EP3303732A1 - Manipulateur de grande taille présentant un mât articulé rapidement repliable et déployable - Google Patents

Manipulateur de grande taille présentant un mât articulé rapidement repliable et déployable

Info

Publication number
EP3303732A1
EP3303732A1 EP16731808.8A EP16731808A EP3303732A1 EP 3303732 A1 EP3303732 A1 EP 3303732A1 EP 16731808 A EP16731808 A EP 16731808A EP 3303732 A1 EP3303732 A1 EP 3303732A1
Authority
EP
European Patent Office
Prior art keywords
mast
articulated
speed
large manipulator
control device
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
EP16731808.8A
Other languages
German (de)
English (en)
Other versions
EP3303732B1 (fr
Inventor
Johannes HENIKL
Wolfgang KEMMETMÜLLER
Andreas Kugi
Reiner VIERKOTTEN
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.)
Friedrich Wilhelm Schwing GmbH
Original Assignee
Friedrich Wilhelm Schwing 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
Application filed by Friedrich Wilhelm Schwing GmbH filed Critical Friedrich Wilhelm Schwing GmbH
Publication of EP3303732A1 publication Critical patent/EP3303732A1/fr
Application granted granted Critical
Publication of EP3303732B1 publication Critical patent/EP3303732B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • B66C13/20—Control systems or devices for non-electric drives
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • 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

