BR0206472A - Manipulador de grande porte com amortecimento de vibração - Google Patents
Manipulador de grande porte com amortecimento de vibraçãoInfo
- Publication number
- BR0206472A BR0206472A BR0206472-3A BR0206472A BR0206472A BR 0206472 A BR0206472 A BR 0206472A BR 0206472 A BR0206472 A BR 0206472A BR 0206472 A BR0206472 A BR 0206472A
- Authority
- BR
- Brazil
- Prior art keywords
- boom
- segments
- unit
- drive
- drive unit
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
-
- 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
-
- 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
-
- 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
-
- 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
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)
- Fluid-Pressure Circuits (AREA)
Abstract
"MANIPULADOR DE GRANDE PORTE COM AMORTECIMENTO DE VIBRAçãO". A presente invenção refere-se a um manipulador de grande porte e também a bombas de concreto montadas em caminhão com tal manipulador de grande porte, o manipulador de grande porte compreendendo uma lança (1) constituída por vários segmentos, de 2 a 5 e especialmente de 3 a 5, e disposta em um chassi, especialmente um chassi de veículo, a lança sendo especialmente projetada como uma lança de distribuição dobrável que compreende de preferência um anel de rastreio de virada (6), de modo que, por meio de uma unidade de acionamento, ela possa ser girada em volta de um eixo geométrico de rotação substancialmente vertical, em que os segmentos da lança, por meio de outras unidades de acionamento, podem ser girados uns com relação aos outros e com relação ao anel de rastreio de virada em volta de eixos geométricos substancialmente horizontais e mutuamente paralelos, em que é apresentado um sistema de direção a distância que compreende um elemento de direção para acionar as unidades de acionamento e para estabelecer a posição desejada das unidades de acionamento e/ou dos segmentos de lança e do anel de rastreio de virada, em que é também apresentado um sistema de controle que compreende pelo menos uma unidade de monitoramento (15) para verificar o parâmetro que descreve uma condição de distúrbio de pelo menos um segmento de lança que faz com que os segmentos de lança se desviem da posição estabelecida pelo elemento de direção, fazendo especialmente com que eles vibrem, e pelo menos uma unidade de determinação (23, 24; 26) para determinar a carga que atua sobre uma unidade de acionamento (8) em oposição à posição estabelecida pelo elemento de direção, em que o sistema de controle funciona em ação conjugada com o sistema de direção a distância para assegurar que pelo menos uma unidade de acionamento (8) seja controlada de maneira que o acionamento da unidade de acionamento (8) reduza ao mínimo o desvio da posição estabelecida dos segmentos de lança e que a vibração dos segmentos de lança causada pela condição de distúrbio seja amortecida.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10101570A DE10101570B4 (de) | 2001-01-15 | 2001-01-15 | Großmanipulator mit Schwingungsdämpfung |
PCT/EP2002/000147 WO2002055813A1 (de) | 2001-01-15 | 2002-01-09 | Grossmanipulator mit schwingungsdämpfung |
Publications (1)
Publication Number | Publication Date |
---|---|
BR0206472A true BR0206472A (pt) | 2003-12-30 |
Family
ID=7670606
