EP0686224B2 - Manipulateur de grande taille, notamment pour pompes a beton automotrice - Google Patents

Manipulateur de grande taille, notamment pour pompes a beton automotrice Download PDF

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Publication number
EP0686224B2
EP0686224B2 EP94902681A EP94902681A EP0686224B2 EP 0686224 B2 EP0686224 B2 EP 0686224B2 EP 94902681 A EP94902681 A EP 94902681A EP 94902681 A EP94902681 A EP 94902681A EP 0686224 B2 EP0686224 B2 EP 0686224B2
Authority
EP
European Patent Office
Prior art keywords
mast
articulated
axes
control lever
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.)
Expired - Lifetime
Application number
EP94902681A
Other languages
German (de)
English (en)
Other versions
EP0686224A1 (fr
EP0686224B1 (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
PUTZMEISTERAKTIENGESELLSCHAFT
PUTZMEISTERAG
Putzmeister AG
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
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Application filed by PUTZMEISTERAKTIENGESELLSCHAFT, PUTZMEISTERAG, Putzmeister AG filed Critical PUTZMEISTERAKTIENGESELLSCHAFT
Publication of EP0686224A1 publication Critical patent/EP0686224A1/fr
Application granted granted Critical
Publication of EP0686224B1 publication Critical patent/EP0686224B1/fr
Publication of EP0686224B2 publication Critical patent/EP0686224B2/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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 one on one Frame, in particular a chassis arranged, about a substantially vertical axis of rotation by 360 ° rotatable means a drive unit drivable mast block, with a compound of at least three branches, preferably designed as a concrete distribution boom Articulated mast, which mast arms around each horizontal, opposite to each other kink axes the respectively adjacent Mastbock or Mastarm means each of a further drive unit limited pivotally are, and with at least one control lever having remote control device for driving the drive units, wherein the control lever in two mutually perpendicular Hauptstellraumen is adjustable back and forth, and wherein the Remote control device a controllable via the control lever, computer-assisted coordinate transmitter having for the drive units.
  • Truck-mounted concrete pumps of this type are mobile work tools that can be used with the full 360 ° swiveling range of the trestles in the extended horizontal position of the articulated mast.
  • the operator is responsible for controlling the truck-mounted concrete pump and positioning the concrete end hose on the last arm of the articulated mast. He has to operate more than two rotational degrees of freedom of the articulated mast on the associated drive units with movement of the articulated mast in non-structured three-dimensional workspace in compliance with the site boundary conditions.
  • Proportional Funkfernstauerungen this operator activity was facilitated to the extent that the operator is no longer linked with a cable spatially with the truck-mounted concrete pump.
  • the invention is based on the recognition that at a common control of the redundant Buckling axes of the buckling mast independent of the Rotary axis of the mast block with a single adjustment of the control lever an illustrative for the operator Stretching or shortening movement of the kink mast at a given height of the Knickmastspitze can be executed.
  • the coordinate encoder in the one main actuating direction of the control lever the drive units of the bending axes independent from the drive unit of the rotary axis in each rotary position of the mast block under execution of a stretching or shortening movement of the buckling mast at a given height the Knickmastspitze are actuated and that the drive units the redundant buckling axes of Knickmasts each in accordance with an optional predetermined Off-swing characteristic can be actuated are.
  • the drive unit of the axis of rotation of the Mastbocks independent of the drive units the bending axes under execution of a rotary motion of the buckling mast at a given height of the mast top actuated.
  • the mast arms depend on their orientation to the gravitational axis on the one hand and from the on load acting on them (e.g., concrete in the production pipe) on the other hand more or less large bending and torsional moments are exposed to the location of the mast top given given pivot positions in the individual Falsified joints is, according to a preferred Embodiment of the invention proposed that the path-swing characteristic in the coordinate transmitter according to the attack on the individual fattening arms Load-dependent bending and torsional moments is modifiable. The same applies if to avoid of collisions in the movement space of the Knickmasts obstacles are overcome.
  • the truck-mounted concrete pump shown in the drawing has a chassis 10, one near the front axle 12 and the cab 14 of the chassis 10th arranged mast block 16, one on the mast block 16 um a vertical axis of rotation 18 by means not shown Hydraulic rotary unit rotatable by 360 ° Articulated mast 20, one above a material feed bin 22 hydraulically powered concrete Concrete pump 24 and one via a diverter valve 26 to the concrete pump 24 connected delivery line 28 on.
  • the articulated mast 20 has five mast arms 1, 2, 3, 4 and 5, which at the articulation A with the Mast block 16 and at the articulated joints B, C, D and E. about each horizontal bending axes pivotally with each other are connected.
  • a remote control device which a radio remote control unit 80 separate from the chassis and one with the radio remote controller 80 via transceivers 36, 36 'via a bidirectional radio link 38 communicating vehicle-mounted control device 31 includes.
  • the radio remote control unit 80 has several, designed as a control lever controls 34, 34 ', 34 ", each in two mutually perpendicular Main positions forward and backward under delivery be adjusted by control signals.
  • the Control signals are sent over the bidirectional radio link transmitted to the vehicle-fixed transceiver 36 ' and in a data preparation stage 40 and a computer-aided coordinate generator 42 in coordinate signals for the power units 30 of the six Axes 18, A, B, C, D, E implemented.
  • the size of the deflection of the control levers 34, 34 ', 34 " via a suitable sensor or electronics in speed-determining Signals are implemented.
  • the drive units 30 all buckling axes A to E individually or in their entirety so controlled that the Buckling mast 20 in the plus direction a stretching movement and in the minus direction a shortening movement at constant Drehrage of the mastbuck 16 and at constant Height H of the articulated mast end above the ground 140 performs.
  • Each bending axis A to E is within the coordinate transmitter 42 so controlled by software, that the articulated joints depending on path and time itself move harmoniously to each other.
  • the invention relates to a large manipulator, in particular for truck-mounted concrete pumps.
  • On a rack is one around one vertical axis of rotation 18 drivable mast block as well one composed of at least three fattening arms 1 to 5 Articulated mast arranged.
  • the mast arms 1 to 5 of the kink mast are horizontal, parallel to each other Buckling axes A to E in pairs opposite to each adjacent Mastbock 16 or Mastarm 1 to 5 limited by a respective drive unit 30 pivotally.
  • the actuation of the articulated mast takes place via a remote control device 30 with control levers 34,34 ', 34 ".
  • the remote control device via the Control lever 34 controllable, computer-assisted coordinate encoder 42 for the drive units 30, about in the one main direction (+, -) of the Control lever 34, the drive units 30 of the bending axes A to E independent of the drive unit of Rotary axis 18 of the mast block 16 under execution of a Stretching or shortening movement of the kink mast 20 operable at a predetermined height H of the mast top are.

