EP3303732B1 - 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 Download PDF

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Publication number
EP3303732B1
EP3303732B1 EP16731808.8A EP16731808A EP3303732B1 EP 3303732 B1 EP3303732 B1 EP 3303732B1 EP 16731808 A EP16731808 A EP 16731808A EP 3303732 B1 EP3303732 B1 EP 3303732B1
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EP
European Patent Office
Prior art keywords
boom
mast
speed
articulated
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.)
Active
Application number
EP16731808.8A
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German (de)
English (en)
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EP3303732A1 (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
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Publication date
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Publication of EP3303732A1 publication Critical patent/EP3303732A1/fr
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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
    • B66C13/20—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 mast trestle which can be rotated about a vertical axis by means of a rotary drive and which is arranged on a frame, an articulated mast which comprises two or more mast arms, the mast arms having articulated joints with the respective adjacent mast trestle or Mast arms are pivotally connected by means of a pivot drive, with a control device for the mast movement that controls the drives and with a mast sensor system for detecting the position of at least one point of the articulated mast or a pivot angle of at least one articulated joint, the control device being set up to determine the speed of the mast movement to the output signal of the mast sensor system.
  • the invention also relates to a method for controlling the movement of an articulated mast of a large manipulator, in particular a truck-mounted concrete pump.
  • Hydraulic cylinders are typically used as swivel drives, which are used to swivel the mast arms about the articulated joints relative to the adjacent mast arm or mast trestle. These are controlled by an electronic control device via proportional control valves controlled in order to be able to variably specify the travel speed of the individual hydraulic cylinders.
  • the travel speed of the individual hydraulic cylinders is usually limited in known large manipulators, since moving the articulated mast too quickly poses a danger to people in the area. To ensure operational safety, there are legal standards that specify the maximum permissible speed of the tip of the articulated mast.
  • control valves of the hydraulic cylinders are operated via a remote control connected to the control device (wireless or wired).
  • the control valves can be controlled manually using hand levers (for example in emergency operation).
  • the control valves are designed so that a specific position of an operating lever on the remote control corresponds to a defined volume flow of the hydraulic fluid, i.e. a defined travel speed of the respective hydraulic cylinder, regardless of the pressure conditions present in the hydraulic system.
  • the control valves are designed in such a way that the maximum permitted speed of the mast tip is not reached when all joints are pivoted at maximum travel speed and the articulated mast is fully extended. This design of the control valves has the disadvantage that in most practical cases the legally permitted framework for the movement speed of the mast tip is very poorly utilized.
  • WO 2014/166637 A1 proposes a large manipulator in which the control device provides a rapid traverse for the rotary drive of the mast trestle in order to rotate the articulated mast at increased speed into the desired working position, with the rapid traverse only being selectable when the mast or boom is completely folded.
  • a single sensor connected to the The control device interacts is provided in the previously known large manipulator, with the sensor being able to determine whether the articulated mast is completely folded up 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 therefore has a minimum radius. In this state, the articulated mast can be rotated at increased speed.
  • the EP 3 015 625 A1 discloses a large manipulator with an articulated mast, which comprises a plurality of mast arms, the mast arms being connected to one another in a pivotally movable manner via articulated joints, with a control device controlling the mast movement and a mast sensor system detecting the position, the control device being set up to determine the speed of the mast movement based on the Limit the output signal of the mast sensor system. Also the JP 2013 091931 A reveals such a major manipulator.
  • Well-known large-scale manipulators can at least determine the speed of the Limit mast movement based on the output signal of the mast sensor system, whereby a maximum movement speed for the respective articulated joint is calculated for each articulated joint individually, based on the radius of the respective articulated joint to the mast tip, which depends on the mast position, and thus the individual speeds of the drives are limited.
  • the resulting speed of the tip of the articulated mast can be significantly lower than the maximum permissible mast tip speed, especially if two articulated joints are pivoted in opposite directions at the same time with the movement speed calculated for the respective articulated joint.
  • the articulated mast should be able to be brought from the fully folded state into its desired working position in a minimum of time.
  • the articulated mast should also be able to be transferred from the working position to the fully folded position in a minimum of time.
  • the articulated mast should be able to be moved quickly from one working position to another working position when assembled.
  • the invention is defined by the large manipulator according to claim 1 and by the method according to claim 9.