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BR0206472-3A BR0206472A (pt) | 2001-01-15 | 2002-01-09 | Manipulador de grande porte com amortecimento de vibração |
Country Status (9)
Country | Link |
---|---|
US (1) | US7143682B2 (pt) |
EP (1) | EP1354106A1 (pt) |
JP (1) | JP2004516995A (pt) |
KR (1) | KR100838748B1 (pt) |
CN (1) | CN1292138C (pt) |
AU (1) | AU2002224985B2 (pt) |
BR (1) | BR0206472A (pt) |
DE (1) | DE10101570B4 (pt) |
WO (1) | WO2002055813A1 (pt) |
Families Citing this family (53)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10101570B4 (de) | 2001-01-15 | 2008-12-04 | Schwing Gmbh | Großmanipulator mit Schwingungsdämpfung |
KR20040000290A (ko) * | 2002-06-24 | 2004-01-03 | 엘지전자 주식회사 | 고밀도 광디스크의 멀티 경로 데이터 스트림 관리방법 |
ITTO20040053A1 (it) * | 2004-02-03 | 2004-05-03 | Fiat Kobelco Construction Mach | Metodo per configurare il braccio operativo di una macchina movimento terra, macchina provvista di un braccio operativo configurabile, e gruppo adattatore per configurare un braccio operativo |
KR20080069599A (ko) * | 2005-10-18 | 2008-07-28 | 푸츠마이스터 콘크리트 펌프스 게엠베하 | 특히 대형 매니플레이터와 이동식 콘크리트 펌프용 작동 붐 |
DE102006031257A1 (de) * | 2006-07-06 | 2008-01-10 | Putzmeister Ag | Autobetonpumpe mit Knickmast |
CN1932215B (zh) * | 2006-09-30 | 2010-08-11 | 三一重工股份有限公司 | 用于抑制混凝土泵车臂架振动的方法及装置 |
ITUD20080057A1 (it) * | 2008-03-17 | 2009-09-18 | Cifa Spa | Procedimento di controllo delle vibrazioni di un braccio articolato per il pompaggio di calcestruzzo, e relativo dispositivo |
EP2151585B1 (de) * | 2008-08-08 | 2011-05-25 | HAWE Hydraulik SE | Dämpfungsvorrichtung für einen Manipulator |
DE202009004673U1 (de) * | 2008-08-29 | 2010-01-28 | Liebherr-Werk Ehingen Gmbh | Kolben-Zylinder-Einheit |
DE102009007310A1 (de) * | 2009-02-03 | 2010-08-05 | Putzmeister Concrete Pumps Gmbh | Vorrichtung zur Verteilung von Beton mit einem Knickmast |
DE102009007311A1 (de) * | 2009-02-03 | 2010-08-05 | Putzmeister Concrete Pumps Gmbh | Vorrichtung zur Verteilung von Beton mit einem Knickmast |
US8505184B2 (en) | 2009-03-13 | 2013-08-13 | Cifa Spa | Method to make an arm for the distribution of concrete, and arm thus made |
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. |
CN101886472B (zh) * | 2010-07-21 | 2012-01-04 | 三一重工股份有限公司 | 一种臂架系统的减振装置、臂架系统及泵送机械 |
CN102108790B (zh) * | 2010-12-24 | 2012-01-04 | 三一重工股份有限公司 | 混凝土泵送设备及其臂架状态控制系统 |
CN102071809B (zh) * | 2011-01-12 | 2012-07-25 | 中联重科股份有限公司 | 混凝土泵车以及混凝土泵车臂架的减振装置和方法 |
WO2012141623A1 (en) * | 2011-04-15 | 2012-10-18 | Volvo Construction Equipment Ab | A method and a device for reducing vibrations in a working machine |
CN103090964A (zh) * | 2011-12-15 | 2013-05-08 | 中联重科股份有限公司 | 臂架振动监测的车载数据单元、方法、工程机械及系统 |
CN103104451B (zh) * | 2011-12-23 | 2013-11-20 | 中联重科股份有限公司 | 泵送排量控制器、泵车及泵送排量控制方法 |
CN103291073B (zh) * | 2012-02-22 | 2016-01-20 | 北京赛亚同创科技有限公司 | 臂架控制系统、方法及泵车 |
ITMI20120362A1 (it) | 2012-03-07 | 2013-09-08 | Cifa Spa | Procedimento per il controllo delle vibrazioni di un braccio articolato e relativo apparato |
CN102828621B (zh) * | 2012-08-06 | 2015-07-15 | 中联重科股份有限公司 | 一种工程机械臂架控制方法、装置及系统 |
CN102797787B (zh) * | 2012-08-17 | 2013-11-20 | 中联重科股份有限公司 | 混凝土布料设备及其臂架振动抑制的方法、控制器和装置 |
CN103015730B (zh) * | 2012-12-19 | 2015-01-21 | 中联重科股份有限公司 | 臂架漂移控制设备、系统、方法及泵送设备 |
FI20135085L (fi) * | 2013-01-29 | 2014-07-30 | John Deere Forestry Oy | Menetelmä ja järjestelmä työkoneen puomiston ohjaamiseksi kärkiohjauksella |