Definitions

  • the invention relates to a large manipulator, in particular a truck-mounted concrete pump, with a rotatable about a vertical axis mast bracket, which is arranged on a frame, a folding mast, which comprises two or more mast arms, wherein the mast arms are connected by means of articulated joints with the respectively adjacent Mastbock or Mastarm by means of a respective pivot drive, with a drives controlling the control device for the mast movement and with a mast sensor for detecting the position of at least one point of the articulated mast or a swivel angle of at least one articulated joint.
  • the invention relates to a method for controlling the movement of a articulated mast of a large manipulator, in particular a truck-mounted concrete pump.
  • WO 2014/1 66637 A1 discloses a large manipulator with articulated mast.
  • a pivoting drives which are used for pivoting the mast arms about the articulated joints relative to the respective adjacent mast arm or Mastbock
  • hydraulic cylinders are typically used. These are controlled by proportional control valves of an electronic control device to specify the travel speed of the individual hydraulic cylinder variable.
  • the traversing speed of the individual hydraulic cylinder is usually limited in known large manipulators because too fast movement of the articulated mast represents a threat to people in the area.
  • the control valves of the hydraulic cylinders are operated in the prior art via a remote control connected to the control device (wireless or wired).
  • the control valves (for example, in an emergency operation) can be manually controlled by hand lever.
  • the control valves are designed so that a certain position of an operating lever on the remote control a defined volume flow of the hydraulic fluid, i. corresponds to a defined travel speed of the respective hydraulic cylinder, regardless of the pressure conditions prevailing in the hydraulic system.
  • the control valves are designed so that when simultaneous pivoting of all joints with maximum travel speed and fully extended articulated mast the maximum speed of the mast top is not reached.
  • This design of the control valves has the disadvantage that the legally permitted frame speed for the movement speed of the mast tip is used very poorly in most practical cases.
  • the previously mentioned "worst case" in which all joints are moved at maximum speed with fully extended articulated mast, practically never occurs.
  • the limitation of the movement speed therefore leads in most cases to a very slow mast movement Knickmastes considerable time delays, which makes the
  • the aforementioned WO 2014/1 6637 A1 proposes a large manipulator, in which the control device provides a rapid traverse for the rotary drive of the mast block to rotate the articulated mast with increased speed in the desired working position, the rapid traverse is selectable only when the Mast or boom is completely folded.
  • a single sensor which cooperates with the control device, is provided in the previously known large manipulator, wherein it can be determined via the sensor, whether the Articulated mast completely folded or not. The sensor generates a release signal to the control device, as long as it is ensured that the articulated mast is folded and thus has a minimum radius. In this condition, the articulated mast can be rotated at an increased speed.
  • the permissible frame for the speed of the mast top is still insufficiently utilized. Only with fully folded articulated mast a rotary movement of the mast with increased speed is possible. In all partially unfolded positions, however, the articulated mast is still moved only at a reduced movement speed corresponding to the "worst case", in such a way that the legally permissible maximum speed of the mast tip is never exceeded, regardless of the mast position Thus, the achieved mast speed is still well below the legally permissible still take the unfolding and folding of the articulated mast too long.
  • the articulated mast should be able to be brought from its fully folded state into its desired working position in minimal time. Likewise, the articulated mast from the working position in minimal time in the fully folded position can be transferred. In addition, the articulated mast should be able to move quickly from a working position to another working position when set up.
  • This object is achieved by the invention starting from a large manipulator of the type mentioned above in that the control device is set up to limit the speed of the mast movement based on the output signal of the mast sensor.
  • the pivot angle of at least one articulated joint of the articulated mast is limited depending on the current swing angle.
  • the position of a point of the mast is detected, for example, the distance of this point to the mast block, and based on the control of the speed of the mast movement limited so that a maximum allowable speed of this point, or the derived speed of another point of the articulated mast , is not exceeded.
  • the control device processes according to the invention, the detected pivoting angle and calculated from the positions of the mast joints and the travel speeds of the rotary actuators in particular the resulting speed of the mast top. Based on this calculation, the drives of the articulated joints can then be controlled and the speed of at least one of the drives can be limited.
  • the control device is set up to control the individual drives proportionally in accordance with a travel command, the travel command specifying the desired speeds of the drives.
  • the move command results, for example, from the signals of a remote control, which is used by an operator of the large manipulator to control the mast movement.
  • the control device controls the individual drives in such a way that the respective travel speed corresponds to the setpoint speed in accordance with the travel command.
  • the Control device determine the speed of the tip of the articulated boom resulting from the travel command, the Mastarmandern and the instantaneous pivoting angles, as explained above.
  • the control device can accordingly reduce the speeds of the individual drives with respect to the travel command as soon as the speed of the tip of the articulated mast exceeds a predetermined limit, which corresponds, for example, to a legally prescribed maximum speed.
  • the control device is designed to control the speed of the tip of the articulated mast by controlling the drives to a value that is less than or equal to the predetermined limit.
  • control device reduces the speeds of all drives with respect to the travel command by the same factor, so that the speed of the tip of the articulated mast is always less than or equal to the predetermined limit, regardless of the current mast position resulting from the sensed pivoting angles of Articulated joints results.
