EP0715673A1 - Large manipulator, especially for self-propelled concrete pumps, and method for operating it - Google Patents

Large manipulator, especially for self-propelled concrete pumps, and method for operating it

Info

Publication number
EP0715673A1
EP0715673A1 EP94924288A EP94924288A EP0715673A1 EP 0715673 A1 EP0715673 A1 EP 0715673A1 EP 94924288 A EP94924288 A EP 94924288A EP 94924288 A EP94924288 A EP 94924288A EP 0715673 A1 EP0715673 A1 EP 0715673A1
Authority
EP
European Patent Office
Prior art keywords
mast
large manipulator
manipulator according
end hose
transmitter
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
EP94924288A
Other languages
German (de)
French (fr)
Other versions
EP0715673B2 (en
EP0715673B1 (en
Inventor
Karl Schlecht
Hartmut Benckert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Putzmeister Concrete Pumps GmbH
Original Assignee
Putzmeister Werk Maschinenfabrik 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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=25928957&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0715673(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Putzmeister Werk Maschinenfabrik GmbH filed Critical Putzmeister Werk Maschinenfabrik GmbH
Publication of EP0715673A1 publication Critical patent/EP0715673A1/en
Application granted granted Critical
Publication of EP0715673B1 publication Critical patent/EP0715673B1/en
Publication of EP0715673B2 publication Critical patent/EP0715673B2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • B66C23/005—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 with balanced jib, e.g. pantograph arrangement, the jib being moved manually
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/0318—Processes
    • Y10T137/0324—With control of flow by a condition or characteristic of a fluid
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/8807—Articulated or swinging flow conduit

Definitions

  • the invention relates to a large-scale manipulator, in particular for truck-mounted concrete pumps, with a rotary head arranged on a frame, in particular on a chassis, which can be rotated about an essentially vertical axis of rotation by means of a drive unit, and is composed of at least three mast arms, preferably as a concrete placing boom trained articulated mast, which mast arms can be pivoted to a limited extent about horizontal, mutually parallel articulation axes with respect to the respectively adjacent rotary head or mast arm by means of a further drive unit each, and with a remote control device having a control element for controlling the drive units and for adjusting the preferably one end hose load-bearing mast tip along an adjustment path.
  • the invention further relates to a method for handling the large manipulator.
  • Truck-mounted concrete pumps of this type are mobile implements which can be used with the full 360 ° swivel range of the rotary head even when the articulated mast is in a horizontal position.
  • the operator is responsible for controlling the truck-mounted concrete pump and positioning the concrete end hose on the last arm of the articulated mast. For this purpose, it has more than three rotational degrees of freedom of the articulated mast via the associated drive units.
  • ERS ⁇ ZBL ⁇ T (RULE 26) Actuate gate while moving the articulated mast in the non-structured three-dimensional work space while observing the construction site boundary conditions.
  • this operator activity was made easier in that the operator is no longer spatially linked to the concrete pump by means of a cable.
  • uncontrolled movements on the end hose and thus endangering the construction site personnel may occur when actuating a single axis.
  • rapid, practical movement of the end hose requires simultaneous activation of several axes.
  • the invention is based on the object of improving the known large manipulator of the type specified at the outset in such a way that the operator is able to find any points in space in the area
  • the reach of the articulated mast can be controlled directly from the concrete insertion point with simple manipulations.
  • the solution according to the invention is based on the idea that the operator guides the end hose by hand towards the concrete insertion point and the mast tip automatically follows it.
  • a suitable signal transmission path is required, with which the mast tip can be moved by the operator with computer support over an adjustment path which is preferably predetermined by the end hose.
  • the remote control device has a signal transmitter, which is arranged on the mast tip or on the end hose and can be triggered mechanically, optically, electromagnetically or electrically via the control element, in order to control a drive unit of the kink and axes of rotation in accordance with a computer-assisted coordinate transmitter which is actuated by means of the control member and which is directly displayed relative to the instantaneous position of the mast tip.
  • control element is mechanically connected to the signal transmitter.
  • tied control lever which is adjustable relative to the mast tip in various directions indicating the adjustment path and which can be actuated for example via a sensor ring, a rope or a rod and can also be mechanically connected to the movable end hose or engages around it with a certain amount of play.
  • control element and the signal transmitter can also be connected to one another by a direction-sensitive wireless transmitter-receiver path, for example by a light, infrared or radio path, with a transmitter located in the hand or on the operator's helmet as the control element can be used.
  • a signal emitted upward by this transmitter preferably in the form of a narrow directional cone, can be picked up by the direction-sensitive receiver arranged in the area of the mast tip and converted into the desired movement of the articulated mast via suitable evaluation electronics and the coordinate transmitter.
  • the transmitter can also contain a laser diode and the receiver a directionally sensitive light receiver.
