EP0686224A1 - Manipulateur de grande taille, notamment pour pompes a beton automotrice - Google Patents

Manipulateur de grande taille, notamment pour pompes a beton automotrice

Info

Publication number
EP0686224A1
EP0686224A1 EP94902681A EP94902681A EP0686224A1 EP 0686224 A1 EP0686224 A1 EP 0686224A1 EP 94902681 A EP94902681 A EP 94902681A EP 94902681 A EP94902681 A EP 94902681A EP 0686224 A1 EP0686224 A1 EP 0686224A1
Authority
EP
European Patent Office
Prior art keywords
mast
articulated
control lever
axes
large manipulator
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.)
Granted
Application number
EP94902681A
Other languages
German (de)
English (en)
Other versions
EP0686224B1 (fr
EP0686224B2 (fr
Inventor
Karl Schlecht
Hartmut Benckert
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.)
Putzmeister Concrete Pumps GmbH
Original Assignee
Putzmeister Werk Maschinenfabrik GmbH
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=6481507&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0686224(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Putzmeister Werk Maschinenfabrik GmbH filed Critical Putzmeister Werk Maschinenfabrik GmbH
Publication of EP0686224A1 publication Critical patent/EP0686224A1/fr
Publication of EP0686224B1 publication Critical patent/EP0686224B1/fr
Application granted granted Critical
Publication of EP0686224B2 publication Critical patent/EP0686224B2/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/8807—Articulated or swinging flow conduit

