EP2465807B1 - Procédé et dispositif de positionnement d'une charge de grue suspendue - Google Patents

Procédé et dispositif de positionnement d'une charge de grue suspendue Download PDF

Info

Publication number
EP2465807B1
EP2465807B1 EP11008120.5A EP11008120A EP2465807B1 EP 2465807 B1 EP2465807 B1 EP 2465807B1 EP 11008120 A EP11008120 A EP 11008120A EP 2465807 B1 EP2465807 B1 EP 2465807B1
Authority
EP
European Patent Office
Prior art keywords
crane
load
loading means
rotation angle
slewing gear
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP11008120.5A
Other languages
German (de)
English (en)
Other versions
EP2465807A1 (fr
Inventor
Wolfgang Wichner
Heinz Wilharm
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP2465807A1 publication Critical patent/EP2465807A1/fr
Application granted granted Critical
Publication of EP2465807B1 publication Critical patent/EP2465807B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • B66C13/085—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical

Definitions

  • the invention relates to a method and a device for positioning a hanging on a cable suspension of a crane crane load in the direction of rotation about the vertical axis according to the preamble of claim 1 and of the patent claim. 5
  • a crane system is known, in the operation of a method is realized in which a rotation angle of the crane load is adjusted by a slewing or a motorization and in which as input for the regulation of the slewing in the adjustment of the angle of rotation of the crane load of the absolute rotation angle of a crane load side Lifting means of the crane system and the angular position of the slewing are used.
  • a rotation speed setpoint can be specified manually.
  • the slewing gear or the motorization is arranged between the crane load and the cable suspension.
  • the absolute angle of rotation of the load-receiving device lower part or the suspension is used as the absolute angle of rotation of the crane load-side lifting device.
  • the present invention seeks to simplify the above-described method for positioning a hanging on a cable suspension of a crane crane load in the direction of rotation about the vertical axis and to realize with less effort.
  • the angular position of the slewing gear and the absolute angle of rotation of the load-receiving means upper part are used as input variables for the regulation of the slewing gear in addition to the above-mentioned vertical distance between the crane trolley and the load receiving means upper part.
  • the two last-mentioned variables are, once, the angular position of the slewing gear which is completely independent of any oscillating movements of the crane load and which is defined solely by the adjustment of the load-bearing sub-base with respect to the load-bearing upper part.
  • the absolute rotational angle of the load-receiving means upper part is provided as input, which is due exclusively to rotary pendulum movements of the load-carrying upper part of the cable suspension and does not contain independent of the rotational pendulum motion constant angular components. Due to the detection of the absolute angle of rotation of the load-carrying upper part and the associated arrangement of load-receiving side sensor parts on the load-receiving means upper part results in the extent advantages that the load receiving means side sensor elements for the crane-side sensor elements in each position of the crane load can be clearly detected. No special technical measures are required for this.
  • An operator or a crane operator of the crane system can manually bring about the desired positioning of the crane load.
  • the operator or the crane operator before the slewing a rotational speed setpoint before.
  • the slewing gear stops, free of unwanted torsional jolts on the crane's suspension.
  • angle of rotation of the upper part of the crane load handling device is detected by means of a rotary and pendulum angle sensor, which additionally measures a pendulum angle of the crane load in Kranfahrt- and in Kratz travel direction, can be used to detect the angle of rotation of the crane load in crane systems with a pendulum control anyway existing component.
  • the method according to the invention for rotationally pendulum-free adjustment of the angle of rotation of a crane load can advantageously be used in addition to a pendulum control method of the crane system.
  • control unit of the device according to the invention is advantageously designed so that a predefinable target rotational angle of the crane load is automatically adjustable.
  • an automatic operation can then also be realized.
