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
• • 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
  • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
• • 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
  • E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms
• • 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
  • Y10T137/0318—Processes
• • 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
• • 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
  • Y10T74/00—Machine element or mechanism
  • Y10T74/20—Control lever and linkage systems
  • Y10T74/20012—Multiple controlled elements
  • Y10T74/20018—Transmission control

Definitions

• the invention relates to a large manipulator, in particular for concrete pumps, with a mast bracket arranged on a frame, preferably rotatable about a vertical axis of rotation, with an articulated mast composed of at least three mast arms, preferably designed as a concrete placing boom, which mast arms oppose each other in pairs around horizontal articulated axes that are parallel to one another the adjacent mast bracket or mast arm can be pivoted to a limited extent by means of one drive unit each, with a preferably remote-controllable control device for the mast movement with the aid of actuators assigned to the individual drive units, and with means for damping mechanical vibrations in the articulated mast.
• the construction of the articulated mast of a large manipulator of this type is an elastic, oscillatory system that can be excited to vibrate naturally.
• a resonant excitation of such vibrations can lead to the mast tip vibrating with amplitudes of one meter and more.
• Vibration excitation is possible, for example, due to the pulsating operation of a concrete pump and the resulting periodic acceleration and deceleration of the concrete column pushed through the delivery line. As a result, the concrete can no longer be distributed evenly and the worker who runs the end hose is endangered.
• a position control loop has been proposed in a known concrete pump with an articulated mast (DE-A 195 03 895) which stabilizes the level of the mast tip with respect to a fixed horizontal reference plane within a predefinable range of variation.
• a sensor device is provided, via the output signals of which a coordinate actuator for compensatory deflection of the mast tip or the end hose can be controlled. It has been shown that these measures are quite complex and do not always lead to the desired result.
• the arm movement sensor system required for the control only responds when the movement has already been carried out, ie when it is already too late. It is therefore not possible to achieve a sufficient control quality.
• the object of the invention is to take precautions and procedural measures, with which optimal mast damping is possible with simple means.
• the solution according to the invention is based on the idea that a time-dependent measured variable derived from the mechanical vibration of the mast arm in question is determined on at least one of the drive units or on the associated mast arm, processed in an evaluation unit to form a dynamic damping signal, and connected to an actuator which controls the associated drive unit.
• the time-dependent pressure difference between the bottom and rod side of the hydraulic cylinder is determined as a measured variable and processed in the evaluation unit to form the dynamic damping signal.
• the dynamic portion of the time-dependent pressure difference above a defined cutoff frequency is expediently filtered out and phase-shifted and / or amplified for the formation of the damping signal.
• the border quenz is preferably set in the range of 0.2 to 10 Hz according to the mechanical natural frequency of the mast arm in question. In any case, the cut-off frequency of the high-pass filter should be selected somewhat lower than the natural frequency of the mast arm in question.
• the mast damping without position control can lead to an undesirable drift of the mast tip
• At least one of the drive units or mast arms has at least one sensor for determining a time-dependent measurement variable derived from the mechanical vibrations of the mast arm in question, as well as a downstream output sensor connected to the associated actuator Evaluation unit for generating a damping signal is assigned.
• each drive unit has a double-acting hydraulic cylinder, with the hydraulic cylinders being pressurized with pressure oil via a proportional changeover valve forming the associated actuator.
• at least one of the hydraulic cylinders is arranged at the rod and bottom ends of the hydraulic cylinders, which are connected to the evaluation unit via a comparator or differential element.
• the evaluation unit advantageously comprises a high-pass filter, which can be designed digitally or analog.
• the cut-off frequencies of the high-pass filters belonging to each mast arm are advantageously separated according to the natural frequencies of the respective mast arms adjustable. Typical cut-off frequencies of the high-pass filters are 0.2 to 10 Hz.
• a preferred embodiment of the invention provides that the high-pass filter is formed by a low-pass filter, the input of which is connected to its output via a differential element. To avoid overshoots, each high-pass filter forms an aperiodic transition function. Furthermore, each high-pass filter is advantageously followed by an evaluation and safety circuit or routine, which can additionally be acted upon on the input side by the output signals of the two pressure sensors of the assigned hydraulic cylinders.
• a preferred embodiment of the invention provides that the control device has a microcontroller with a coordinate transmitter for controlling the actuators, which can be supplied with driving data for the mast movement on the input side via a BUS system and a remote control device, and that each actuator is additionally assigned a transmitter which forms the damping unit , which can be acted upon on the input side with the measured variables belonging to the mast arm in question and is connected on the output side to the actuator.
• the articulated mast is controlled by the pump driver on the basis of the driving data specified via the remote control device, while the mast damping takes place automatically during the movement process and in the working position of the articulated mast.
• the damping units are coupled into the control circuits of the individual drive units.
• the individual transformers are expediently designed as second-order high-pass filters, the transition function of which has an aperiodic behavior. This ensures that no additional disturbances are impressed on the system via the filter and its transformer.
• a special feature of the damping device according to the invention is therefore that an independent damping unit is assigned to each mast arm.
• Suitable pressure sensors are, for example, membrane sensors or piezo sensors, to which a measuring transducer with an analog-digital converter is assigned when a microcontroller is present. It is important that the pressure sensors have sufficient dynamics.