Definitions

  • the invention relates to a large manipulator, in particular for truck-mounted concrete pumps, with a mast bracket arranged on a frame, preferably a chassis, which can be driven about an essentially vertical axis of rotation by means of a drive unit, a mast bracket composed of at least three mast arms, preferably as a concrete placing boom trained articulated mast, which mast arms can be pivoted to a limited extent about horizontal, mutually parallel articulation axes relative to the respectively adjacent mast bracket or mast arm by means of a further drive unit, and with a remote control device having at least one control lever for controlling the drive units, the control lever is adjustable forwards and backwards in two mutually perpendicular main setting directions.
  • Truck-mounted concrete pumps of this type are mobile implements that can be used with a full 360 ° swivel range of the mast bracket with the horizontal position of the articulated mast.
  • the operator is responsible for the control of the truck-mounted concrete and the positioning of the concrete end hose on the last arm of the articulated mast. For this purpose, he has more than two rotational degrees of freedom of the articulated mast by means of the associated drive units while moving the articulated mast in the non-structured three-dimensional working space when he is observed the site conditions.
  • proportional radio remote controls has made this operator's work easier in that the operator is no longer spatially linked to the truck-mounted concrete pump with a cable.
  • the invention is based on the object of improving the known large manipulator of the type mentioned at the outset in such a way that the operator is able to control any points in space within the reach of the articulated mast with simple manipulations of the operating elements.
  • the invention is based on the finding that when the redundant articulation axes of the articulated mast are actuated jointly, regardless of the axis of rotation of the articulated trestle, with a single actuating operation of the control lever, a stretching or shortening movement of the articulated mast that is clear to the operator at a predetermined height the top of the articulated mast can be made.
  • the remote control device has a computer-assisted coordinate transmitter for the drive units, which can be controlled via the control lever, via which the drive units of the articulated axles are executed independently of the drive unit of the axis of rotation of the mast bracket in one main operating direction of the control lever a stretching or shortening movement of the articulated mast can be actuated at a predetermined height of the mast tip.
  • a stretching or shortening movement of the articulated mast can be actuated at a predetermined height of the mast tip.
  • a further control lever can be positioned via the coordinate transmitter in the other, perpendicular to the first main adjustment direction of the control lever or in the one main adjustment direction. bels the drive unit of the axis of rotation of the mast bracket can be actuated independently of the drive units of the articulated axes by rotating the articulated mast at a predetermined height of the mast tip. Furthermore, it is advantageous if the drive units of the articulated axes are independent of the drive unit of the axis of rotation of the mast bracket by executing a lifting or lowering movement in the other, to the first, main main direction of the control lever or in the one main direction of another control lever the mast tip and maintaining its radial distance from the axis of rotation can be actuated.
  • the mast arms, on the one hand, and the load acting on them e.g. concrete in the conveyor pipe
  • the swing-away characteristic in the coordinate transmitter can be modified in accordance with the load-dependent bending and torsional moments acting on the individual mast arms. The same applies if obstacles have to be overcome to avoid collisions in the movement space of the articulated mast.
  • sions zones in particular can be modified by specifying a highest and / or deepest break point.
  • the path-swivel characteristic of the articulated axes in the coordinate transmitter can be modified in accordance with measurement signals given by a distance sensor preferably arranged on the last mast arm.
  • the actuating levers can be switched over to the Cartesian coordinates fixed to the frame or to the construction site or to the individual joint coordinates via the coordinate transmitter.
  • FIG. 1 shows a side view of a truck-mounted concrete pump with a five-arm articulated mast in the folded state
  • FIGS. 2a and b show a side view and a top view of a truck-mounted concrete pump with the articulated mast unfolded;
  • FIG. 3a and b each show a section of the remote and fixed part of a remote control device in a schematic representation.
  • the truck-mounted concrete pump shown in the drawing has a chassis 10, a mast bracket 16 arranged in the vicinity of the front axle 12 and the driver's cab 14 of the chassis 10, and a mast bracket 16 on the mast bracket 16 about a vertical axis of rotation 18 by means of a hydraulic rotary unit (not shown) Articulated mast 20 which can be rotated through 360 °, a hydraulically driven concrete pump 24, which can be acted upon by a material feed container 22, and a delivery line 28 connected to the concrete pump 24 via a pipe switch 26.
  • the articulated mast 20 has five mast arms 1, 2, 3, 4 and 5, which are connected to one another at the articulated joint A with the mast bracket 16 and at the articulated joints B, C, D and E about horizontal articulation axes.
  • the folding in and out of the mast arms 1 to 5 about the joints A to E is carried out hydraulically by means of double-acting hydraulic cylinders 30 which, with their free cylinder-side and rod-side ends, are attached to arms or folding arms of the mast arms 1 to 5 and the mast bracket 16 ⁇ are steered.
  • the mast arms are folded towards one another in an essentially parallel orientation, while in the illustration according to FIGS. 2a and b they are unfolded.
  • a remote control device which has a radio remote control device 30 and a separate one from the chassis with the radio remote control device 30 by means of transceivers 36, 36 'over a bidirectional radio link 38 communicating control device 31 fixed to the vehicle.
  • the radio remote control device 30 has a plurality of control elements 34, 34 ', 34 "designed as control levers, each of which can be adjusted forwards and backwards in two mutually perpendicular main actuating directions with the emission of control signals.
  • the control signals are transmitted via the bidirectional Radio link to the vehicle-mounted transceiver 36 'transmitted and converted in a data processing stage 40 and a computer-aided coordinate transmitter 42 into coordinate signals for the drive units 30 of the six axes 18, A, B, C, D, E.
  • the size of the Deflection of the control lever 34, 34 ', 34 can be converted into speed-determining signals by means of suitable sensors or electronics.
  • the drive units 30 of all articulation axes A are actuated via the control lever 34 in one main actuating direction (+, -) with the support of a computer which is fixed to the vehicle to E are controlled individually or in their entirety in such a way that the articulated mast 20 executes a stretching movement in the plus direction and a shortening movement in the minus direction at a constant rotational position of the mast bracket 16 and at a constant height h of the articulated mast end above the floor 40.
  • Each articulation axis A to E is controlled by software within the coordinate transmitter 42 in such a way that the articulation joints in Dependence on distance and time move harmoniously to each other.
  • the drive assemblies assigned to the articulated axes are designed as hydraulic cylinders 30 with length measuring systems 44 housed in the cylinders, the measured stroke movement of the cylinder can be converted into the associated rotary movement of the joint with the aid of a predetermined travel-swivel characteristic.
  • the redundant degrees of freedom of the articulated joints are thus controlled according to a pre-programmed strategy in which collision zones in the form of obstacles, ceilings, fixtures and the like can also be entered via the operating software and taken into account in the movement sequence.
  • correction data stored in files for example to compensate for a load-dependent deformation
  • the rotational position of the articulated mast 20 in the mast bracket 16 about the axis of rotation 18 takes place in the exemplary embodiment shown by actuating the control lever 34 in the horizontal main actuating direction (r, l), with a clockwise rotation in direction r and a left rotation in direction 1 Axis of rotation 18 is triggered.
  • the lifting-lowering movement (h, s) of the end hose arranged on the mast tip can be controlled by actuating the drive units 30 of the articulated axes A to E via a further actuating lever 34 'are triggered.
  • the control levers are actuated in one of the mutually perpendicular main adjustment directions In the intermediate direction, both types of control are addressed in the manner of a component decomposition.
  • the invention relates to a large manipulator, in particular for truck-mounted concrete pumps.
  • a mast bracket which can be driven about a vertical axis of rotation 18 and an articulated mast composed of at least three mast arms 1 to 5 are arranged on a frame.
  • the mast arms 1 to 5 of the articulated mast can be pivoted to a limited extent in pairs about articulated axes A to E parallel to one another relative to the respectively adjacent mast bracket 16 or mast arm 1 to 5 by means of one drive unit 30 each.
  • the articulated mast is actuated via a remote control device 30 with control levers 34, 34 ', 34 ".
  • the remote control device device has a computer-assisted coordinate transmitter 42 for the drive units 30, which can be controlled via the control lever 34, via which the drive units 30 of the articulated axes A to E are independent of the drive, in one main direction (+, -) of the control lever 34 ⁇ aggregate of the axis of rotation 18 of the mast bracket 16 can be actuated by executing a stretching or shortening movement of the articulated mast 20 at a predetermined height h of the mast tip.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)