  • the control device is designed to derive the travel command, ie the setpoint speeds of the individual drives, from an operating signal which specifies the desired movement of the tip of the articulated mast.
  • an operating signal which specifies the desired movement of the tip of the articulated mast.
  • the control device determines according to an advantageous embodiment of the invention, taking into account the mast position and the mast speed, the kinetic energy in the mast movement and limits the mast speed via the control of the mast drives so that a maximum kinetic energy of the articulated mast is not exceeded during its movement. This measure prevents a mechanical overloading of the articulated boom during an abrupt acceleration or deceleration of the mast movement.
  • control device may include a ramp control for the speed, if necessary in conjunction with a vibration damping. As a result, the acceleration or deceleration of the articulated boom movement can be limited.
  • the invention makes it possible to allow higher traversing speeds at individual articulated joints of the mast, so that the legally prescribed frame for the mast speed can be utilized better than in the prior art.
  • the sensory detection of the mast position and the derivation of the mast kinematics from the swivel angles is the basis of a regulation of the travel speeds of the drives, in which compliance with the legal speed limit is always ensured.
  • the articulated mast can be moved considerably faster in most practical situations than in the large manipulators known from the prior art. When unfolding and folding the articulated mast, this results in great temporal advantages over the previously known systems.
  • Figure 1 inventive large manipulator with
  • FIG. 3 Block diagram of the control of the
  • FIG. 1 shows schematically a large manipulator according to the invention, namely a truck-mounted concrete pump, which is designated overall by the reference numeral 1.
  • a mast bracket 3 is arranged, which is rotatable about a vertical axis of the truck-mounted concrete pump 1 by means of a (not shown) rotary drive.
  • articulated mast is articulated, which comprises four mast arms 5, 6, 7 and 8 in the illustrated embodiment.
  • the first mast arm 5 is pivotally mounted on the mast block 3 via a hinge about a horizontal axis. The pivoting movement is effected by a (not shown for clarity) pivot drive.
  • the remaining mast arms 6, 7 and 8 are pivotally connected to the respective adjacent mast arms via articulated joints about mutually parallel, horizontal axes.
  • the pivoting movement also causes each one (not shown) pivot drive.
  • the part-turn actuators each have one (or more) hydraulic cylinders, which are controlled via proportional control valves. These in turn are controlled by an electronic control device (not shown) for the mast movement.
  • the large manipulator 1 has a mast sensor system (eg in the form of angle sensors for the joints, displacement sensors for detecting the piston positions of the individual hydraulic cylinders or geodetic inclination sensors).
  • a mast sensor system eg in the form of angle sensors for the joints, displacement sensors for detecting the piston positions of the individual hydraulic cylinders or geodetic inclination sensors.
  • the control device by appropriate control of the valves of the hydraulic cylinder controls the speed of the mast movement depending on the instantaneous pivot angles ⁇ 1, ⁇ 2, ⁇ 3 and ⁇ 4 of the articulated joints.
  • the elastic deformation of the individual boom arms 5, 6, 7, 8 is neglected, so that these are regarded as rigid bodies.
  • the absolute movements of the system are described in the inertial coordinate system O o x o y o z o , that is, in the coordinate system fixed relative to the chassis 2.
  • O d X d y d Z d denotes that coordinate system which is rotated relative to the inertial coordinate system by the angle of rotation ⁇ .
  • a local coordinate system 0 iii z i is defined for each mast arm 5, 6, 7, 8, whose x i axis extends along the longitudinal axis of the respective mast arm 5, 6, 7, 8. Since the mast arms for i> 2 typically have a kink at the beginning, their longitudinal axis does not intersect the respective hinge axis. The origin of each local coordinate system is therefore placed on the intersection of the longitudinal axis with that orthogonal line passing through the hinge axis.
  • the kinematic relationships between the local coordinate systems and the inertial coordinate system can be represented by rotation matrices and translation vectors.
  • the inertial coordinates of a point on the longitudinal axis of the / mast arm described in local coordinate system i are by
  • Inertial coordinate system o is by
  • L j denotes the length of the y-th mast arm.
  • the inertial coordinates of the end point EP of the N-th mast arm can thus as a function of the positions of the N joints and the mast bracket 3 by with the vector of degrees of freedom
  • the speed of the end point EP in the direction of the individual coordinate axes is obtained by differentiation according to time
  • the operator of the large manipulator is enabled to proportionally control the travel speeds of the individual hydraulic cylinders.
  • the resulting joint angular velocities can be determined with knowledge of the translation of the joint kinematics based on the target speeds for the hydraulic cylinder.
  • the piston position s z, i of a cylinder can generally be represented as a nonlinear function of the corresponding joint angle ⁇ i ,
  • the control device controls the hydraulic cylinders in accordance with this modified travel command and limits their movement speed, so that the mast tip EP never moves faster than allowed by law.
  • the travel speed can be maximally fast within the legal framework in any mast position, whereby considerable time can be saved when unfolding and folding the articulated mast 4, but also when moving the mast between two working positions, compared to the prior art.
  • sensors for detecting the positions of the end points of the mast arms relative to the mast block or chassis are proposed. These are generally known to the person skilled in the art and can be embodied, for example, as GPS, radio or ultrasound sensors. As shown in Fig. 2 for the position of the end point EP of the last mast element 8, for example, the horizontal distance (the radius) of the mast tip to the inertial coordinate system detected by measurement. If only the horizontal path speed is independent of the movement specifications for the individual cylinders to a value be restricted, results in the particularly simple requirement for compliance with the inequality Furthermore, it should be mentioned that for the implementation of the invention not all joint angles have to be detected. For example, the angle of the last joint not detected, the algorithm can be modified so that speed of the mast top speed