  • the rotation angle sensor is part of a pendulum and rotation angle sensor, by means of which additionally a pendulum angle of the crane load in Kranfahrt- and in Kranatzfahrtraum can be measured. Equipped with a pendulum control device cranes then need apart from the rotation angle detection of the slewing between load-carrying upper part and load-carrying lower part no additional sensor units to be equipped with the inventive device for positioning a crane load.
  • the device according to the invention is integrated into a pendulum control device of the crane system, by means of which pendulum vibrations of the crane load in crane drive and / or in crane travel direction are prevented or suppressed.
  • a device 1 shown in the single figure is used to position a crane load 2 in the direction of rotation about its vertical axis 3, while the crane load 2 is arranged on a load-receiving means 4 of a crane system 5.
  • the crane installation 5 has a crane trolley 6, which can be moved along a cat track 7.
  • the cat track 7 of the crane system 5 extends between two beams 8, 9 and is movable along these beams 8, 9.
  • a load-receiving means upper part 12a of the load receiving means 4 is arranged on the crane load side.
  • the load-receiving means upper part 12a is connected to a slewing gear 11 of the load-receiving means 4.
  • a load-receiving means lower part 12b and with this the crane load 2 arranged on the load receiving means 4 can be rotated or rotated with respect to the load receiving means upper part 12a or about the vertical axis 3.
  • the rotary mechanism 11 is associated with a control unit 13, by means of which the operation of the slewing gear 11 is controlled or regulated.
  • the control unit 13 is connected to an input device 14, by means of an operator or a crane operator manually a rotational speed setpoint for an adjustment of the angle of rotation of the crane load 2 in relation to the vertical axis 3 can be entered.
  • the slewing gear 11 is operated to rotate the crane load 2 with respect to the vertical axis 3 at the predetermined rotational speed. If the operator or the crane operator sets the rotational speed setpoint to zero, is the slewing gear 11 stopped, and indeed free of unwanted torsional oscillations of the cable suspension 10 of the crane system 5.
  • the crane operator or the operator can set the desired angle for the crane load 2 rotation angle in this way manually.
  • the control unit 13 can also be configured such that a setpoint rotation angle for the crane load 2 can be entered, this predetermined setpoint rotation angle then being set automatically by means of the slewing gear 11, likewise free of unwanted rotational oscillations of the cable suspension 10 and with this, the crane load 2.
  • the respective angular position of the slewing gear 11 and the absolute angle of rotation of the load receiving means upper part 12a are taken into account as adjustment parameters of the angle of rotation of the crane load 2, as well as those detected by a further sensor 17 Length of the rope suspension 10.
  • an angular position sensor 15 is provided, by means of which the angular position of the slewing gear 11, i. the angle of rotation between the load receiving means upper part 12a and load receiving means lower part 12b, detectable and can be forwarded to the control unit 13. Furthermore, a rotation angle sensor 16 is provided, by means of which the absolute angle of rotation of the load-receiving means upper part 12a can be determined about its vertical axis 3 and also forwarded to the control unit 13.
  • control unit 13 can be an adjustment of the angle of rotation of the crane load 2 and a consequent operation the slewing gear 11 are controlled and regulated so that unwanted rotation oscillations are avoided.
  • the angle of rotation of the load-receiving means upper part 12a of the crane load-side lifting device 4 is detected by means of the rotation angle sensor 16.
  • This load receiving means upper part 12a of the load receiving means 4 is not rotatable with respect to the trolley 6 - apart from a possible yielding of the stranding.
  • the sensor 17 for detecting the length of the cable suspension 10 is used to adapt the control to different lifting heights.
  • the rotation angle sensor 16 may be part of a pendulum and rotation angle sensor, by means of which a pendulum angle of the crane load 2 can be measured in Kranfahrt- and in Kranatzfahrtraum.
  • the above-described rotary pendulum control can then be integrated into an existing swing control of the crane system.
  • the rotation angle sensor 16 may additionally be able to determine the vertical distance between crane trolley 6 and load receiving means upper part 12a and thus to replace or redundantly supplement the separate sensor 17 for detecting the length of the cable suspension 10.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control And Safety Of Cranes (AREA)

Claims (8)