  • control element is designed as a direction-sensitive inclination sensor which is preferably detachable and / or height-adjustable on the movable end hose.
  • the directional sensitivity can be achieved, for example, by using a biaxial tilt sensor be realized.
  • the inclination sensor expediently has evaluation electronics with an integrated or downstream signal transmitter for emitting an adjustment path signal which is dependent on the measured direction of inclination and / or a speed signal which is dependent on the measured angle of inclination for the movement of the mast tip.
  • the inclination sensor can preferably be arranged together with the signal transmitter in a housing which is fastened to the end hose in a manner secured against rotation relative to the mast tip. On the basis of these measures, it is possible to move the mast tip when the end hose is deflected in a direction corresponding to the deflection direction at a speed dependent on the deflection or inclination angle.
  • the large manipulator can be handled particularly easily if a handle is provided on the end hose that is pivotable about the hose axis and / or about an axis running transversely to the hose axis.
  • the handle expediently has two handle parts projecting one after the other diametrically opposite sides of the end hose.
  • the handle is also suitable for attaching switching or control elements, for example for switching the concrete pump on and off and / or for adjusting the delivery rate and / or for lifting and lowering the mast tip.
  • switching elements can additionally be designed as a dead man's switch.
  • the drive units of the articulated mast and the mast bracket are expediently controlled via the coordinate transmitter while maintaining the height of the mast tip in a predetermined horizontal plane. This is to ensure that the mast tip follows the signal transmitter in such a way that it always remains approximately vertically at a certain height above the operator and is tracked with a predetermined minimum deflection of the end hose of, for example, + 50 cm.
  • a manually operated height adjustment element can also be provided to adjust the height of the mast tip.
  • the height control element can, for example, have a changeover switch with a defined zero position, which is responsive to a lifting and lowering force acting on the control member, preferably analog speed-controlled.
  • the drive units of the redundant articulated axes of the articulated mast can each be actuated in accordance with an optionally selectable path-swivel characteristic.
  • the mast arms depend on their orientation to the gravitational axis on the one hand and by On the other hand, the load acting on them (eg concrete in the conveyor pipe) is exposed to more or less large bending and torsion loads, which falsifies the position of the mast tip at given pivot positions in the individual joints, according to a preferred embodiment of the invention proposed that the path-swivel characteristic in the coordinate transmitter can be modified in accordance with the load-dependent bending and torsional moments acting on the individual mast arms.
  • 1 shows a side view of a truck-mounted concrete pump with a five-armed articulated mast in the folded state
  • 2a and b show a side view and a top view of a truck-mounted concrete pump with the articulated mast unfolded
  • FIG. 3 shows a section of the articulated mast according to FIG. 2a with a mechanically operated remote control device arranged on the mast tip;
  • FIG. 4 shows a detail corresponding to FIG. 3 with wireless remote control device
  • FIG. 5 shows a detail corresponding to FIG. 3 with a cable-operated remote control device
  • FIG. 6 shows a section of the articulated mast according to FIG. 2a with an inclination sensor and handle arranged on the end hose;
  • FIG. 7a to c show three side views of the mast tip with end hose section without deflection, with deflection on the left or right and with deflection back and forth;
  • Fig. 8a to c the lower end of the end hose with handle in three side views.
  • the truck-mounted concrete pump shown in the drawing has a chassis 10, a mast bracket 16 arranged in the vicinity of the front axle 12 and the driver's cab 14 of the chassis 10, one on the mast bracket 16 by a vertically cal axis of rotation 18 by means of a hydraulic rotary unit (not shown) which can be rotated through 360 ° and which carries a knuckle boom 20, a rotary head 17, a hydraulically driven concrete pump 24 which can be loaded with concrete via a material feed container 22 and a delivery line 28 connected to the concrete pump 24 via a pipe switch 26 .
  • the articulated mast 20 has five mast arms 1, 2, 3, 4 and 5 which are connected to one another at the articulated joint A with the rotary head 17 and at the articulated joints B, C, D and E so as to be pivotable about horizontal articulation axes.
  • the mast arms 1 to 5 are folded in and out about the joints A to E hydraulically by means of double-acting hydraulic cylinders 30, which are articulated with their free cylinder-side and rod-side ends to arms or folding brackets of the mast arms 1 to 5 and the rotary head 17 .
  • the mast arms In the driving position shown in FIG. 1, the mast arms are folded towards one another in an essentially parallel orientation, while in the illustration according to FIGS. 2a and b they are unfolded.
  • a remote control device which comprises a signal transmitter 53 and a central control 31 fixed to the vehicle and communicating with the signal transmitter 53 in a galvanic or wireless manner.
  • a control member 52, 54 which is mechanically connected to the signal transmitter 53 or communicates wirelessly is provided, which is operated by the operator 51. bar is moved over the desired adjustment path of the mast tip 55.