  • the end point of the penultimate mast segment is index N-1 monitored. Depending on its position, a maximum permissible speed for this end point can be determined, in compliance with which the maximum permitted speed of the mast tip is independent of the joint angle can not be exceeded. Even with this restriction, a significant time savings in the construction and dismantling of the machine over the prior art is possible.
  • An active vibration damping can reduce the dynamic load, since vibrations that occur can be quickly compensated.
  • the first rash of a vibration caused by an abrupt change in motion given by the user remains largely preserved despite vibration damping, but can be effectively reduced, for example, by a ramp control become.
  • This can, for. B. be implemented as a control rate limit, in which the amount of the rate of change of the speed setpoints is limited to a maximum value. Describe the speed specifications at the sampling times
  • the rate limit can be set in the form
  • Embodiment of a ramp control is a time-delayed first-order holding member.
  • the fact is used that the user-specified target speed with a slower time constant and being sampled. So that can
  • This approach has the advantage that results for the user a uniform deceleration behavior of the system for the entire control range.
  • FIG. 3 shows a block diagram with an embodiment of the mast sensor for controlling the boom arm 4 of a large manipulator 1 according to the invention, in which the control or limiting the speed of the mast movement is dependent on the instantaneous mast position.
  • the articulated mast 4 is controlled by a remote control 10 from an operator via the two joysticks 1 1 a and 1 1 b.
  • the joystick 1 1 a for example, the rotational movement of the rotary drive of the articulated mast 4 is controlled and with the joystick 1 1 b, for example, the rotary actuators of the individual articulated joints of the articulated mast 4 are controlled.
  • the position A is selected in particular during the concreting process.
  • very low limit speeds are preset for the individual drives of the articulated mast 4.
  • the position B corresponds to the simple control of the mast arm 4 as in the state of the technique.
  • the mast speed is optimized or maximized according to the invention.
  • the control signals of the joysticks 1 1 a, 1 1 b and the switching position of the rotary switch 12 are passed via a radio interface 13/14 to the mast control 15 with processor 17.
  • the processor 17 receives via the signal lines 26a-d, the output signals of the mast sensor which correspond to the swivel angles ⁇ 1 to ⁇ 4 of the individual articulated joints of the articulated mast 4 or can be derived therefrom.
  • the angles can be detected, for example, directly by means of rotational angle sensors, which also operate without contact (eg according to the Hall principle).
  • the bending angles of the articulated mast 4 can also be determined in the processor 17 by means of signals from geodesic inclination sensors which are mounted on the individual boom arms 5-8.
  • the processor 17 will not consider the swivel angle ⁇ 1 to ⁇ 4 in the control of the articulated mast 4 and the hydraulic valves 20 and 21 ac control so that the predetermined movement speeds of the individual drives to fixed values are limited, which ensures compliance with legal standards, regardless of the instantaneous pivoting angles, ie the articulated mast behaves in the control as known in the art.
  • the control signals from the processor 17 are passed via the control lines 24a - 24d and 25 to the proportional hydraulic valves 20 and 21 a to 21 d, wherein the hydraulic valve 20, for example, a hydraulic motor 22 drives, which sets the mast block 3 in a rotary motion and the hydraulic valves 21st a - 21 d, the hydraulic cylinder 23a-d drive, the pivoting of the mast arms 5 - 8 of the articulated mast 4, if necessary. With the aid of suitable lever, cause.
  • the processor 17 determines on the basis of the determined bending angle ⁇ 1 to ⁇ 4, the pole position of the articulated mast 4. It then controls the movement of the articulated mast 4 via the hydraulic valves 20, 21 a-21 d so that the web speed of the articulated mast 4 does not exceed a predetermined speed of the end point EP at the end point EP , The processor 17 also determines from the mast position and the calculated mast speed, the kinetic energy of the mast 4 and takes this into account, as explained above, in the control of the hydraulic valves 20, 21 a-21 d. As a result, a maximum permitted kinetic energy of the moving articulated mast 4 is not exceeded.
  • the processor 17 can apply a vibration damping algorithm, whereby vibrations of the articulated mast 4, for example during braking or during concreting work are reduced.
  • the load on the articulated mast 4 can also be reduced, in particular when the mast is being decelerated, as already explained above.
  • the processor 17 may provide ramp control, as described in detail above. The ramp control further reduces the load on the articulated mast 4.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un manipulateur de grande taille (1), en particulier une pompe à béton automotrice, présentant un support de mât (3) rotatif autour d'un axe vertical au moyen d'un dispositif d'entraînement rotatif, qui est disposé sur un châssis (2) ; un mât articulé (4), qui comprend deux bras (5, 6, 7, 8) de mât ou plus, les bras (5, 6, 7, 8) de mât étant reliés de manière pivotante au moyen d'un dispositif d'entraînement en oscillation, via des articulations, au support de mât (3) ou au bras de mât (5, 6, 7, 8) à chaque fois adjacent ; un dispositif de commande commandant les dispositifs d'entraînement pour le mouvement du mât ; et un ensemble de capteurs pour le mât pour détecter la position d'au moins un point du mât articulé (4) ou d'un angle de pivotement (φ1, φ2, φ3, φ4) d'au moins une articulation. Le manipulateur de grande taille est caractérisé en ce que le dispositif de commande (17) est conçu pour limiter la vitesse du mouvement du mât sur base du signal de sortie de l'ensemble de capteurs. En outre, l'invention concerne un procédé pour la commande du mouvement d'un mât articulé (4) d'un manipulateur de grande taille (1), en particulier d'une pompe à béton automotrice.
EP16731808.8A 2015-05-28 2016-05-30 Manipulateur de grande taille présentant un mât articulé rapidement repliable et déployable Active EP3303732B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015108473.2A DE102015108473A1 (de) 2015-05-28 2015-05-28 Großmanipulator mit schnell ein- und ausfaltbarem Knickmast
PCT/EP2016/062183 WO2016189169A1 (fr) 2015-05-28 2016-05-30 Manipulateur de grande taille présentant un mât articulé rapidement repliable et déployable