  • the invention solves this problem starting from a large manipulator of the type mentioned in that the control device is set up to control the individual drives proportionally in accordance with a driving command, the driving command specifying the target speeds of the drives, the control device being further set up to do so to determine the speed of the tip of the articulated mast from the travel command, the lengths of the mast arms and the output signal of the mast sensor system, to reduce the speed specifications of the individual drives compared to the travel command as soon as the travel command causes the speed of the tip of the articulated mast to exceed a predetermined limit value would lead and / or exceeds the limit value, the control device being set up to reduce the speeds of all drives compared to the driving command by the same factor, so that the speed of the tip of the articulated mast is less than or equal to a predetermined limit value, regardless of the current Mast position, which results from the swivel angles of the articulated joints detected by sensors.
  • the pivot angle of at least one articulated joint of the articulated mast is detected by sensors, and the speed of the mast movement is limited depending on the current pivot angle.
  • the position of a point on the mast is recorded, e.g. the distance of this point to the mast trestle, and based on this, the control device limits the speed of the mast movement so that a maximum permissible speed of this point, or the speed of another point of the articulated mast derived from it , is not exceeded.
  • a mast sensor system can also be provided, through which all pivot angles of the articulated joints are recorded at any time.
  • the articulated mast can have an angle sensor at each articulated joint that detects the respective current pivot angle. This allows the mast speed to be optimally limited.
  • the control device processes the detected swivel angles and calculates, in particular, the resulting speed of the mast tip from the positions of the mast joints and the travel speeds of the swivel drives. 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 driving command, the driving command specifying the target speeds of the drives.
  • the drive command results for example, from the signals from a remote control that is used by an operator of the large manipulator to control the mast movement.
  • the control device controls the individual drives so that the respective travel speed corresponds to the target speed according to the travel command.
  • the control device determines the speed of the tip of the articulated mast resulting from the travel command, the mast arm lengths and the current pivot angles, as explained above.
  • the control device can accordingly reduce the speeds of the individual drives compared to the driving command as soon as the speed of the tip of the articulated mast exceeds a predetermined limit value, which corresponds, for example, to a legally specified maximum speed.
  • the control device is preferably designed to regulate 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 value.
  • the control device reduces the speeds of all drives compared to the driving 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 value, regardless of the current mast position, which results from the sensor-detected pivot angles of the Articulated joints result.
  • the control device is designed to derive the driving command, ie the target speeds of the individual drives, from an operating signal that specifies the target movement of the tip of the articulated mast.
  • an operating signal that specifies the target movement of the tip of the articulated mast.
  • the mast is located near so-called singular positions where higher speeds of the individual drives are required for precise implementation of the movement specification for the mast tip. This is the case, for example, with a fully extended mast if the user specifies a movement of the mast top in which the horizontal distance of the mast top to the mast trestle is to be reduced while maintaining the height of the mast top.
  • the invention thus enables a significant improvement in the behavior of the system with Cartesian or cylindrical mast control in the vicinity of these singular positions.
  • the control device determines the kinetic energy during the mast movement, taking into account the mast position and the mast speed, and limits the mast speed by controlling the mast drives so that a maximum kinetic energy of the articulated mast is not exceeded during its movement. This measure prevents mechanical overloading of the articulated mast in the event of an abrupt acceleration or deceleration of the mast movement.
  • control device can include a ramp control for the speed, if necessary in conjunction with vibration damping. This allows the acceleration or braking of the articulated mast movement to be limited.
  • the invention makes it possible to allow higher travel speeds at individual articulated joints of the mast, so that the legally specified framework for the mast speed can be better utilized compared to the prior art.
  • the sensory detection of the mast position and the derivation of the mast kinematics from the swivel angles is the basis for regulating the travel speeds of the drives, which always ensures compliance with the legal speed limit.
  • the articulated mast can be moved significantly faster than those known from the prior art Large manipulators. When unfolding and folding the articulated mast, this results in great time advantages compared to the previously known systems.
  • the Figure 1 shows schematically a large manipulator according to the invention, namely a truck-mounted concrete pump, which is designated overall by the reference number 1.
  • a mast frame 3 is arranged on a chassis 2 and can be rotated about a vertical axis of the truck-mounted concrete pump 1 by means of a rotary drive (not shown).
  • An articulated mast designated overall by the reference number 4, is articulated to the mast trestle 3 and, in the exemplary embodiment shown, comprises four mast arms 5, 6, 7 and 8.
  • the first mast arm 5 is attached to the mast frame 3 via a joint so that it can pivot about a horizontal axis.