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)

Claims (7)

  1. Manipulateur de grande taille, notamment pour pompes à béton automotrices, comprenant
    un support de mât (16) monté sur un bâti, en particulier un châssis (10), et pouvant être tourné de 360° et entraíné au moyen d'un équipement moteur autour d'un axe de rotation (18) sensiblement vertical,
    un mât articulé (20) assemblé à partir d'au moins trois bras de mât (1 à 5) et conformé de préférence en mât distributeur de béton, lesdits bras de mât (1 à 5) pouvant être pivotés de manière limitée autour d'axes d'articulation (A à E) respectivement horizontaux et parallèles les uns aux autres par rapport au support (16) ou bras de mât (1 à 5) respectivement voisin, au moyen de respectivement un équipement moteur (30) supplémentaire, et
    un dispositif de télécommande pour la commande des équipements moteurs muni d'au moins un levier de commande (34, 34', 34"), le levier de commande (34, 34', 34") pouvant être déplacé vers l'avant et vers l'arrière dans deux directions de réglage principales orientées perpendiculairement rune par rapport à l'autre, et le dispositif de télécommande comprenant un transmetteur de coordonnées (42) assisté par ordinateur pour les équipements moteurs (30), qui peut être commandé par rintermédiaire du levier de commande (34),
    caractérisé en ce que,
    par l'intermédiaire du transmetteur de coordonnées (42), les équipements moteurs (30) des axes d'articulation (A à E) peuvent être actionnés dans rune des directions de réglage principales (+, -) du levier de commande (34) indépendamment de l'équipement moteur de l'axe de rotation (18) dans chaque position rotative du support de mât (16), avec exécution d'un mouvement d'allongement ou de raccourcissement du mât articulé (20), avec une hauteur (H) prédéterminée de la pointe du mât articulé, et que
    les équipements moteurs (30) des axes d'articulation (A à E) redondants du mât articulé (20) peuvent être actionnés à chaque fois en fonction d'une caractéristique de distance-pivotement qui peut être prédéterminée au choix.
  2. Manipulateur de grande taille selon la revendication 1, caractérisé en ce qu'il permet, par l'intermédiaire du transmetteur de coordonnées (42), d'actionner l'équipement moteur de l'axe de rotation (18) du support de mât (16) indépendamment des équipements moteurs (30) des axes d'articulation (A à E) dans l'autre direction de réglage principale (r, l) du levier de commande (34) orientée perpendiculairement à la première, ou dans l'une des principales directions de réglage d'un levier de commande supplémentaire (34', 34"), avec exécution d'un mouvement de rotation du mât articulé (20) avec une hauteur (H) prédéterminée de la pointe du mât articulé.
  3. Manipulateur de grande taille selon la revendication 1 ou 2, caractérisé en ce que, par l'intermédiaire du transmetteur de coordonnées (42), les équipements moteurs (30) des axes d'articulation (A à E) peuvent être actionnés indépendamment de l'équipement moteur de l'axe de rotation (18) du support de mât (16) dans l'autre direction de réglage principale du levier de commande (34) orientée perpendiculairement à la première, ou dans l'une des principales directions de réglage (h, s) d'un levier de commande supplémentaire (34'), avec exécution d'un mouvement de montée ou de descente de la pointe du mât articulé, de préférence avec conservation de l'écartement radial de celle-ci par rapport à l'axe de rotation (18).
  4. Manipulateur de grande taille selon l'une des revendications 1 à 3, caractérisé en ce que la caractéristique de distance-pivotement des axes d'articulation (A à E) dans le transmetteur de coordonnées (42) peut être modifiée en fonction des moments de flexion et/ou de torsion appliqués aux différents bras de mât (1 à 5) en fonction de la charge.