Publications (2)

Publication Number Publication Date
EP3303732A1 true EP3303732A1 (fr) 2018-04-11
EP3303732B1 EP3303732B1 (fr) 2024-03-06

Family

ID=56203311

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16731808.8A Active EP3303732B1 (fr) 2015-05-28 2016-05-30 Manipulateur de grande taille présentant un mât articulé rapidement repliable et déployable

Country Status (5)

Country Link
US (1) US10625990B2 (fr)
EP (1) EP3303732B1 (fr)
CN (1) CN107849856B (fr)
DE (1) DE102015108473A1 (fr)
WO (1) WO2016189169A1 (fr)

Families Citing this family (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AT514116A1 (de) * 2013-04-09 2014-10-15 Ttcontrol Gmbh Regelsystem und Verfahren zum Steuern der Orientierung eines Segments eines Manipulators
WO2017063015A1 (fr) * 2015-10-16 2017-04-20 Palfinger Ag Ensemble constitué d'un dispositif de commande et d'un module de commande mobile
DE102016125145A1 (de) * 2016-12-21 2018-06-21 Schwing Gmbh Großmanipulator mit automatisiertem Mastaufbau
DE102017107430B4 (de) * 2017-04-06 2024-10-17 Schwing Gmbh Drehwinkelsensorhaltesystem
DE102017208031A1 (de) * 2017-05-12 2018-11-15 Putzmeister Engineering Gmbh Gekröpfter Auslegerarm mit veränderlichem Querschnitt für mobile Betonpumpen
US10315850B2 (en) 2017-07-13 2019-06-11 1875452 Alberta Ltd. Proppant conveyor systems and methods of use
IT201800006838A1 (it) * 2018-07-02 2020-01-02 Macchina operatrice mobile e metodo di funzionamento di tale macchina operatrice mobile
CN109057350A (zh) * 2018-09-30 2018-12-21 中铁六局集团广州工程有限公司 混凝土浇筑装置及浇筑系统
CN109571481A (zh) * 2018-12-30 2019-04-05 深圳市越疆科技有限公司 一种关节奇异点处理方法、装置、设备和存储介质
CN110374333B (zh) * 2019-06-25 2020-08-14 中联重科股份有限公司 泵车臂架控制方法、泵车臂架控制系统及泵车
DE102019129810A1 (de) * 2019-11-05 2021-05-06 Putzmeister Engineering Gmbh Verfahren, Steuereinrichtung, System, Betonverteilermast und Computerprogramm zum Steuern der Bewegung eines Endschlauchs
WO2022182755A1 (fr) 2021-02-23 2022-09-01 Ligchine International Corporation Appareil de lissage de béton à flèche pivotante
US12195306B2 (en) 2021-04-12 2025-01-14 Structural Services, Inc. Systems and methods for identifying and locating building material objects
AU2022258326A1 (en) 2021-04-12 2023-11-23 Structural Services, Inc. Systems and methods for assisting a crane operator
US20230151624A1 (en) 2021-11-12 2023-05-18 EZ Placer, LLC Mobile concrete distribution system
CN119223661B (zh) * 2024-12-03 2025-02-25 枣庄矿业(集团)付村煤业有限公司 一种单轨吊坡道轨道运行惯性超载距离测量装置