  • the control element 52 is designed as a sensor ring mechanically connected via a plastic rod 60 to the signal transmitter 53 arranged on the mast tip 55 and surrounding the end hose 50 with play.
  • the signal transmitter 52 is expediently designed as an analog-proportional cardanic angle transmitter which is connected to the central control device 31 via a control cable 62.
  • a vertically displaceable, analog-proportional push switch 63 is additionally arranged in the lower region of the plastic rod 60, via which a vertical adjustment of the mast tip 55 can be triggered.
  • the height adjustment switch 63 can also be arranged at the upper end of the plastic rod 60 and actuated by raising and lowering the plastic rod. This arrangement is subject to a lower risk of damage in rough construction site operation.
  • a switch 64 for switching the concrete pump on and off and for controlling the delivery rate can additionally be arranged on the sensor ring 52.
  • a wireless, direction-sensitive signal transmission path for example a laser light or infrared sensor, is located between the control element 54 and the signal transmitter 53. - left
  • the control member 54 is designed as a transmitter located in the hand or on the helmet of the operator 51.
  • the transmitter 54 emits a narrow, upward-pointing directional cone 55 with a varying intensity distribution, which can be evaluated via the receiver 53 and the control device 31 and evaluated for tracking the mast tip 55. This also ensures that the articulated mast 20 with its mast tip 55 follows a movement of the operator 51 parallel to the horizontal plane 40.
  • the operator 51 is mechanically connected to the signal transmitter 53 designed as a cardanic angle transmitter via a rope 65 which is fastened to his helmet 52 or to his body.
  • the force exerted by the movement of the operator 51 via the cable pull 65 is evaluated in terms of direction and pulling force via the signal transmitter 53 and the central control device 31 such that the articulated mast 20 with its mast tip 55 follows a movement of the operator parallel to the plane 40.
  • control member 52 When the control member 52 is deflected in the desired direction of movement, corresponding control signals are transmitted to the control device 31 via the signal transmitter 53 and, in a data preparation stage and a computer-aided coordinate transmitter, into coordinate signals for the drive units 30 of the six axes 18, A, B , C, D, E implemented.
  • the size of the deflection of the control member 52, 54 can be converted into speed-determining signals by means of suitable sensors or electronics.
  • All six axes are controlled by software within the coordinate transmitter so that the relevant joints move harmoniously with one another depending on the distance and time.
  • the redundant degrees of freedom of the articulated joints are controlled according to a pre-programmed strategy, which also includes collision zones in The shape of obstacles, ceilings, fixtures and the like can be entered via the operating software and taken into account in the movement sequence.
  • the control member 52 is designed as an inclination sensor. It is located together with the signal transmitter 53 in a small housing which can be fastened to the end hose 50 in a rotationally secure manner with a clamp 70.
  • the control signals emitted by the inclination sensor 52, 53 are fed to the central control 31 via the control cable 62.
  • the two-axis inclinometer 52 is direction sensitive. He speaks on both sides Before deflections of the end hose according to FIG. 7b as well as deflections perpendicular to them according to FIG. 7c and are therefore suitable together with the signal transmitter for emitting an adjustment path signal which is dependent on the measured direction of inclination. Furthermore, a speed signal for the movement of the mast tip 55 which is dependent on the measured angle of inclination can be generated.
  • a handle 72 is detachably fastened by means of a quick-release clamp 74.
  • the handle 72 consists of two handle parts 72, 72 ′′, which protrude one after the other diametrically opposite sides over the end hose.
  • the handle is rotatable about 340 ° about the end hose axis, so that it can be gripped comfortably from all sides. If necessary, it is also possible to pivot the handle 72 about the axis 76 extending transversely to the end hose axis.
  • the handle can also be equipped with some switching and control elements, for example with a switch 78 for switching the concrete pump on and off, two sensing elements 80 for adjusting the delivery rate in positive and negative directions, and a height adjusting element designed as an adjusting lever 82 for the end hose 50 and a dead man's switch 84 as a safety precaution.
  • some switching and control elements for example with a switch 78 for switching the concrete pump on and off, two sensing elements 80 for adjusting the delivery rate in positive and negative directions, and a height adjusting element designed as an adjusting lever 82 for the end hose 50 and a dead man's switch 84 as a safety precaution.
  • the invention relates to a large manipulator, in particular for truck-mounted concrete pumps.
  • a rotating head 17, which is rotatable on a mast bracket 16 about a vertical axis of rotation 18, and an articulated mast 20 composed of at least three mast arms 1 to 5 are arranged on a chassis 10.
  • the mast arms 1 to 5 of the articulated mast 20 are about horizontal, mutually parallel articulation axes A to E with respect to the respectively adjacent rotary head 17 or mast arm 1 to 5 by means of one each.
