane according to one of the preceding claims, wherein the arm system comprises a main arm (3) which is pivotably mounted on the crane column (2) about a pivot axis (a3), and the crane (7) comprises at least one sensor (S1) for detecting an inclination (n2) of the pivot axis (a2) of the pivotable mounting of the crane column (2) in the crane base (1) relative to at least one predetermined or predefinable spatial direction (H, V) and / or spatial plane, and a sensor (S6) for detecting an inclination (n3) of the pivot axis (a3) ​​of the pivotable mounting of the main arm (3) relative to at least one predetermined or predefinable spatial direction (H, V) and / or spatial plane, wherein the crane control (6) is configured toto perform a strength monitoring of the arm system as a function of the recorded value of the inclination (n2) of the pivot axis (a2) of the pivotable bearing of the crane column (2) in the crane base (1) and the recorded value of the inclination (n3) of the pivot axis (a3) ​​of the pivotable bearing of the main arm (3) and to determine at least one reduction factor (f).

9. Crane according to one of the preceding claims, wherein the crane control (6) is configured to perform strength monitoring of the arm system at least as a function of an angle sum (S) of the value of the degree of freedom (β) of the pivotable bearing of the knuckle arm (4) and to determine the at least one reduction factor (f), wherein preferably a limitation of the maximum permissible speed and / or acceleration and / or lifting force is carried out with the reduction factor (f) proportionally or disproportionately to the angle sum (S).

10. Crane according to the preceding claim, wherein the crane control (6) is configured to additionally include in the angle sum (S) a value of the component of the inclination of the pivot axis (a2) of the pivotable bearing of the crane column (2) in the crane base (1) in a spatial plane of the pivotable bearing of the main arm (3) on the crane column (2), as detected by a sensor (S1).

11. Crane according to one of the two preceding claims, wherein the arm system has at least one push arm (5) which is slidably mounted in the knuckle arm (4) and has, by virtue of its slidable mounting, a degree of freedom (L) detectable by a sensor (S5), wherein the crane control (6) is configured to perform strength monitoring of the arm system as a function of the detected value of the degree of freedom (L) of the slidable mounting of the push arm (5) in the knuckle arm (4) and to determine the at least one reduction factor (f), wherein preferably a limitation of the maximum permissible speed and / or acceleration and / or lifting force is carried out with the reduction factor (f) proportionally or disproportionately to the detected value of the degree of freedom (L).

12. Crane according to one of the preceding claims, wherein the reduction factor (f) is a multiplicative factor with a value in the range of 0 to 1, wherein the crane control (6) is configured to: - determine the reduction factor (f) with the value 1 for a detected value of the inclination (n2, n3, n4) below a first limit value; and - interpolate the reduction factor (f) between the value 1 and the reduction factor (f) determined for the second limit value of the inclination (n2, n3, n4) and the currently detected values ​​of the degrees of freedom (α, β, φ) of the arm system for a detected value of the inclination (n2, n3, n4) above the first and below a second limit value; and - for a detected value of the inclination (n2, n3, n4) above the second limit value, determine the reduction factor (f) as a function of the detected value of the inclination (n2, n3, n4). to determine the currently recorded values ​​of the degrees of freedom (α, β, φ) of the arm system.

13. Method for monitoring the strength of the arm system of the crane (7) according to one of the preceding claims, wherein the crane control system (6) designed for this purpose performs: - a detection (i) of the instantaneous values ​​of the degrees of freedom (α, β, φ) of the arm system; - a detection (ii) of the value of the inclination (n2, n3, n4) of at least one pivot axis (a2, a3, a4) relative to at least one predetermined or predefinable spatial direction (H, V) and / or spatial plane; - a determination (iii) of at least one reduction factor (f) as a function of the detected value of the inclination (n2, n3, n4) of at least one pivot axis (a2, a3, a4) and of the instantaneous detected values ​​of the degrees of freedom (α, β, φ) of the arm system; - a limitation (iv) of the maximum permissible rate of a change in geometry along at least one degree of freedom (α, β, φ) using the reduction factor (f). φ) and / or the maximum permissible acceleration of a geometry change along at least one degree of freedom (α,β, φ) and / or the maximum permissible lifting capacity for a load lifted or to be lifted by the crane.

14. Computer program product comprising commands that cause the crane control (6) of the crane (7) according to one of claims 1 to 12 to execute a method according to the preceding claim.

15. Data carrier signal that transmits the computer program product according to the preceding claim.

16. Vehicle (12), in particular rail vehicle, road vehicle, tracked vehicle or road-rail vehicle, with a crane (7) according to any one of claims 1 to 12.

Images