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 |
US9810242B2 (en) * | 2013-05-31 | 2017-11-07 | Eaton Corporation | Hydraulic system and method for reducing boom bounce with counter-balance protection |
US10036407B2 (en) * | 2013-08-30 | 2018-07-31 | Eaton Intelligent Power Limited | Control method and system for using a pair of independent hydraulic metering valves to reduce boom oscillations |
CN105849421B (zh) | 2013-11-14 | 2019-01-15 | 伊顿公司 | 用于减少动臂跳动的先导控制机构 |
CN105940241B (zh) | 2013-11-14 | 2018-11-20 | 伊顿公司 | 降低动臂振荡的控制策略 |
WO2016011193A1 (en) | 2014-07-15 | 2016-01-21 | Eaton Corporation | Methods and apparatus to enable boom bounce reduction and prevent un-commanded motion in hydraulic systems |
US10279482B1 (en) * | 2014-12-18 | 2019-05-07 | Boston Dynamics, Inc. | Braking and regeneration control in a legged robot |
DE102014119654A1 (de) * | 2014-12-29 | 2016-06-30 | Brötje-Automation GmbH | Verfahren zur Kompensation einer Abweichung eines Arbeitspunkts |
DE102015208577A1 (de) * | 2015-05-08 | 2016-11-10 | Putzmeister Engineering Gmbh | Verfahren zur Ansteuerung eines Knickmasts in einem Großmanipulator |
DE102016106406A1 (de) * | 2016-04-07 | 2017-10-12 | Schwing Gmbh | Kartesische Steuerung einer Mastspitze eines Großmanipulators |
EP3450774B1 (en) * | 2016-04-27 | 2021-07-07 | SMC Corporation | Cylinder operation state monitoring device |
JP2017226374A (ja) * | 2016-06-24 | 2017-12-28 | 前田建設工業株式会社 | 構造物の点検装置 |
EP3615814A4 (en) * | 2017-04-28 | 2021-01-27 | Eaton Intelligent Power Limited | MASS-INDUCED VIBRATION DAMPING SYSTEM IN MACHINES HAVING HYDRAULICALLY CONTROLLED ARMS OR EXTENDED ELEMENTS |
DE112018001592T5 (de) * | 2017-04-28 | 2020-01-02 | Eaton Intelligent Power Limited | Driftkompensationssystem für eine drift in bezug auf die dämpfung von masse-induzierten schwingungen in maschinen |
CN111542703B (zh) * | 2017-04-28 | 2022-12-06 | 丹佛斯动力系统Ii技术有限公司 | 具有用于抑制机器中的质量感应振动的运动传感器的系统 |
DE102017118274A1 (de) | 2017-08-10 | 2019-02-14 | Putzmeister Engineering Gmbh | Großmanipulator und hydraulische Schaltungsanordnung für einen Großmanipulator |
DE102018104491A1 (de) * | 2018-02-27 | 2019-08-29 | Putzmeister Engineering Gmbh | Großmanipulator mit Schwingungsdämpfer |
DE102018109057A1 (de) | 2018-04-17 | 2019-10-17 | Liebherr-Mischtechnik Gmbh | Betonpumpe |
DE102018109098A1 (de) | 2018-04-17 | 2019-10-17 | Liebherr-Mischtechnik Gmbh | Betonpumpe |
DE102018109088A1 (de) | 2018-04-17 | 2019-10-17 | Liebherr-Mischtechnik Gmbh | Großmanipulator, insbesondere für Betonpumpen |
WO2020006538A1 (en) | 2018-06-29 | 2020-01-02 | Eaton Intelligent Power Limited | System and device for anticipating and correcting for over-center transitions in mobile hydraulic machine |
US12018462B2 (en) | 2018-06-29 | 2024-06-25 | Danfoss A/S | Controller and control system with enhanced orientation detection for mobile hydraulic equipment |
CN109555753A (zh) * | 2018-12-21 | 2019-04-02 | 深圳东风汽车有限公司 | 小冲击液压系统、控制方法及采用该系统的垃圾压缩站 |
DE102019105871A1 (de) | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Gelenkarm-Steuerung einer Betonpumpe |
DE102019105817A1 (de) * | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Gelenkarm-Steuerung einer Betonpumpe |
DE102019105814A1 (de) * | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Gelenkarm-Steuerung einer Betonpumpe |