  • Drive unit 30 limited pivotable.
  • the articulation mast 20 is actuated via a remote control device, which has a signal transmitter 53 arranged on the mast tip 55 and mechanically triggerable via a control member 52 for controlling one of the drive units 30 of the articulation and rotation axes in accordance with one by means of the control member 52 relative to the has the instantaneous position of the mast tip 55 immediately displayed adjustment path actuating, computer-assisted coordinate transmitter.
  • a remote control device which has a signal transmitter 53 arranged on the mast tip 55 and mechanically triggerable via a control member 52 for controlling one of the drive units 30 of the articulation and rotation axes in accordance with one by means of the control member 52 relative to the has the instantaneous position of the mast tip 55 immediately displayed adjustment path actuating, computer-assisted coordinate transmitter.

Abstract

The invention pertains to a large manipulator, especially for self-propelled concrete pumps. A rotary head (17) that rotates about a vertical axis (18) on a mast stand (16) and a jointed mast (20) composed of at least three mast arms (1 to 5) are mounted on a chassis (10). The mast arms (1 to 5) of the jointed mast (20) can be swivelled to a limited extent about horizontal, mutually parallel joint axes (A to E) relative to the adjoining rotary head (17) or mast arm (20) using a corresponding drive unit (30) in each case. The jointed mast (20) is operated by a remote control device which has a signal transmitter (53) situated at the mast top (55); operated mechanically using a control unit (52), said signal transmitter (53) drives a computerized coordinate field device actuating the drive units (30) of the joint and rotational axes according to a displacement path relative to the momentary position of the mast top (55) as directly indicated by means of the control unit (52).

Description

Großmanipulator, insbesondere für Autobetonpumpen, so¬ wie Verfahren zu dessen HandhabungLarge manipulator, in particular for truck-mounted concrete pumps, and methods for handling it
Beschreibungdescription
Die Erfindung betrifft einen Großmanipulator, insbeson¬ dere für Autobetonpumpen, mit einem auf einem Gestell, insbesondere auf einem Fahrgestell angeordneten, um ei¬ ne im wesentlichen vertikale Drehachse mittels eines Antriebsaggregats drehbaren Drehkopf, einem aus min¬ destens drei Mastarmen zusammengesetzten, vorzugsweise als Betonverteilermast ausgebildeten Knickmast, welche Mastarme um jeweils horizontale, zueinander parallele Knickachsen gegenüber dem jeweils benachbarten Drehkopf oder Mastarm mittels je eines weiteren Antriebsaggre- gats begrenzt verschwenkbar sind, und mit einer ein Steuerorgan aufweisenden Fernsteuereinrichtung zur An¬ steuerung der Antriebsaggregate und zum Verstellen der vorzugsweise einen Endschlauch tragenden Mastspitze entlang einem Verstellweg. Weiter betrifft die Erfin¬ dung ein Verfahren zur Handhabung des Großmanipulators.The invention relates to a large-scale manipulator, in particular for truck-mounted concrete pumps, with a rotary head arranged on a frame, in particular on a chassis, which can be rotated about an essentially vertical axis of rotation by means of a drive unit, and is composed of at least three mast arms, preferably as a concrete placing boom trained articulated mast, which mast arms can be pivoted to a limited extent about horizontal, mutually parallel articulation axes with respect to the respectively adjacent rotary head or mast arm by means of a further drive unit each, and with a remote control device having a control element for controlling the drive units and for adjusting the preferably one end hose load-bearing mast tip along an adjustment path. The invention further relates to a method for handling the large manipulator.
Autobetonpumpen dieser Art sind mobile Arbeitsgeräte, die mit vollem 360°-Schwenkbereich des Drehkopfs auch bei gestreckter horizontaler Lage des Knickmasts einge¬ setzt werden können. Der Bediener ist für die Steuerung der Autobetonpumpe und die Positionierung des Beton- Endschlauchs am letzten Arm des Knickmasts verantwort¬ lich. Er hat dazu mehr als drei rotatorische Freiheits¬ grade des Knickmasts über die zugehörigen Antriebsaggre-Truck-mounted concrete pumps of this type are mobile implements which can be used with the full 360 ° swivel range of the rotary head even when the articulated mast is in a horizontal position. The operator is responsible for controlling the truck-mounted concrete pump and positioning the concrete end hose on the last arm of the articulated mast. For this purpose, it has more than three rotational degrees of freedom of the articulated mast via the associated drive units.