  1. Procédé pour le positionnement d'une charge de grue (2) accrochée à des câbles de suspension (10) d'une installation de grue (5), dans la direction de rotation autour de l'axe vertical (3) de celle-ci, dans lequel un angle de rotation de la charge de grue (2) est réglée à l'aide d'un mécanisme rotatif (11), dans lequel l'angle de rotation absolu d'un moyen de réception de charge côté charge de grue (4) de l'installation de grue (5) et la position angulaire du mécanisme rotatif (11) sont employés comme grandeurs d'entrée pour le réglage du mécanisme rotatif (11) lors de la modification de l'angle de rotation de la charge de grue (2), dans lequel un angle de rotation de la charge de grue (2) est modifié par un réglage manuel d'une valeur théorique de vitesse de rotation pour le mécanisme rotatif disposé entre la charge de grue (2) et les câbles de suspension (10), et dans lequel le mécanisme rotatif (11) permet de modifier l'angle de rotation entre une partie inférieure de moyen de réception de charge (12b) non rotative par rapport à la charge de grue (2) et une partie supérieure de moyen de réception de charge (12a) du moyen de réception de charge (4) accroché aux câbles de suspension (10) de l'installation de grue (5), laquelle est reliée au mécanisme rotatif (11) du moyen de réception de charge (4) et disposée du côté de la charge de grue sur les câbles de suspension (10) de l'installation de grue (5), caractérisé en ce que la distance verticale entre un chariot de grue (6) de l'installation de grue (5) et la partie supérieure de moyen de réception de charge (12a) de la charge de grue (2) ainsi que l'angle de rotation absolu de la partie supérieure de moyen de réception de charge (12a) sont employés en tant que grandeurs d'entrée supplémentaires pour le réglage du mécanisme rotatif (11) lors d'une modification supplémentaire de l'angle de rotation de la charge de grue (2).
  2. Procédé selon la revendication 1, dans lequel un angle de rotation théorique de la charge de grue (2) peut également être réglé automatiquement.
  3. Procédé selon la revendication 1 ou 2, dans lequel l'angle de rotation de la partie supérieure de moyen de réception de charge (12a) du moyen de réception de charge côté charge de grue (4) est détecté au moyen d'un capteur d'angle de rotation et d'angle d'oscillation, lequel mesure en outre un angle d'oscillation de la charge de grue (2) dans la direction de déplacement de la grue et la direction de déplacement du chariot de grue, ainsi que la distance verticale entre le chariot de grue (6) et la partie supérieure de moyen de réception de charge (12a).
  4. Procédé selon la revendication 3, lequel est mis en oeuvre en complément à un procédé de réglage d'oscillation de l'installation de grue (5).
  5. Dispositif pour le positionnement d'une charge de grue (2) accrochée à des câbles de suspension (10) d'une installation de grue (5), dans la direction de rotation autour de l'axe vertical (3) de celle-ci, avec un mécanisme rotatif (11) permettant de faire tourner la charge de grue (2) autour de son axe vertical (3), une unité de commande (13) permettant de commander le mécanisme rotatif (11), un système de capteurs (15, 16, 17) permettant de détecter un angle de rotation d'un moyen de réception de charge (4) de l'installation de grue (5) et une position angulaire du mécanisme rotatif (11), et de transmettre ceux-ci à l'unité de commande (13) en tant que grandeurs d'entrée pour la commande du mécanisme rotatif (11) lors de la modification de l'angle de rotation de la charge de grue (2), dans lequel le mécanisme rotatif (11) est disposé entre la charge de grue (2) et les câbles de suspension (10) de l'installation de grue (5), la charge de grue (2) peut tourner par rapport aux câbles de suspension (10) de l'installation de grue (5) au moyen du mécanisme rotatif (11), et le dispositif comporte un système de saisie (14) permettant d'entrer une valeur théorique de vitesse de rotation dans l'unité de commande (13) du mécanisme rotatif (11), le système de capteurs (15, 16, 17) comportant un capteur d'angle de rotation (15) permettant de détecter la position de rotation ou l'angle de rotation entre une partie inférieure de moyen de réception de charge (12b) du moyen de réception de charge côté charge de grue (4) de l'installation de grue (5), non rotative par rapport à la charge de grue (2), et la partie supérieure de moyen de réception de charge (12a), caractérisé en ce que le système de capteurs (15, 16, 17) permet de détecter la distance verticale entre un chariot de grue (6) de l'installation de grue et une partie supérieure de moyen de réception de charge (12a) du moyen de réception de charge (4) reliée au mécanisme rotatif (11) du moyen de réception de charge (4) et disposée du côté de la charge de grue sur les câbles de suspension (10) de l'installation de grue, en ce que le système de capteurs (15, 16, 17) permet de détecter un angle de rotation de la partie supérieure de moyen de réception de charge (12a) en tant qu'angle de rotation du moyen de réception de charge (4) de l'installation de grue (5), en ce que le système de capteurs (15, 16, 17) permet de transmettre la distance verticale entre le chariot de grue (6) et la partie supérieure de moyen de réception de charge (12a) ainsi que l'angle de rotation de la partie supérieure de moyen de réception de charge (12a) à l'unité de commande (13) en tant que grandeurs d'entrée pour une modification de l'angle de rotation de la charge de grue (2).
  6. Dispositif selon la revendication 5, dont l'unité de commande (13) est conçue de manière à ce qu'un angle de rotation théorique prédéfinissable de la charge de grue (2) puisse être réglé automatiquement.
  7. Dispositif selon la revendication 6, dans lequel le capteur d'angle de rotation (16) fait partie d'un capteur d'angle d'oscillation et d'angle de rotation, au moyen duquel un angle d'oscillation de la charge de grue (2) dans la direction de déplacement de la grue et la direction de déplacement du chariot de grue, ainsi que la distance verticale entre le chariot de grue (6) et la partie supérieure de moyen de réception de charge (12a) peuvent être mesurés.
  8. Dispositif selon la revendication 7, lequel est intégré dans un dispositif de réglage d'oscillation de l'installation de grue (5).
EP11008120.5A 2010-12-14 2011-10-07 Procédé et dispositif de positionnement d'une charge de grue suspendue Active EP2465807B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE201010054502 DE102010054502A1 (de) 2010-12-14 2010-12-14 Verfahren und Vorrichtung zur Positionierung einer an einer Seilaufhängung einer Krananlage hängenden Kranlast in Rotationsrichtung um deren vertikale Achse