  • the pivoting movement is effected by a pivot drive (not shown for the sake of clarity).
  • the remaining mast arms 6, 7 and 8 are connected to the adjacent mast arms via articulated joints so that they can pivot about parallel, horizontal axes.
  • the pivoting movement is also caused by a pivot drive (not shown).
  • the swivel drives each have one (or more) hydraulic cylinders that 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 controlling the speed of the mast movement depending on the current pivot angles ⁇ 1, ⁇ 2 , ⁇ 3 and by appropriately controlling the valves of the hydraulic cylinders ⁇ 4 of the articulated joints controls.
  • the elastic deformation of the individual mast arms 5, 6, 7, 8 is neglected, so that they are viewed as rigid bodies.
  • the absolute movements of the system are described in the inertial coordinate system 0 0 x 0 y 0 z 0 , ie in the coordinate system that is fixed with respect to the chassis 2.
  • 0 d x d y d z d refers to the coordinate system that is rotated by the rotation angle ⁇ compared to the inertial coordinate system.
  • a local coordinate system 0 i x i y i zi is defined for each mast arm 5, 6, 7, 8, the x i axis of which runs along the longitudinal axis of the respective mast arm 5, 6, 7, 8. Since the mast arms for i ⁇ 2 typically have a bend at the beginning, their longitudinal axis does not intersect the respective joint axis.
  • each local coordinate system is therefore placed at the intersection of the longitudinal axis with the orthogonal straight line that runs through the joint axis.
  • the kinematic relationships between the local coordinate systems and the inertial coordinate system can be represented using rotation matrices and translation vectors.
  • L j denotes the length of the jth mast arm.
  • the hydraulic systems used in combination with the control device enable the operator of the large manipulator according to the invention to proportionally control the travel speeds of the individual hydraulic cylinders.
  • the resulting joint angular velocities can be determined based on the target speeds for the hydraulic cylinders if the translation of the joint kinematics is known.
  • the control device controls the hydraulic cylinders in accordance with this modified driving command and limits their movement speed so that the mast tip EP never moves faster than legally permitted.
  • the travel speed can be as fast as possible within the legal framework, which means that 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 trestle or chassis are proposed. These are generally known to those skilled in the art and can be designed, for example, as GPS, radio or ultrasonic sensors.
  • Fig. 2 shown for the position of the end point EP of the last mast element 8 for example the horizontal distance ⁇ EP (the radius) of the mast tip to the inertial coordinate system is recorded by measurement.
  • the horizontal path speed should only be set to one value, regardless of the movement specifications for the individual cylinders ⁇ Max E.P are limited, the particularly simple requirement for compliance with the inequality arises ⁇ ⁇ d ⁇ ⁇ Max E.P ⁇ E.P .
  • a ramp control and a system for active vibration damping are proposed.
  • the dynamic load can be reduced through active vibration damping, as any vibrations that occur can be quickly corrected.
  • the first deflection of a vibration caused by an abrupt change in movement specified by the user remains largely intact even despite vibration damping, but can be effectively reduced, for example, by ramp control.
  • This can e.g. B. as Actuating rate limitation can be implemented, in which the amount of the rate of change of the speed setpoints is limited to a maximum value.
  • the adjustment rate limitation can be in the form ⁇ ⁇ i d kT a ⁇ ⁇ ⁇ i d ( k ⁇ 1 T a T a ⁇ R Max , describe with a maximum permitted adjustment rate R max .
  • a further embodiment of a ramp control is a time-delayed first-order holding element.
  • This procedure has the advantage that the user has a uniform deceleration behavior of the system for the entire adjustment range.
  • FIG. 3 shows a block diagram with an embodiment of the mast sensor system for controlling the mast arm 4 of a large manipulator 1 according to the invention, in which the speed of the mast movement is controlled or limited depending on the current mast position.
  • the articulated mast 4 is controlled by a remote control 10 by an operator using the two joysticks 11a and 11b.
  • the joystick 11a for example, the rotational movement of the rotary drive of the articulated mast 4 is controlled and with the joystick 11b, for example, the pivot drives of the individual articulated joints of the articulated mast 4 are controlled.
  • Position B corresponds to the simple control of the mast arm 4 as in the prior art.
  • the mast speed is optimized or maximized according to the invention.
  • the control signals of the joysticks 11a, 11b and the switching position of the rotary switch 12 are transmitted to the mast control 15 with processor 17 via a radio interface 13/14.