ERSÄΓZBLÄΓT (REGEL 26) gate unter Bewegung des Knickmasts im nicht strukturier¬ ten dreidimensionalen Arbeitsraum bei Beachtung der Baustellenrandbedingungen zu betätigen. Durch den Ein¬ satz von Proportional-Funkfernsteuerungen wurde diese Bedienertätigkeit dahingehend erleichtert, daß der Be¬ diener nicht mehr mit einem Kabel räumlich mit der Au¬ tobetonpumpe verkettet ist. Es besteht jedoch weiterhin das Risiko, daß bei einer Einzelachsenbetätigung unkon¬ trollierte Bewegungen am Endschlauch und damit eine Ge¬ fährdung des Baustellenpersonals auftreten können. Außer¬ dem erfordert eine schnelle praxisgerechte Bewegung des Endschlauches eine simultane Ansteuerung mehrerer Ach¬ sen. Zur Erleichterung der Handhabung des Groß anipula- tors wurde daher bereits vorgeschlagen, statt der Ein¬ zelansteuerung der rotatorischen Freiheitsgrade des Knickmasts den Endschlauch durch geeignete Rechnerun¬ terstützung in einem kartesischen x-, y-, z-Koordina- tensystem mit Hilfe von Stellhebeln zu verfahren, wobei wahlweise ein gestellfestes oder baustellenfestes Koor¬ dinatensystem gewählt werden kann. Diese Art der Betä¬ tigung hat sich jedoch bei vielen Anwendungsfällen als nicht rationell genug erwiesen, da die hierfür erfor¬ derliche Betätigung der Stellhebel mit den optisch wahr¬ nehmbaren Bewegungsabläufen des Knickmasts nicht immer präzise genug in Einklang gebracht werden kann.ERSÄΓZBLÄΓT (RULE 26) Actuate gate while moving the articulated mast in the non-structured three-dimensional work space while observing the construction site boundary conditions. Through the use of proportional radio remote controls, this operator activity was made easier in that the operator is no longer spatially linked to the concrete pump by means of a cable. However, there is still the risk that uncontrolled movements on the end hose and thus endangering the construction site personnel may occur when actuating a single axis. In addition, rapid, practical movement of the end hose requires simultaneous activation of several axes. In order to facilitate the handling of the large manipulator, it has therefore already been suggested that instead of individually controlling the rotational degrees of freedom of the articulated mast, the end hose is closed by suitable computer support in a Cartesian x, y, z coordinate system with the aid of adjusting levers method, with either a frame-fixed or construction site-fixed coordinate system can be selected. In many applications, however, this type of actuation has not proven to be rational enough, since the actuation of the actuating levers required for this cannot always be reconciled with the optically perceptible movement sequences of the articulated mast precisely enough.
Ausgehend hiervon liegt der Erfindung die Aufgabe zu¬ grunde, den bekannten Großmanipulator der eingangs an¬ gegebenen Art dahingehend zu verbessern, daß es dem Bediener möglich ist, beliebige Punkte im Raum in der Reichweite des Knickmasts mit einfachen Handhabungen direkt von der Beton-Einbringstelle aus anzusteuern.Proceeding from this, the invention is based on the object of improving the known large manipulator of the type specified at the outset in such a way that the operator is able to find any points in space in the area The reach of the articulated mast can be controlled directly from the concrete insertion point with simple manipulations.
Zur Lösung dieser Aufgabe werden die in den Patentan¬ sprüchen 1 und 25 angegebenen Merkmalskombinationen vorgeschlagen. Vorteilhafte Ausgestaltungen und Weiter¬ bildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen.To achieve this object, the combinations of features specified in patent claims 1 and 25 are proposed. Advantageous refinements and developments of the invention result from the dependent claims.
Der erfindungsgemäßen Lösung liegt der Gedanke zugrun¬ de, daß der Bediener den Endschlauch begue von Hand auf die Beton-Einbringstelle hinlenkt und ihm die Mast- spitze automatisch dahin folgt. Hierzu ist eine geeig¬ nete Signalübertragungsstrecke erforderlich, mit der die Mastspitze vom Bediener mit Rechnerunterstützung über einen vorzugsweise durch den Endschlauch vorgege¬ benen Verstellweg bewegt werden kann. Um dies zu errei¬ chen, wird gemäß der Erfindung vorgeschlagen, daß die Fernsteuereinrichtung einen an der Mastspitze oder am Endschlauch angeordneten, über das Steuerorgan mecha¬ nisch, optisch, elektromagnetisch oder elektrisch aus¬ lösbaren Signalgeber zur Ansteuerung eines die Antriebs¬ aggregate der Knick- und Drehachsen nach Maßgabe eines mittels des Steuerorgans relativ zur augenblicklichen Position der Mastspitze unmittelbar angezeigten Ver¬ stellwegs betätigenden, rechnerunterstützten Koordina- tengebers aufweist.The solution according to the invention is based on the idea that the operator guides the end hose by hand towards the concrete insertion point and the mast tip automatically follows it. For this purpose, a suitable signal transmission path is required, with which the mast tip can be moved by the operator with computer support over an adjustment path which is preferably predetermined by the end hose. In order to achieve this, it is proposed according to the invention that the remote control device has a signal transmitter, which is arranged on the mast tip or on the end hose and can be triggered mechanically, optically, electromagnetically or electrically via the control element, in order to control a drive unit of the kink and axes of rotation in accordance with a computer-assisted coordinate transmitter which is actuated by means of the control member and which is directly displayed relative to the instantaneous position of the mast tip.