Publications (2)

Publication Number Publication Date
EP2465807A1 EP2465807A1 (fr) 2012-06-20
EP2465807B1 true EP2465807B1 (fr) 2016-05-25

Family

ID=44799512

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11008120.5A Active EP2465807B1 (fr) 2010-12-14 2011-10-07 Procédé et dispositif de positionnement d'une charge de grue suspendue

Country Status (3)

Country Link
EP (1) EP2465807B1 (fr)
DE (1) DE102010054502A1 (fr)
ES (1) ES2586202T3 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2878566B1 (fr) * 2013-11-28 2016-02-17 Siemens Aktiengesellschaft Procédé d'influence d'un mouvement d'une charge logée au niveau d'une grue
GB2544513B (en) * 2015-11-19 2021-07-14 Sapphire Balconies Ltd Controller and method of controlling a load
CN105947897B (zh) * 2016-06-21 2017-10-24 辽宁科技大学 一种异形建筑的无脚手架建筑机构
AT520008B1 (de) 2017-05-29 2020-02-15 B & R Ind Automation Gmbh Verfahren zum Dämpfen von Drehschwingungen eines Lastaufnahmeelements einer Hebeeinrichtung
CN108382995B (zh) * 2018-03-01 2022-11-18 安徽火炎焱文化传媒有限公司 一种舞台用可调节平衡吊杆的操作方法
DE102018003640B4 (de) * 2018-05-04 2020-06-04 Wolfgang Wichner Werkzeuggreifzange eines Transportkrans für Presswerkzeuge