  • the processor 17 receives the output signals of the mast sensor system via the signal lines 26a-d, which correspond to the pivot angles ⁇ 1 to ⁇ 4 of the individual articulated joints of the articulated mast 4 or can be derived from them.
  • the angles can, for example, be recorded directly using rotation angle sensors, which also work without contact (e.g. according to the Hall principle).
  • the articulation angles of the articulating mast 4 can also be determined in the processor 17 based on signals from geodetic inclination sensors which are attached to the individual mast arms 5-8.
  • the processor 17 will not take the pivot angles ⁇ 1 to ⁇ 4 into account when controlling the articulated mast 4 and will control the hydraulic valves 20 and 21a-c in such a way that the predeterminable movement speeds of the individual drives are set to fixed Values are limited, which ensure compliance with legal standards regardless of the current swivel angles, ie the articulated mast behaves when controlled as is known in the prior art.
  • the control signals from the processor 17 are sent via the control lines 24a - 24d and 25 to the proportional hydraulic valves 20 and 21a to 21d, the hydraulic valve 20 controlling, for example, a hydraulic motor 22, which sets the mast frame 3 in a rotary movement and the hydraulic valves 21a - 21d control the hydraulic cylinders 23a-d, which cause the mast arms 5 - 8 of the articulated mast 4 to pivot, if necessary with the help of suitable deflection levers.
  • the processor 17 determines the mast position of the articulated mast 4 based on the determined articulation angles ⁇ 1 to ⁇ 4. It controls then the movement of the articulated mast 4 via the hydraulic valves 20, 21a-21d so that the path speed of the articulated mast 4 at the end point EP does not exceed a predetermined speed of the end point EP.
  • the processor 17 also determines the kinetic energy of the mast 4 from the mast position and the calculated mast speed and, as explained above, takes this into account when controlling the hydraulic valves 20, 21a-21d. As a result, a maximum permitted kinetic energy of the moving articulated mast 4 is not exceeded.
  • the processor 17 can use an algorithm for vibration damping, which reduces vibrations of the articulated mast 4, for example when braking or during concreting work. This makes it possible to reduce the load on the articulated mast 4, particularly when braking the mast, as already explained above. Furthermore, the processor 17 can provide a ramp control when controlling the articulated mast 4 when accelerating and decelerating the movement of the articulated mast 4, as described in detail above. The ramp control further reduces the load on the articulated mast 4.

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

Claims (11)

  1. Manipulateur de grande taille (1), en particulier pompe à béton automotrice, comportant un support de mât (3), qui peut tourner sur un axe vertical au moyen d'un entraînement en rotation et qui est disposé sur un châssis (2), un mât articulé (4), qui comprend deux bras de mât (5, 6, 7, 8) ou plus, les bras de mât (5, 6, 7, 8) étant reliés, par le biais d'articulations, au support de mât (3) ou au bras de mât (5, 6, 7, 8) respectivement voisin de manière mobile en pivotement au moyen respectivement d'un entraînement en pivotement, un dispositif de commande (17) commandant les entraînements pour le mouvement du mât, et un ensemble de capteurs pour le mât servant à détecter la position d'au moins un point du mât articulé (4) ou un angle de pivotement (ϕ 1 , ϕ 2 , ϕ 3 , ϕ 4) d'au moins une articulation, le dispositif de commande (17) étant configuré pour limiter la vitesse du mouvement de mât en fonction du signal de sortie de l'ensemble de capteurs pour le mât,
    dans lequel
    le dispositif de commande (17) est configuré pour commander les différents entraînements proportionnellement selon une instruction de marche, l'instruction de marche prédéfinissant les vitesses théoriques des entraînements, le dispositif de commande (17) étant en outre configuré pour déterminer la vitesse de la pointe (EP) du mât articulé (4) résultant de l'instruction de marche, des longueurs des bras de mât (5, 6, 7, 8) et du signal de sortie de l'ensemble de capteurs pour le mât, réduire les consignes de vitesse des différents entraînements par rapport à l'instruction de marche dès que l'instruction de marche entraînerait un passage de la vitesse de la pointe (EP) du mât articulé (4) au-dessus d'une valeur limite prédéfinie et/ou dépasse la valeur limite, le dispositif de commande (17) étant configuré pour réduire du même facteur les vitesses de tous les entraînements par rapport à l'instruction de marche, de telle sorte que la vitesse de la pointe (EP) du mât articulé (4) est inférieure ou égale à une valeur limite prédéfinie, et ce indépendamment de la position de mât actuelle qui résulte des angles de pivotement (ϕ 1 , ϕ 2 , ϕ 3 , ϕ 4) des articulations détectés par des capteurs.