Gemäß einer bevorzugten Ausgestaltung der Erfindung ist das Steuerorgan als mechanisch mit dem Signalgeber ver- bundener, gegenüber der Mastspitze in verschiedene, den Verstellweg anzeigende Richtungen beliebig verstellba¬ rer Steuerhebel ausgebildet, der beispielsweise über einen Sensorring, ein Seil oder eine Stange betätigbar ist und auch mit dem beweglichen Endschlauch mechanisch verbunden sein kann oder diesen mit einem gewissen Spiel umgreift.According to a preferred embodiment of the invention, the control element is mechanically connected to the signal transmitter. tied control lever, which is adjustable relative to the mast tip in various directions indicating the adjustment path and which can be actuated for example via a sensor ring, a rope or a rod and can also be mechanically connected to the movable end hose or engages around it with a certain amount of play.
Alternativ dazu können das Steuerorgan und der Signal¬ geber auch durch eine richtungsempfindliche drahtlose Sender-Empfängerstrecke, beispielsweise durch eine Licht-, Infrarot- oder Funkstrecke miteinander verbun¬ den sein, wobei als Steuerorgan ein in der Hand oder auf dem Helm des Bedieners befindlicher Sender verwen¬ det werden kann. Ein von diesem Sender nach oben vor¬ zugsweise in Form eines engen Richtkegels abgegebenes Signal kann von dem im Bereich der Mastspitze angeord¬ neten richtungsempfindlichen Empfänger aufgenommen und über eine geeignete Auswerteelektronik und den Koordi¬ natengeber in die gewünschte Bewegung des Knickmasts umgesetzt werden. Der Sender kann zu diesem Zweck auch eine Laserdiode und der Empfänger einen richtungsemp¬ findlichen Lichtempfänger enthalten.As an alternative to this, the control element and the signal transmitter can also be connected to one another by a direction-sensitive wireless transmitter-receiver path, for example by a light, infrared or radio path, with a transmitter located in the hand or on the operator's helmet as the control element can be used. A signal emitted upward by this transmitter, preferably in the form of a narrow directional cone, can be picked up by the direction-sensitive receiver arranged in the area of the mast tip and converted into the desired movement of the articulated mast via suitable evaluation electronics and the coordinate transmitter. For this purpose, the transmitter can also contain a laser diode and the receiver a directionally sensitive light receiver.
Eine bevorzugte Ausgestaltung der Erfindung sieht vor, daß das Steuerorgan als an dem beweglichen Endschlauch vorzugsweise lösbar und/oder höhenverstellbar angeord¬ neter richtungsempfindlicher Neigungsgeber ausgebildet ist. Die Richtungsempfindlichkeit kann beispielsweise durch die Verwendung eines zweiachsigen Neigungsgebers verwirklicht werden. Der Neigungsgeber weist zweckmäßig eine Auswerteelektronik mit integriertem oder nachge- ordnetem Signalgeber zur Abgabe eines von der gemesse¬ nen Neigungsrichtung abhängigen Verstellwegsignals und/ oder eines von dem gemessenen Neigungswinkel abhängigen Geschwindigkeitssignals für die Bewegung der Mastspitze auf. Der Neigungsgeber kann vorzugsweise zusammen mit dem Signalgeber in einem gegenüber der Mastspitze ver- drehungssicher am Endschlauch befestigten Gehäuse ange¬ ordnet werden. Aufgrund dieser Maßnahmen ist es mög¬ lich, die Mastspitze beim Auslenken des Endschlauchs in eine der Auslenkungsrichtung entsprechende Richtung mit einer von dem Auslenkungs- oder Neigungswinkel abhängi¬ gen Geschwindigkeit zu bewegen.A preferred embodiment of the invention provides that the control element is designed as a direction-sensitive inclination sensor which is preferably detachable and / or height-adjustable on the movable end hose. The directional sensitivity can be achieved, for example, by using a biaxial tilt sensor be realized. The inclination sensor expediently has evaluation electronics with an integrated or downstream signal transmitter for emitting an adjustment path signal which is dependent on the measured direction of inclination and / or a speed signal which is dependent on the measured angle of inclination for the movement of the mast tip. The inclination sensor can preferably be arranged together with the signal transmitter in a housing which is fastened to the end hose in a manner secured against rotation relative to the mast tip. On the basis of these measures, it is possible to move the mast tip when the end hose is deflected in a direction corresponding to the deflection direction at a speed dependent on the deflection or inclination angle.