Abstract

L'invention concerne un manipulateur de grande taille, notamment pour pompes à béton automotrices. Un châssis soutient un chevalet de mât pouvant tourner autour d'un axe de rotation (18) vertical, ainsi qu'un mât articulé composé d'au moins trois bras (1 à 5). Les bras (1 à 5) du mât articulé peuvent pivoter au moyen d'un organe de commande (30), dans une certaine limite, autour d'axes d'articulation (A à E) horizontaux parallèles et se présentant par deux par rapport au chevalet (16) ou au bras de mât (1 à 5) adjacent. Un système de commande à distance (30) muni de leviers de commande (34, 34', 34') permet d'actionner le mât articulé. Afin de bien assigner les mouvements du levier de commande (34) et ceux du mât articulé, selon l'invention, le système de commande à distance (30) comporte un transmetteur de coordonnées (42) pour l'organe de commande, qui est assisté par ordinateur et commandé par l'intermédiaire du levier de commande (34). Ce transmetteur de coordonnées permet d'actionner dans une direction de réglage (+, -) du levier de commande (34), les organes de commande (30) des axes d'articulation (A à E), indépendamment de l'organe de commande de l'axe de rotation (18) du chevalet de mât (16), en faisant opérer au mât articulé (20) un mouvement d'allongement ou de rétraction à une hauteur (h) prédéfinie de la pointe du mât. Dans l'autre direction de réglage (l, r) du levier de commande, qui est perpendiculaire à la première direction, on déclenche un mouvement rotatif du mât articulé (20) autour de l'axe de rotation (18) par l'intermédiaire du transmetteur de coordonnées, indépendamment du mouvement opéré dans les axes d'articulation (A à E) à une hauteur donnée (h) de la pointe du mât.
EP94902681A 1993-02-27 1993-12-04 Manipulateur de grande taille, notamment pour pompes a beton automotrice Expired - Lifetime EP0686224B2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE4306127 1993-02-27
DE4306127A DE4306127C2 (de) 1993-02-27 1993-02-27 Großmanipulator, insbesondere für Autobetonpumpen
PCT/EP1993/003416 WO1994019563A1 (fr) 1993-02-27 1993-12-04 Manipulateur de grande taille, notamment pour pompes a beton automotrice

Publications (3)

Publication Number Publication Date
EP0686224A1 true EP0686224A1 (fr) 1995-12-13
EP0686224B1 EP0686224B1 (fr) 1997-03-26
EP0686224B2 EP0686224B2 (fr) 2005-06-01

Family

ID=6481507

Family Applications (1)

Application Number Title Priority Date Filing Date
EP94902681A Expired - Lifetime EP0686224B2 (fr) 1993-02-27 1993-12-04 Manipulateur de grande taille, notamment pour pompes a beton automotrice

Country Status (6)