  2. Manipulateur de grande taille (1) selon la revendication 1, caractérisé en ce que le dispositif de commande (17) est configuré pour limiter la vitesse d'au moins un des entraînements.
  3. Manipulateur de grande taille (1) selon l'une des revendications précédentes, caractérisé en ce que le dispositif de commande (17) est configuré pour limiter la vitesse d'un point du mât articulé (4).
  4. Manipulateur de grande taille (1) selon l'une des revendications 1 à 3, caractérisé en ce que l'ensemble de capteurs pour le mât détecte la position relative de l'au moins un point du mât articulé (4) par rapport au support de mât (3).
  5. Manipulateur de grande taille (1) selon l'une des revendications 1 à 4, caractérisé en ce que le dispositif de commande (17) est configuré pour réguler, par la commande des entraînements, la vitesse de la pointe (EP) du mât articulé à une valeur qui est inférieure ou égale à une valeur limite prédéfinie.
  6. Manipulateur de grande taille (1) selon l'une des revendications 1 à 5, caractérisé en ce que le dispositif de commande (17) est configuré pour dériver une instruction de marche d'un signal de commande qui prédéfinit le mouvement théorique de la pointe (EP) du mât articulé (4).
  7. Manipulateur de grande taille (1) selon l'une des revendications 1 à 6, caractérisé en ce que le dispositif de commande (17) est configuré pour déterminer l'énergie cinétique du mât articulé (4) et limiter la vitesse du mât de telle manière qu'une énergie cinétique maximale du mât articulé (4) n'est pas dépassée lors du mouvement de celui-ci.
  8. Manipulateur de grande taille (1) selon l'une des revendications 1 à 7, caractérisé en ce que le dispositif de commande (17) comprend une commande de rampe.
  9. Procédé de commande du mouvement d'un mât articulé (4) d'un manipulateur de grande taille (1), en particulier une pompe à béton automotrice, l'angle de pivotement (ϕ 1, ϕ 2 , ϕ 3 , ϕ 4) d'au moins une articulation du mât articulé (4) ou la position d'au moins un point du mât articulé (4) étant détectés par des capteurs et la vitesse du mât articulé (4) étant limitée en fonction des signaux détectés par des capteurs,
    dans lequel
    les différents entraînements des articulations sont commandés proportionnellement selon une instruction de marche, l'instruction de marche prédéfinissant les vitesses théoriques des entraînements et la vitesse de la pointe (EP) du mât articulé (4) étant déterminée à partir de l'instruction de marche, des longueurs de bras de mât (5, 6, 7, 8) du mât articulé (4) et des angles de pivotement (ϕ 1, ϕ 2 , ϕ 3 , ϕ 4) actuels et/ou de la position d'au moins un point du mât articulé (4), les consignes de vitesse des différents entraînements étant réduites par rapport à l'instruction de marche, de telle sorte que la vitesse de la pointe (EP) du mât articulé (4) ne dépasse jamais une valeur limite prédéfinie, les vitesses de tous les entraînements étant réduites du même facteur par rapport à l'instruction de marche, de telle sorte que la vitesse de la pointe (EP) du mât articulé (4) est inférieure ou égale à une valeur limite prédéfinie, et ce indépendamment de la position de mât actuelle qui résulte des angles de pivotement (ϕ 1, ϕ 2 , ϕ 3 , ϕ 4) des articulations détectés par des capteurs.
  10. Procédé selon la revendication 9, caractérisé en ce que la vitesse de la pointe (EP) du mât articulé (4) est régulée, par la commande des entraînements, à une valeur qui est inférieure ou égale à une valeur limite prédéfinie.
  11. Procédé selon la revendication 9 ou 10, caractérisé en ce que l'instruction de marche est dérivée d'un signal de commande qui prédéfinit le mouvement théorique de la pointe (EP) du mât articulé (4).
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

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US20180162701A1 (en) 2018-06-14
WO2016189169A1 (fr) 2016-12-01
EP3303732A1 (fr) 2018-04-11
US10625990B2 (en) 2020-04-21
CN107849856B (zh) 2020-06-16
CN107849856A (zh) 2018-03-27

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