Mit dem erfindungsgemäßen Neigungsgeber läßt sich der Großmanipulator besonders einfach handhaben, wenn am Endschlauch ein um die Schlauchachse und/oder um eine quer zur Schlauchachse verlaufende Achse schwenkbar an¬ geordneter Handgriff vorgesehen wird. Für die beidhän- dige Bedienung weist der Handgriff zweckmäßig zwei nach einander diametral gegenüberliegenden Seiten des End¬ schlauchs überstehende Griffteile auf. Der Handgriff eignet sich zusätzlich zur Anbringung von Schalt- oder Steuerelementen beispielsweise zum Ein- und Ausschalten der Betonpumpe und/oder zur Verstellung der Fördermenge und/oder zum Heben und Senken der Mastspitze. Um eine ungewollte Bewegung der Mastspitze zu vermeiden, kann zusätzlich eines der Schaltelemente als Totmannschalter ausgebildet sein. Aus Gründen der Betriebssicherheit werden die Antriebs¬ aggregate des Knickmasts und des Mastbocks über den Ko¬ ordinatengeber zweckmäßig unter Beibehaltung der Höhe der Mastspitze in einer vorgegebenen Horizontalebene kombiniert angesteuert. Damit soll erreicht werden, daß die Mastspitze dem Signalgeber in der Weise folgt, daß sie immer etwa vertikal in bestimmtem Höhenabstand über dem Bediener bleibt und bei einer vorgegebenen Mindest- auslenkung des Endschlauchs von beispielsweise + 50 cm nachgeführt wird. Zur Höhenverstellung der Mastspitze kann zusätzlich ein handbetätigtes Höhenstellelement vorgesehen werden. Das Höhenstellelement kann beispiels¬ weise einen auf eine am Steuerorgan angreifende Hub- und Senkkraft ansprechenden, vorzugsweise analog ge- schwindigkeitsgesteuerten Wechselschalter mit definier¬ ter Nullstellung aufweisen.With the tilt sensor according to the invention, the large manipulator can be handled particularly easily if a handle is provided on the end hose that is pivotable about the hose axis and / or about an axis running transversely to the hose axis. For the two-handed operation, the handle expediently has two handle parts projecting one after the other diametrically opposite sides of the end hose. The handle is also suitable for attaching switching or control elements, for example for switching the concrete pump on and off and / or for adjusting the delivery rate and / or for lifting and lowering the mast tip. In order to avoid an unwanted movement of the mast tip, one of the switching elements can additionally be designed as a dead man's switch. For reasons of operational safety, the drive units of the articulated mast and the mast bracket are expediently controlled via the coordinate transmitter while maintaining the height of the mast tip in a predetermined horizontal plane. This is to ensure that the mast tip follows the signal transmitter in such a way that it always remains approximately vertically at a certain height above the operator and is tracked with a predetermined minimum deflection of the end hose of, for example, + 50 cm. A manually operated height adjustment element can also be provided to adjust the height of the mast tip. The height control element can, for example, have a changeover switch with a defined zero position, which is responsive to a lifting and lowering force acting on the control member, preferably analog speed-controlled.
Von besonderem Vorteil ist es, wenn die Bewegungsge¬ schwindigkeit der Mastspitze nach Maßgabe der Auslen¬ kungsweite des Steuerorgans in Verstellrichtung relativ zu einer Nullstellung steuerbar ist.It is particularly advantageous if the speed of movement of the mast tip can be controlled relative to a zero position in accordance with the deflection range of the control element in the adjustment direction.