• an arrangement for drift compensation of the articulated mast is provided according to an alternative or advantageous embodiment of the invention, which has at least one inclination or distance sensor arranged on one of the mast arms, a setpoint memory and one on the input side with the setpoint memory and with the Output of the inclination or distance sensor connected comparator for controlling at least one of the actuators.
• the inclination or distance sensor is advantageously arranged on the end arm of the articulated mast, while the setpoint value memory can be loaded with the digital output signal of the inclination or distance sensor via a control routine.
• the control routine ensures that the current inclination value or ground clearance of the end arm is stored in the setpoint memory when a working position of the articulated mast is reached.
• Fig. 1 is a side view of a truck-mounted concrete pump with a folded mast
• FIG. 2 shows the truck-mounted concrete pump according to FIG. 1 with an articulated mast in the working position
• FIG. 3 shows a diagram of a control device for mast movement and damping
• Fig. 4 is a schematic with a flow chart of the software transmitter contained in the microcontroller for mast damping.
• the truck-mounted concrete pump 10 comprises a transport vehicle 11, e.g. B. designed as a two-cylinder piston pump pulsating thick matter pump 12 and a rotatable about a vehicle-mounted vertical axis 13 boom 14 as a support for a concrete delivery line 16. Via the delivery line 16, liquid concrete, which is continuously introduced into a feed container 12 during concreting, to one of the Location of the vehicle 11 promoted remote pouring 18.
• the placing boom 14 consists of a mast bracket 21 which can be rotated about the vertical axis 13 by means of a hydraulic rotary drive 19 and an articulated mast 22 which can be pivoted thereon and which can be continuously adjusted to a variable range and height difference between the vehicle 11 and the concreting site 18.
• the articulated mast 22 consists of five articulated mast arms 23 to 27 which can be pivoted about axes 28 to 32 running parallel to one another and at right angles to the vertical axis 13 of the mast bracket 21.
• the articulation angles ⁇ to ⁇ 5 (FIG.
• the mast leader controls z. B. by means of a radio remote control 50 the mast movements through which the mast tip 33 with the end hose 43 is guided over the area to be concreted.
• the end hose 43 has one typical length of 3 to 4 m and because of its articulated suspension in the area of the mast tip 33 and because of its inherent flexibility with its outlet end, a hose man can hold it in the favorable position relative to the concreting point 18.
• the remote control 50 contains a plurality of control elements 60, which are designed as control levers and can be adjusted forwards and backwards in two mutually perpendicular adjustment directions by emitting control signals.
• the control signals are transmitted via a radio link 61 to the vehicle-mounted radio receiver 62, which is connected on the output side to the microcontroller 52 via a bus system 63, for example a CAN bus.
• the microcontroller 52 contains, inter alia, a computer-aided coordinate transmitter 64 in which the driving data transmitted by the radio receiver 62 are converted into coordinate signals for the drive units 19, 34 to 38 of the six axes 13, 28 to 32.
• the size of the deflection of the operating elements 60 can be converted into speed-determining signals.
• the actuation of the drive units 34 to 38 takes place via the actuators 68 to 76 designed as proportional changeover valves, which are connected with their output lines 78, 80 on the bottom and rod side to the drive units 34 to 38 designed as double-acting hydraulic cylinders.
• the drive unit 19 for the mast bracket 21 is designed as a hydraulic rotary drive which is controlled via the actuator 66.
• the individual drive units 19, 34 to 36 can also be operated directly via the control elements 60 and the associated ones Actuators 66 to 76 are controlled.
• the articulated mast 22, together with the transport vehicle 11, represents an oscillatory system which, in operation, operates from the pulsating tendency thick matter pump 12 can be excited to forced vibrations.
• the vibrations can lead to deflections of the mast tip 33 and the end hose 43 hanging thereon, with amplitudes of one meter and frequencies between 0.5 and a few Hz.
• the microcontroller 52 additionally contains a number of software-supported damping units 82 which are connected to the pilot control input of one of the actuators 68 to 76, respectively.
• the damping units 82 are acted upon by a time-dependent measurement variable derived from the mechanical vibrations of the respective mast arm 23 to 27.
• the measurement signal ⁇ p (t) is fed to a digital high-pass filter 90, 92 in a predetermined time cycle.
• the high-pass filter is formed by a digital low-pass filter 90 with a downstream comparator 92, to the latter of which the input signal of the low-pass filter 90 is also applied.
• the corner frequency of the high-pass filter 90, 92 is set separately for each mast arm 23 to 27 and selected to be somewhat lower than its mechanical natural frequency.
• the damping units 82 additionally contain an evaluation and safety algorithm 93 arranged downstream of the digital high-pass filter 90, 92 for setting the degree of amplification required for vibration damping.
• the safety algorithm also monitors the movement limit values of the mast arm, for example via a stop control.
• the absolute pressure values p s and p b measured by the bottom and rod-side pressure sensors 84, 86 can also be evaluated. Since the axial positions of the articulated axes are uncontrolled, it cannot be ruled out that due to structural tolerances, the articulated mast 22 will drift. This is particularly the case in the working position of the articulated mast during the pumping activity. The drift can be monitored and compensated. As can be seen from FIGS. 2 and 4, for this purpose a solid angle sensor 94 or a distance sensor, for example in the form of an inclination sensor, and a setpoint memory 96 are provided on the last mast arm 27.
• the current angular position or the ground clearance of the mast tip 33 can be stored in the setpoint memory 96 in every working position, that is to say at the end of each driving operation.
• a drift can be recognized in the further course of time and compensated for by actuating at least one of the actuators 68 to 76, for example via the coordinate transmitter 64.
• the invention relates to a large manipulator, in particular of concrete pumps.
• the large manipulator has an articulated mast 22 composed of at least three mast arms 23 to 27, preferably designed as a concrete placing mast, the mast arms of which can be pivoted to a limited extent about respective horizontal, mutually parallel articulation axes 28 to 32 by means of a drive unit 34 to 38.
• a control device 50, 62, 52 for the mast movement with the aid of actuators assigned to the individual drive units and means for damping mechanical vibrations in the articulated mast are provided.