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69000566T2 (de) * 1989-07-18 1993-06-03 Potain Ecully Motorisierte vorrichtung zum umdrehen von lasten mit energie-selbstversorgung fuer kabel-hebegeraete.
JPH08319084A (ja) * 1995-05-23 1996-12-03 Hitachi Kiden Kogyo Ltd クレーンの吊荷の旋回姿勢制御方法
JP2001322796A (ja) * 2000-05-15 2001-11-20 Mitsubishi Heavy Ind Ltd 吊荷の制振装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3618179B2 (ja) * 1996-09-19 2005-02-09 三井造船株式会社 吊り荷旋回方法および装置
DE19826695A1 (de) * 1998-06-16 1999-12-23 Siemens Ag Verfahren und Vorrichtung zur Ausregelung eines Verdrehwinkels einer Last
DE29921246U1 (de) * 1999-12-02 2000-02-24 Siemens AG, 80333 München Steuervorrichtung zur Überwachung und Regelung von Schwingungsbewegungen von Kranlasten
DE10029579B4 (de) 2000-06-15 2011-03-24 Hofer, Eberhard P., Prof. Dr. Verfahren zur Orientierung der Last in Krananlagen
EP1334945A3 (fr) * 2002-02-08 2004-01-02 Mitsubishi Heavy Industries, Ltd. Dispositif et procédé pour controler la rotation d'un conteneur
JP2005008288A (ja) * 2003-06-16 2005-01-13 Mitsubishi Heavy Ind Ltd 吊荷旋回制御装置および吊荷旋回制御方法
FI117969B (fi) * 2004-09-01 2007-05-15 Kalmar Ind Oy Ab Laitteisto ja menetelmä kontin kiertoheilahdusliikkeen pysäyttämiseksi
DE102007041692A1 (de) * 2007-09-03 2009-03-05 Siemens Ag Regelungseinrichtung zur Dämpfung von Pendelbewegungen einer seilgeführten Last

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69000566T2 (de) * 1989-07-18 1993-06-03 Potain Ecully Motorisierte vorrichtung zum umdrehen von lasten mit energie-selbstversorgung fuer kabel-hebegeraete.
JPH08319084A (ja) * 1995-05-23 1996-12-03 Hitachi Kiden Kogyo Ltd クレーンの吊荷の旋回姿勢制御方法
JP2001322796A (ja) * 2000-05-15 2001-11-20 Mitsubishi Heavy Ind Ltd 吊荷の制振装置

Also Published As

Publication number Publication date
DE102010054502A1 (de) 2012-06-14
ES2586202T3 (es) 2016-10-13
EP2465807A1 (fr) 2012-06-20

Similar Documents

Publication Publication Date Title
EP2465807B1 (fr) Procédé et dispositif de positionnement d'une charge de grue suspendue
EP4013713B1 (fr) Grue et procédé de commande d'une telle grue
EP3409636B1 (fr) Procédé permettant d'amortir des vibrations de torsion d'un élément de réception de charge d'un dispositif de levage
EP2718177B1 (fr) Procédé et dispositif pour compenser un couple de charge ainsi que procédé et équipement de mesure pour déterminer la position d'une charge
DE102012220035B4 (de) Bewegungssystem, das ausgestaltet ist, um eine nutzlast zu bewegen
EP2686265B1 (fr) Dispositif de chargement utilisant un appareil de chargement télescopique
EP2275604A1 (fr) Engine avec une jumelle
EP1958915B1 (fr) Dispositif de chargement et/ou déchargement d'une soute ou d'un espace de stockage et procédé de chargement et/ou déchargement d'une soute ou d'un espace de stockage
EP2113481A1 (fr) Grue mobile avec système de supervision
EP3428112A1 (fr) Palan, en particulier une grue mobile ou une pelleteuse à câbles, doté d'un dispositif de surveillance du processus de dressage et d'enlèvement d'un système de rampe et procédé correspondant
DE102012220039B4 (de) Durch Schwerkraft angetriebenes Ausgleichssystem
DE102017108800A1 (de) Kollaboratives Robotersystem
DE4025749A1 (de) Verfahren zum automatischen betreiben eines drehkrans
DE112006002978T5 (de) Laufmechanismus für eine Fluggastbrücke und Verfahren zu deren Steuerung
AT505728A1 (de) Bearbeitungsanlage für werkstücke
DE102017110006B4 (de) Außenwinde für einen Hubschrauber mit Einrichtungen zur Stabilisierung einer an die Außenwinde angehängten Außenlast und Hubschrauber mit einer solchen Außenwinde
DE102020120699A1 (de) Auslegerdrehkran mit einer Kamera sowie Verfahren zur Reduzierung von Lastpendelungen im Kranbetrieb
DE102020113699A1 (de) Hebeeinrichtung und ein mit einer solchen Hebeeinrichtung ausgestattetes Wasserfahrzeug sowie ein hierfür bestimmtes Arbeitsverfahren
WO2011035892A1 (fr) Chariot cavalier pour utilisation dans des terminaux à conteneurs et pour des taches générales de transport
DE102017124278A1 (de) System zum Bedienen eines Lasthandling-Krans sowie Lasthandling-Kran und Verfahren zu dessen Bedienung
DE2747865A1 (de) Vorrichtung zum steuern des lastwegs
EP4182256B1 (fr) Appareil de levage, tel qu'une grue, et procédé et appareil de commande d'un tel appareil de levage
DE102024200693B3 (de) Fahrbare Vorrichtung
EP3094862B1 (fr) Dispositif comportant une éolienne et une grue
WO2004016540A1 (fr) Procede de commande du fonctionnement d'un treuil roulant