CN113719126B (zh) * | 2021-09-14 | 2022-09-23 | 上海建工一建集团有限公司 | 超大范围大层高墙体混凝土自动化浇筑设备及方法 |
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---|---|---|---|---|
AT332101B (de) * | 1969-06-10 | 1976-09-10 | Schwing Friedrich | Vorrichtung zum verteilen von beton |
SE459878B (sv) * | 1985-01-07 | 1989-08-14 | Akermans Verkstad Ab | Foerfarande och anordning foer att reducera kolvhastigheten i speciellt en arbetsmaskins kolv- och cylinderaggregat |
JP3079498B2 (ja) | 1992-02-24 | 2000-08-21 | 石川島建機株式会社 | ブーム付コンクリートポンプ車のブーム振動抑制制御装置 |
DE4306127C2 (de) * | 1993-02-27 | 2002-08-08 | Putzmeister Ag | Großmanipulator, insbesondere für Autobetonpumpen |
DE4412643A1 (de) * | 1993-08-26 | 1995-03-02 | Putzmeister Maschf | Großmanipulator, insbesondere für Autobetonpumpen, sowie Verfahren zu dessen Handhabung |
JP2938330B2 (ja) * | 1994-01-31 | 1999-08-23 | 極東開発工業株式会社 | 流体輸送用ブーム装置 |
JP3443018B2 (ja) * | 1994-01-31 | 2003-09-02 | 極東開発工業株式会社 | 流体輸送用ブーム装置 |
DE19500738C1 (de) * | 1995-01-12 | 1996-04-11 | Siemens Ag | Regelanordnung und Regelverfahren für einen motorisch betriebenen Gelenkarm |
DE19503895A1 (de) * | 1995-02-07 | 1996-08-08 | Putzmeister Maschf | Betonpumpe mit Verteilermast |
DE19520166C2 (de) * | 1995-06-01 | 2000-03-23 | Konrad Schauer | Maststeuerung für nicht-schwingungsfreie Vielgelenkgeräte, insbesondere für vielgliedrige Betonpumpen-Verteilausleger |
JP3101545B2 (ja) * | 1995-07-31 | 2000-10-23 | 新キャタピラー三菱株式会社 | 油圧作業機の制振装置 |
JP3354386B2 (ja) | 1996-03-28 | 2002-12-09 | 極東開発工業株式会社 | 流体輸送用ブーム装置 |
JPH10331426A (ja) * | 1997-05-30 | 1998-12-15 | Mitsubishi Heavy Ind Ltd | コンクリートポンプ車 |
JP3854411B2 (ja) * | 1998-09-22 | 2006-12-06 | 三菱重工業株式会社 | コンクリートポンプ車 |
DE10046546A1 (de) | 2000-09-19 | 2002-03-28 | Putzmeister Ag | Großmanipulator mit Schwingungsdämpfer |
DE10060077A1 (de) * | 2000-12-01 | 2002-06-06 | Putzmeister Ag | Vorrichtung zur Betätigung des Knickmasts eines Großmanipulators |
DE10101570B4 (de) | 2001-01-15 | 2008-12-04 | Schwing Gmbh | Großmanipulator mit Schwingungsdämpfung |
-
2001
- 2001-01-15 DE DE10101570A patent/DE10101570B4/de not_active Expired - Fee Related
-
2002
- 2002-01-09 JP JP2002556451A patent/JP2004516995A/ja active Pending
- 2002-01-09 WO PCT/EP2002/000147 patent/WO2002055813A1/de active IP Right Grant
- 2002-01-09 BR BR0206472-3A patent/BR0206472A/pt active Search and Examination
- 2002-01-09 KR KR1020037009392A patent/KR100838748B1/ko not_active IP Right Cessation
- 2002-01-09 AU AU2002224985A patent/AU2002224985B2/en not_active Ceased
- 2002-01-09 US US10/466,035 patent/US7143682B2/en not_active Expired - Fee Related
- 2002-01-09 CN CNB028037510A patent/CN1292138C/zh not_active Expired - Fee Related
- 2002-01-09 EP EP02715404A patent/EP1354106A1/de not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
JP2004516995A (ja) | 2004-06-10 |
DE10101570A1 (de) | 2002-08-14 |
DE10101570B4 (de) | 2008-12-04 |
EP1354106A1 (de) | 2003-10-22 |
CN1486384A (zh) | 2004-03-31 |
AU2002224985B2 (en) | 2006-02-02 |
US7143682B2 (en) | 2006-12-05 |
CN1292138C (zh) | 2006-12-27 |
US20040076502A1 (en) | 2004-04-22 |
WO2002055813A1 (de) | 2002-07-18 |
KR20030088425A (ko) | 2003-11-19 |
KR100838748B1 (ko) | 2008-06-17 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
B09A | Decision: intention to grant [chapter 9.1 patent gazette] | ||
B11D | Dismissal acc. art. 38, par 2 of ipl - failure to pay fee after grant in time |