Country Link
US (1) US5640996A (fr)
EP (1) EP0686224B2 (fr)
JP (1) JPH08507112A (fr)
DE (2) DE4306127C2 (fr)
ES (1) ES2100674T5 (fr)
WO (1) WO1994019563A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101824916A (zh) * 2010-03-26 2010-09-08 长沙中联重工科技发展股份有限公司 混凝土布料设备臂架复合运动控制系统、方法和电控系统
WO2017174576A1 (fr) * 2016-04-07 2017-10-12 Schwing Gmbh Unité de télécommande pour grand manipulateur à levier de commande

Families Citing this family (64)

* Cited by examiner, † Cited by third party
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DE4412643A1 (de) * 1993-08-26 1995-03-02 Putzmeister Maschf Großmanipulator, insbesondere für Autobetonpumpen, sowie Verfahren zu dessen Handhabung
DE19503895A1 (de) * 1995-02-07 1996-08-08 Putzmeister Maschf Betonpumpe mit Verteilermast
DE19520166C2 (de) * 1995-06-01 2000-03-23 Konrad Schauer Maststeuerung für nicht-schwingungsfreie Vielgelenkgeräte, insbesondere für vielgliedrige Betonpumpen-Verteilausleger
DE19635200A1 (de) * 1996-08-30 1998-03-05 Putzmeister Ag Fahrbare Dickstoffpumpe
DE19919858B4 (de) * 1999-04-30 2007-09-20 Putzmeister Ag Fahrbare Arbeitsmaschine mit Fernsteuergerät zu deren Ansteuerung
DE10046546A1 (de) 2000-09-19 2002-03-28 Putzmeister Ag Großmanipulator mit Schwingungsdämpfer
DE10060077A1 (de) 2000-12-01 2002-06-06 Putzmeister Ag Vorrichtung zur Betätigung des Knickmasts eines Großmanipulators
DE10101570B4 (de) * 2001-01-15 2008-12-04 Schwing Gmbh Großmanipulator mit Schwingungsdämpfung
DE10107107A1 (de) 2001-02-14 2002-08-29 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts eines Großmanipulators sowie Großmanipulator mit einer solchen Vorrichtung
DE10116407A1 (de) 2001-04-02 2002-10-17 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts insbesondere für Betonpumpen
DE10240180A1 (de) 2002-08-27 2004-03-11 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts
DE10328770A1 (de) 2003-06-25 2005-01-27 Putzmeister Ag Fahrbare Betonpumpe mit Verteilermast
DE102006031257A1 (de) * 2006-07-06 2008-01-10 Putzmeister Ag Autobetonpumpe mit Knickmast
CN100591880C (zh) 2006-12-31 2010-02-24 三一重工股份有限公司 一种智能臂架控制装置
DE102007012575A1 (de) * 2007-03-13 2008-09-18 Putzmeister Concrete Pumps Gmbh Großmanipulator
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CN101654075B (zh) * 2008-08-21 2012-06-27 上海鸿得利重工股份有限公司 一种22米rz型折叠臂架混凝土泵车
DE102009007310A1 (de) 2009-02-03 2010-08-05 Putzmeister Concrete Pumps Gmbh Vorrichtung zur Verteilung von Beton mit einem Knickmast
DE102009007311A1 (de) 2009-02-03 2010-08-05 Putzmeister Concrete Pumps Gmbh Vorrichtung zur Verteilung von Beton mit einem Knickmast
CN101718861B (zh) 2009-12-09 2011-11-09 三一重工股份有限公司 混凝土泵车位置检测装置和方法及混凝土泵车
CN101750620A (zh) * 2009-12-25 2010-06-23 三一重工股份有限公司 臂架系统的定位方法、定位装置及混凝土泵车
CN101824915B (zh) * 2010-03-26 2011-09-21 长沙中联重工科技发展股份有限公司 具有臂架应急驱动功能的混凝土布料设备
CN101870110B (zh) 2010-07-01 2012-01-04 三一重工股份有限公司 一种机械铰接臂的控制方法及控制装置
US9428348B2 (en) 2010-10-21 2016-08-30 Ty-Crop Manufacturing Ltd. Mobile material handling and metering system
US9068334B2 (en) 2010-12-22 2015-06-30 Erich Penner Apparatus for disposal from a recreational vehicle