Family Cites Families (58)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE69025471T2 (de) * 1990-03-23 1996-08-22 Kobe Steel Ltd Verfahren und vorrichtung zur steuerung des abbremsens der drehbewegung des oberen drehteils von baumaschinen und rechengerät zur ermittlung des neigungswinkels
US6025686A (en) * 1997-07-23 2000-02-15 Harnischfeger Corporation Method and system for controlling movement of a digging dipper
US6202013B1 (en) * 1998-01-15 2001-03-13 Schwing America, Inc. Articulated boom monitoring system
JP2000034093A (ja) * 1998-07-21 2000-02-02 Kobe Steel Ltd 旋回式作業機械とその安全作業領域及び定格荷重の設定方法
US6808025B2 (en) * 1999-09-10 2004-10-26 Schwing America, Inc. Fire-fighting system having improved flow
US6351696B1 (en) * 1999-09-10 2002-02-26 Schwing America, Inc. Automatic leveling system for articulated boom
DE10046546A1 (de) * 2000-09-19 2002-03-28 Putzmeister Ag Großmanipulator mit Schwingungsdämpfer
WO2002040783A1 (fr) * 2000-11-17 2002-05-23 Hitachi Construction Machinery Co., Ltd. Dispositif d'affichage et controleur d'affichage pour materiel de construction
DE10107107A1 (de) * 2001-02-14 2002-08-29 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts eines Großmanipulators sowie Großmanipulator mit einer solchen Vorrichtung
AU2002331786A1 (en) * 2001-08-31 2003-03-18 The Board Of Regents Of The University And Community College System, On Behalf Of The University Of Coordinated joint motion control system
AU2002360781A1 (en) * 2001-12-31 2003-07-30 The Board Of Regents Of The University And Community College System, On Behalf Of The University Of Multiphase physical transport modeling method and modeling system
DE10240180A1 (de) * 2002-08-27 2004-03-11 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts
ES2277272T3 (es) * 2003-05-12 2007-07-01 Putzmeister Inc. Tuberia de material compuesto con filamentos enrollados montada en grua.
US6968264B2 (en) * 2003-07-03 2005-11-22 Deere & Company Method and system for controlling a mechanical arm
US8622170B2 (en) * 2004-02-26 2014-01-07 Jlg Industries, Inc. Lift vehicle with multiple capacity envelope control system and method
CN101292072A (zh) * 2005-10-18 2008-10-22 普茨迈斯特混凝土泵有限公司 尤其用于大型机械手和移动式混凝土泵的作业杆
US8065060B2 (en) * 2006-01-18 2011-11-22 The Board Of Regents Of The University And Community College System On Behalf Of The University Of Nevada Coordinated joint motion control system with position error correction
DE102006020928A1 (de) * 2006-05-05 2007-11-08 Putzmeister Ag Schlauchhalter, insbesondere für Endschläuche an Betonverteilermasten
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
US8065037B2 (en) * 2007-08-07 2011-11-22 Board Of Regents Of The Nevada System Of Higher Education, On Behalf Of The University Of Nevada, Reno Control method and system for hydraulic machines employing a dynamic joint motion model
US8135518B2 (en) * 2007-09-28 2012-03-13 Caterpillar Inc. Linkage control system with position estimator backup
DE102008055625A1 (de) * 2008-11-03 2010-05-06 Putzmeister Concrete Pumps Gmbh Fahrbare Arbeitsmaschine mit Stützauslegern
WO2010101233A1 (fr) * 2009-03-06 2010-09-10 株式会社小松製作所 Machine de construction, procédé de commande de machine de construction, et programme pour entraîner l'exécution du procédé par un ordinateur