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

17P Request for examination filed

Effective date: 20121024

17Q First examination report despatched

Effective date: 20131114

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

INTG Intention to grant announced

Effective date: 20151221

RIN1 Information on inventor provided before grant (corrected)

Inventor name: WILHARM, HEINZ

Inventor name: WICHNER, WOLFGANG

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

Ref country code: AT

Ref legal event code: REF

Ref document number: 802135

Country of ref document: AT

Kind code of ref document: T

Effective date: 20160615

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502011009821

Country of ref document: DE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20160525

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2586202

Country of ref document: ES

Kind code of ref document: T3

Effective date: 20161013

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 6

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160825

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160826

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160926

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161031

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502011009821

Country of ref document: DE

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20170228

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161031

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161007

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 7

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20161007

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20161031

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20111007

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

REG Reference to a national code

Ref country code: FR

Ref legal event code: PLFP

Year of fee payment: 8

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20160525

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: ES

Payment date: 20191120

Year of fee payment: 9

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: AT

Payment date: 20191018

Year of fee payment: 9

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 802135

Country of ref document: AT

Kind code of ref document: T

Effective date: 20201007

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201007

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20220121

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20201008

REG Reference to a national code

Ref country code: DE

Ref legal event code: R082

Ref document number: 502011009821

Country of ref document: DE

Representative=s name: MOSER GOETZE & PARTNER PATENTANWAELTE MBB, DE

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 502011009821

Country of ref document: DE

Owner name: KONECRANES GLOBAL CORP., FI

Free format text: FORMER OWNER: WICHNER, WOLFGANG, 90530 WENDELSTEIN, DE

Ref country code: DE

Ref legal event code: R081

Ref document number: 502011009821

Country of ref document: DE

Owner name: CATS CRANE AUTOMATION TECHNOLOGY SYSTEMS GMBH , DE

Free format text: FORMER OWNER: WICHNER, WOLFGANG, 90530 WENDELSTEIN, DE

REG Reference to a national code

Ref country code: FI

Ref legal event code: PCE

Owner name: CATS CRANE AUTOMATION TECHNOLOGY SYSTEMS GMBH & CO. KG

REG Reference to a national code

Ref country code: GB

Ref legal event code: 732E

Free format text: REGISTERED BETWEEN 20240530 AND 20240605

REG Reference to a national code

Ref country code: DE

Ref legal event code: R081

Ref document number: 502011009821

Country of ref document: DE

Owner name: KONECRANES GLOBAL CORP., FI

Free format text: FORMER OWNER: CATS CRANE AUTOMATION TECHNOLOGY SYSTEMS GMBH & CO. KG, 90530 WENDELSTEIN, DE

REG Reference to a national code

Ref country code: FI

Ref legal event code: PCE

Owner name: KONECRANES GLOBAL CORPORATION, FI

REG Reference to a national code

Ref country code: GB

Ref legal event code: 732E

Free format text: REGISTERED BETWEEN 20240912 AND 20240918

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20251020

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20251024

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FI

Payment date: 20251022

Year of fee payment: 15

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20251027

Year of fee payment: 15