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CN102346025B (zh) * 2011-07-12 2013-04-24 三一重工股份有限公司 获得臂架系统末端位置参数的方法、臂架系统及工程机械
CN102345389B (zh) * 2011-07-14 2013-01-02 中联重科股份有限公司 工程机械以及机械臂的控制方法与控制装置
CN102360222B (zh) * 2011-07-14 2014-03-26 中联重科股份有限公司 控制工程机械的机械臂的方法、装置和遥控器
CN102360228B (zh) * 2011-09-28 2014-07-09 三一重工股份有限公司 一种臂架动作控制系统及混凝土泵车
CN102535852B (zh) * 2012-01-16 2014-04-16 三一重工股份有限公司 一种机械臂操控系统、方法及工程机械
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CN103206090B (zh) * 2012-12-27 2016-08-10 徐工集团工程机械股份有限公司江苏徐州工程机械研究院 一种混凝土泵车智能臂架控制及其变形补偿的方法
DE202013012536U1 (de) * 2013-04-11 2017-05-18 Liebherr-Betonpumpen Gmbh Fahrbares Arbeitsgerät mit drehbarem Mast oder Ausleger
US9810242B2 (en) 2013-05-31 2017-11-07 Eaton Corporation Hydraulic system and method for reducing boom bounce with counter-balance protection
DE102013216846A1 (de) * 2013-08-23 2015-02-26 Putzmeister Engineering Gmbh Arbeitsmaschine mit Steuereinrichtung
EP3039301B1 (fr) 2013-08-30 2018-10-03 Eaton Corporation Procédé et système de commande pour l'utilisation d'une paire de soupapes de dosage à commande hydraulique indépendantes pour réduire des oscillations de flèche
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CN103590606B (zh) * 2013-11-13 2015-10-28 三一汽车制造有限公司 一种臂架控制方法和装置及混凝土泵车及布料机
CN103628686B (zh) * 2013-11-13 2016-05-04 河南森源重工有限公司 一种用于混凝土泵车的泵送系统控制方法
US10344783B2 (en) 2013-11-14 2019-07-09 Eaton Intelligent Power Limited Pilot control mechanism for boom bounce reduction
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DE102014200396A1 (de) * 2014-01-13 2015-07-30 Putzmeister Engineering Gmbh Autobetonpumpe und Schutzschaltung dafür
CN103806665B (zh) * 2014-01-26 2016-04-06 三一汽车制造有限公司 泵车智能臂弹性形变的矫正方法及装置
CN104032959B (zh) * 2014-04-29 2017-01-18 三一汽车制造有限公司 一种工程机械和臂架控制系统
US9499348B2 (en) 2014-05-23 2016-11-22 Ty-Crop Manufacturing Ltd. Material handling conveyor vehicle
CA2893686A1 (fr) 2014-06-09 2015-12-09 Ty-Crop Manufacturing Ltd. Systeme de commande pour vehicule transporteur manipulateur de materiau
CN106661894B (zh) 2014-07-15 2019-12-10 伊顿公司 实现悬臂弹跳减少以及防止液压系统中的非指令运动的方法和设备
US9957108B2 (en) 2015-06-08 2018-05-01 Continental Intermodal Group-Trucking Llc Conveyor transition for material handling
DE102016106595A1 (de) * 2016-04-11 2017-10-12 Schwing Gmbh Großmanipulator mit dezentraler Hydraulik
EP3541269B1 (fr) 2016-11-15 2021-09-22 Avidhrt, Inc. Dispositif, système et procédé de surveillance vitale
CN111542702B (zh) 2017-04-28 2022-09-23 丹佛斯动力系统Ii技术有限公司 用于抑制具有液压控制的吊杆或细长构件的机器中的质量感应振动的系统
EP3615813A4 (fr) 2017-04-28 2021-01-27 Eaton Intelligent Power Limited Système à capteurs de mouvement pour amortir des vibrations induites par la masse dans des machines
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WO1994019563A1 (fr) 1994-09-01
DE4306127A1 (de) 1994-09-01
ES2100674T3 (es) 1997-06-16
DE59305997D1 (de) 1997-04-30
JPH08507112A (ja) 1996-07-30
EP0686224B1 (fr) 1997-03-26
DE4306127C2 (de) 2002-08-08
EP0686224B2 (fr) 2005-06-01
US5640996A (en) 1997-06-24
ES2100674T5 (es) 2005-12-16

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