US8505184B2 (en) * 2009-03-13 2013-08-13 Cifa Spa Method to make an arm for the distribution of concrete, and arm thus made
CN101525944B (zh) * 2009-03-31 2011-09-21 北京易斯路电子有限公司 混凝土泵车智能臂架控制系统及其控制方法
CN101604153B (zh) 2009-07-06 2011-06-29 三一重工股份有限公司 工程车辆臂架控制器、控制系统、工程车辆、及控制方法
IT1397794B1 (it) * 2010-01-26 2013-01-24 Cifa Spa Dispositivo per il controllo attivo delle vibrazioni di un braccio articolato per il pompaggio di calcestruzzo.
CN101927495B (zh) * 2010-08-25 2013-04-17 中山大学 一种冗余度机械臂重复运动规划方法
US8527158B2 (en) * 2010-11-18 2013-09-03 Caterpillar Inc. Control system for a machine
DE102010056584B4 (de) * 2010-12-30 2018-03-29 Asm Automation Sensorik Messtechnik Gmbh Mobile Arbeitsmaschine
DE102011018267A1 (de) * 2011-04-20 2012-10-25 Schwing Gmbh Vorrichtung und Verfahren zur Dickstoff-, insbesondere Betonförderung mit Drehwinkelmessung
JP5926026B2 (ja) 2011-10-24 2016-05-25 極東開発工業株式会社 コンクリートポンプ車
CN102589493B (zh) * 2012-02-08 2014-05-21 三一重工股份有限公司 臂架系统、工程机械和臂架系统末端位置参数获取方法
JP5889688B2 (ja) * 2012-03-26 2016-03-22 株式会社タダノ 作業機械
US8857567B1 (en) * 2012-06-14 2014-10-14 Timothy James Raymond Self-contained powered jib boom and optional work platform attachment for mobile cranes
WO2014016637A1 (fr) 2012-07-23 2014-01-30 Anthony Richards Système et procédé de relais de message
JP5529241B2 (ja) * 2012-11-20 2014-06-25 株式会社小松製作所 作業機械および作業機械の作業量計測方法
CN103031958B (zh) * 2012-12-14 2015-04-15 中联重科股份有限公司 控制臂架展收的控制系统、方法和混凝土泵送设备
CN103144111B (zh) * 2013-02-26 2015-11-04 中山大学 一种二次规划统一协调的移动机械臂运动描述与规划方法
JP6284302B2 (ja) * 2013-04-02 2018-02-28 株式会社タダノ ブームの伸縮パターン選択装置
AT514115B1 (de) * 2013-04-09 2015-05-15 Ttcontrol Gmbh Elektrohydraulischer Steuerkreis
AT514116A1 (de) * 2013-04-09 2014-10-15 Ttcontrol Gmbh Regelsystem und Verfahren zum Steuern der Orientierung eines Segments eines Manipulators
DE102013006232A1 (de) 2013-04-11 2014-10-16 Liebherr-Betonpumpen Gmbh Fahrbares Arbeitsgerät mit drehbarem Mast oder Ausleger
CN105593438B (zh) * 2013-05-31 2019-07-05 伊顿智能动力有限公司 用于通过平衡保护来降低动臂跳动的液压系统及方法
SE537534C2 (sv) * 2013-08-27 2015-06-02 Cognibotics Ab Metod och system för bestämning av åtminstone en egenskap hos en manipulator
DE102013014626B4 (de) * 2013-09-04 2022-09-08 Schwing Gmbh Bestimmung der Position eines verlagerbaren Messpunktes an einer Maschine
EP3069043B1 (fr) * 2013-11-14 2019-02-27 Eaton Corporation Stratégie de commande à des fins de réduction d'oscillation de flèche
DE102014007071A1 (de) * 2014-05-15 2015-11-19 Schwing Gmbh Großmanipulator mit Knickmast und mit Mitteln zur Drehwinkelmessung
DE102014009165B4 (de) * 2014-06-25 2020-07-16 Schwing Gmbh Fahrbarer Großmanipulator
US10125864B2 (en) * 2014-07-09 2018-11-13 Jatco Ltd Lock-up-clutch control device
DE102014012493A1 (de) * 2014-08-27 2016-03-03 Schwing Gmbh Knickmast
EP3015625A1 (fr) * 2014-10-31 2016-05-04 CIFA SpA Procédé et appareil pour déplacer un bras articulé
EP3034455B1 (fr) * 2014-12-18 2017-08-23 Iveco Magirus Ag Procédé pour commander un appareil aérien, appareil aérien avec contrôleur mettant en oeuvre ce procédé
DE102015102368A1 (de) * 2015-02-19 2016-08-25 Schwing Gmbh Positionsregelung Mastspitze
JP6314105B2 (ja) * 2015-03-05 2018-04-18 株式会社日立製作所 軌道生成装置および作業機械
DE102016106616B4 (de) * 2016-04-11 2023-07-06 Schwing Gmbh Elektrohydraulischer Steuerkreis für einen Großmanipulator