  5. Manipulateur de grande taille selon l'une des revendications 1 à 4, caractérisé en ce que la caractéristique de distance-pivotement des axes d'articulation (A à E) dans le transmetteur de coordonnées peut être modifiée en fonction de zones de collision limitant les mouvements dans l'espace des bras de mât, en particulier par la prédétermination d'une hauteur maximale et/ou minimale du point d'articulation.
  6. Manipulateur de grande taille selon l'une des revendications 1 à 5, caractérisé en ce que la caractéristique de distance-pivotement des axes d'articulation (A à E) dans le transmetteur de coordonnées (42) peut être modifiée en fonction de signaux de mesure délivrés par un détecteur de distance monté sur le dernier bras de mât (5).
  7. Manipulateur de grande taille selon l'une des revendications 1 à 6, caractérisé en ce que les leviers de réglage (34, 34', 34") peuvent être commutés, au choix, par l'intermédiaire du transmetteur de coordonnées (42), sur des coordonnées cartésiennes liées au châssis ou au chantier ou sur les différentes coordonnées d'articulation (A à E).
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
DE4306127A DE4306127C2 (de) 1993-02-27 1993-02-27 Großmanipulator, insbesondere für Autobetonpumpen
DE4306127 1993-02-27
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 EP0686224A1 (fr) 1995-12-13
EP0686224B1 EP0686224B1 (fr) 1997-03-26
EP0686224B2 true 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 (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017174576A1 (fr) 2016-04-07 2017-10-12 Schwing Gmbh Unité de télécommande pour grand manipulateur à levier de commande
EP3705663A1 (fr) 2019-03-07 2020-09-09 Liebherr-Mischtechnik GmbH Commande à bras articulaire d'une pompe à béton
EP3705664A1 (fr) 2019-03-07 2020-09-09 Liebherr-Mischtechnik GmbH Commande à bras articulaire d'une pompe à béton
EP3705662A1 (fr) 2019-03-07 2020-09-09 Liebherr-Mischtechnik GmbH Commande à bras articulaire d'une pompe à béton

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* Cited by examiner, † Cited by third party
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DE19503895A1 (de) * 1995-02-07 1996-08-08 Putzmeister Maschf Betonpumpe mit Verteilermast
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DE19635200A1 (de) * 1996-08-30 1998-03-05 Putzmeister Ag Fahrbare Dickstoffpumpe
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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
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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
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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
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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
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US10036407B2 (en) 2013-08-30 2018-07-31 Eaton Intelligent Power Limited Control method and system for using a pair of independent hydraulic metering valves to reduce boom oscillations
BR112016004771B1 (pt) * 2013-09-06 2021-08-10 Putzmeister Engineering Gmbh Máquina de trabalho e método para sua operação
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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
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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
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DE4306127A1 (de) 1994-09-01
EP0686224A1 (fr) 1995-12-13
DE4306127C2 (de) 2002-08-08
ES2100674T3 (es) 1997-06-16
US5640996A (en) 1997-06-24
JPH08507112A (ja) 1996-07-30
DE59305997D1 (de) 1997-04-30
ES2100674T5 (es) 2005-12-16
EP0686224B1 (fr) 1997-03-26
WO1994019563A1 (fr) 1994-09-01

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