Landscapes

• Engineering & Computer Science (AREA)
• Architecture (AREA)
• Mechanical Engineering (AREA)
• Civil Engineering (AREA)
• Structural Engineering (AREA)
• Automation & Control Theory (AREA)
• On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
• Manipulator (AREA)
• Buildings Adapted To Withstand Abnormal External Influences (AREA)
• Surgical Instruments (AREA)
• Vibration Dampers (AREA)
• Fluid-Damping Devices (AREA)

Priority Applications (2)

Applications Claiming Priority (3)

Related Child Applications (1)

Publications (3)

Family

ID=7656934

Family Applications (2)

Family Applications After (1)

Country Status (8)

Cited By (2)

Families Citing this family (56)

Family Cites Families (10)

• 2000
  • 2000-09-19 DE DE10046546A patent/DE10046546A1/de not_active Withdrawn
• 2001
  • 2001-07-04 JP JP2002529617A patent/JP4580617B2/ja not_active Expired - Fee Related
  • 2001-07-04 EP EP01945335A patent/EP1319110B8/fr not_active Expired - Lifetime
  • 2001-07-04 DE DE50115523.6T patent/DE50115523C5/de not_active Expired - Lifetime
  • 2001-07-04 ES ES01945335T patent/ES2301552T3/es not_active Expired - Lifetime
  • 2001-07-04 AT AT01945335T patent/ATE390530T1/de not_active IP Right Cessation
  • 2001-07-04 EP EP07119143A patent/EP1882795B1/fr not_active Expired - Lifetime
  • 2001-07-04 AT AT07119143T patent/ATE471416T1/de not_active IP Right Cessation
  • 2001-07-04 KR KR1020037003873A patent/KR100800798B1/ko not_active Expired - Fee Related
  • 2001-07-04 ES ES07119143T patent/ES2344612T3/es not_active Expired - Lifetime
  • 2001-07-04 WO PCT/EP2001/007617 patent/WO2002025036A1/fr not_active Ceased
  • 2001-07-04 DE DE50113790.4T patent/DE50113790C5/de not_active Expired - Lifetime
  • 2001-07-04 DE DE20122093U patent/DE20122093U1/de not_active Expired - Lifetime
  • 2001-07-04 US US10/380,636 patent/US6883532B2/en not_active Expired - Lifetime

Non-Patent Citations (1)

Also Published As

Similar Documents

Legal Events