Also Published As

Publication number Publication date
DE102015108473A1 (de) 2016-12-01
US20180162701A1 (en) 2018-06-14
WO2016189169A1 (fr) 2016-12-01
EP3303732B1 (fr) 2024-03-06
US10625990B2 (en) 2020-04-21
CN107849856B (zh) 2020-06-16
CN107849856A (zh) 2018-03-27

Similar Documents

Publication Publication Date Title
WO2016189169A1 (fr) Manipulateur de grande taille présentant un mât articulé rapidement repliable et déployable
EP3548752B1 (fr) Manipulateur de grande taille muni d'un mât articulé rapidement repliable et déployable
EP3559374B1 (fr) Manipulateur de grande taille avec structure de mât automatisée
EP0686224B2 (fr) Manipulateur de grande taille, notamment pour pompes a beton automotrice
DE102011115224B4 (de) Kran, insbesondere Raupen-oder Mobilkran
WO2004020765A1 (fr) Dispositif pour faire fonctionner une flèche articulée
EP3440273B1 (fr) Procédé de commande de déplacement d'un porte-flexible articulé d'une drague suceuse
WO2014165888A1 (fr) Circuit de commande électrohydraulique
EP1937913A1 (fr) Mat operationnel destine notamment a des manipulateurs de grandes dimensions et a des pompes a beton mobiles
WO2014165889A1 (fr) Système de régulation et procédé de commande de l'orientation d'un segment d'un manipulateur
EP3443182B1 (fr) Circuit de commande électrohydraulique pour manipulateur de grande taille
EP0217408A2 (fr) Procédé et dispositif pour le réglage en hauteur d'une poutre lisseuse
EP3873844A1 (fr) Guidage sans collision d'une charge suspendue à un câble
DE102016004466A1 (de) Verfahren zum Bewegen des letzten Gliedes einer kinematischen Kette sowie Vorrichtung und Arbeitsmaschine zum Durchführen des Verfahrens
EP2151585B1 (fr) Dispositif d'amortissement pour un manipulateur
EP3452672B1 (fr) Manipulateur de grand taille muni d'un système hydraulique décentralisé
EP3440288A1 (fr) Unité de télécommande pour grand manipulateur à levier de commande
DE102021133477A1 (de) Autobetonpumpe
DE202014007876U1 (de) Mobiles Trägersystem
EP3722512B1 (fr) Appareil de travaux de génie civil en profondeur et son procédé de fonctionnement
DE10063674B4 (de) Numerische Steuerung und Verfahren zum automatischen Freifahren einer Achse nach einem Überfahren sicherer Endlagen
WO2025056618A1 (fr) Manipulateur de grande taille et procédé de commande d'un manipulateur de grande taille
DE102021121163A1 (de) Verbesserter Teleskoplader
DE202023106760U1 (de) Frässystem für Kanalsanierung
EP3798028A1 (fr) Machine de travail agricole et procédé de direction d'une machine agricole

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

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

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

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180102

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

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20190524

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20230922

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

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

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

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

RIN1 Information on inventor provided before grant (corrected)

Inventor name: VIERKOTTEN, REINER

Inventor name: KUGI, ANDREAS

Inventor name: HENIKL, JOHANNES

Inventor name: KEMMETMUELLER, WOLFGANG

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502016016406

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

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

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: 20240306

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20240306

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: 20240607

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

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: 20240306

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: 20240606

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 FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240306

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

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: 20240606

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: 20240606

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: 20240306

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: 20240306

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: 20240607

Ref country code: FI

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: 20240306

Ref country code: ES

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: 20240306

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: 20240306

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

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: 20240306

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: 20240306

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

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: 20240306

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

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: 20240306

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

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: 20240706

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

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: 20240708

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: 20240306

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: 20240306

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: 20240306

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

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: 20240306

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

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: 20240306

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: 20240306

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: 20240306

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: 20240306

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: 20240708

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: 20240306

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: 20240706

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: 20240306

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: 20240306

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502016016406

Country of ref document: DE

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

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

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: 20240306

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

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

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: 20240306

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: 20240530

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

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: 20240306

Ref country code: LU

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

Effective date: 20240530

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: 20240306

Ref country code: CH

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

Effective date: 20240531

26N No opposition filed

Effective date: 20241209

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20240531

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: 20240530

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: 20240306

Ref country code: BE

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

Effective date: 20240531

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

Ref country code: DE

Payment date: 20250528

Year of fee payment: 10

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

Ref country code: GB

Payment date: 20250520

Year of fee payment: 10

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

Ref country code: IT

Payment date: 20250522

Year of fee payment: 10

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1663649

Country of ref document: AT

Kind code of ref document: T

Effective date: 20240530

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

Ref country code: FR

Payment date: 20250526

Year of fee payment: 10

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: 20240530

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

Ref country code: TR

Payment date: 20250516

Year of fee payment: 10

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; INVALID AB INITIO

Effective date: 20160530

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

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: 20160530