Zur Optimierung des Bewegungsablaufs bei der Horizon¬ tal- und/oder Vertikalverstellung ist es wichtig, daß die Antriebsaggregate der redundanten Knickachsen des Knickmasts jeweils nach Maßgabe einer gegebenenfalls wahlweise vorgebbaren Weg-Schwenk-Charakteristik betä¬ tigbar sind. Da die Mastarme in Abhängigkeit von ihrer Ausrichtung zur Gravitationsachse einerseits und von der an ihnen angreifenden Last (z.B. Beton im Förder¬ rohr) andererseits mehr oder weniger großen Biege- und Torsionsbelaεtungen ausgesetzt sind, die die Lage der Mastspitze bei gegebenen Schwenkstellungen in den ein¬ zelnen Gelenken verfälscht, wird gemäß einer bevorzug¬ ten Ausgestaltung der Erfindung vorgeschlagen, daß die Weg-Schwenk-Charakteristik im Koordinatengeber nach Maßgabe der an den einzelnen Mastarmen angreifenden lastabhangigen Biege- und Torsionsmomente modifizierbar ist. Entsprechendes gilt, wenn zur Vermeidung von Kol¬ lisionen im Bewegungsraum des Knickmasts Hindernisse zu überwinden sind. Hierzu ist es zweckmäßig, die Weg- Schwenk-Charakteristik der Knickachsen im Koordinaten¬ geber nach Maßgabe von die Mastarmbewegung räumlich be¬ grenzenden Kollisionszonen, insbesondere durch Vorgabe eines höchsten und/oder tiefsten Knickpunkts zu modifi¬ zieren. Eine weitere Sicherheit in dieser Hinsicht wird erzielt, wenn die Weg-Schwenk-Charakteristik der Knick¬ achsen im Koordinatengeber nach Maßgabe von durch einen vorzugsweise am letzten Mastarm angeordneten Abstands- sensor abgegebenen Meßsignalen modifizierbar ist.In order to optimize the sequence of movements in the horizontal and / or vertical adjustment, it is important that the drive units of the redundant articulated axes of the articulated mast can each be actuated in accordance with an optionally selectable path-swivel characteristic. Because the mast arms depend on their orientation to the gravitational axis on the one hand and by On the other hand, the load acting on them (eg concrete in the conveyor pipe) is exposed to more or less large bending and torsion loads, which falsifies the position of the mast tip at given pivot positions in the individual joints, according to a preferred embodiment of the invention proposed that the path-swivel characteristic in the coordinate transmitter can be modified in accordance with the load-dependent bending and torsional moments acting on the individual mast arms. The same applies if obstacles have to be overcome to avoid collisions in the movement space of the articulated mast. For this purpose, it is expedient to modify the path-swivel characteristic of the articulation axes in the coordinate transmitter in accordance with collision zones that spatially limit the mast arm movement, in particular by specifying a highest and / or lowest inflection point. A further certainty in this regard is achieved if the path-swivel characteristic of the articulation axes in the coordinate transmitter can be modified in accordance with measurement signals output by a distance sensor preferably arranged on the last mast arm.
Im folgenden wird die Erfindung anhand eines in der Zeichnung in schematischer Weise dargestellten Ausfüh¬ rungsbeispiels näher erläutert. Es zeigenThe invention is explained in more detail below on the basis of an exemplary embodiment shown schematically in the drawing. Show it
Fig. 1 eine Seitenansicht einer Autobetonpumpe mit fünfar igem Knickmast in zusammengeklapptem Zu¬ stand; Fig. 2a und b eine Seitenansicht und eine Draufsicht einer Autobetonpumpe mit auseinandergeklapptem Knickmast;1 shows a side view of a truck-mounted concrete pump with a five-armed articulated mast in the folded state; 2a and b show a side view and a top view of a truck-mounted concrete pump with the articulated mast unfolded;
Fig. 3 einen Ausschnitt des Knickmasts nach Fig. 2a mit an der Mastspitze angeordneter, mechanisch betätigter Fernsteuereinrichtung;3 shows a section of the articulated mast according to FIG. 2a with a mechanically operated remote control device arranged on the mast tip;
Fig. 4 einen Ausschnitt entsprechend Fig. 3 mit draht¬ los betätigter Fernsteuereinrichtung;FIG. 4 shows a detail corresponding to FIG. 3 with wireless remote control device;
Fig. 5 einen Ausschnitt entsprechend Fig. 3 mit seil¬ betätigter Fernsteuereinrichtung;FIG. 5 shows a detail corresponding to FIG. 3 with a cable-operated remote control device;
Fig. 6 einen Ausschnitt des Knickmasts nach Fig. 2a mit am Endschlauch angeordnetem Neigungsgeber und Handgriff;FIG. 6 shows a section of the articulated mast according to FIG. 2a with an inclination sensor and handle arranged on the end hose; FIG.
Fig. 7a bis c drei Seitenansichten der Mastspitze mit Endschlauchabschnitt ohne Auslenkung, mit Aus- lenkung links oder rechts und mit Auslenkung vor und zurück;7a to c show three side views of the mast tip with end hose section without deflection, with deflection on the left or right and with deflection back and forth;
Fig. 8a bis c das untere Ende des Endschlauchs mit Handgriff in drei Seitenansichten.Fig. 8a to c, the lower end of the end hose with handle in three side views.
Die in der Zeichnung dargestellte Autobetonpumpe weist ein Fahrgestell 10, einen in der Nähe der Vorderachse 12 und des Fahrerhauses 14 des Fahrgestells 10 angeord¬ neten Mastbock 16, einen am Mastbock 16 um eine verti- kale Drehachse 18 mittels eines nicht dargestellten hy¬ draulischen Drehaggregats um 360° drehbaren, einen Knickmast 20 tragenden Drehkopf 17, eine über einen Materialaufgabebehälter 22 mit Beton beaufschlagbare, hydraulisch angetriebene Betonpumpe 24 und eine über eine Rohrweiche 26 an die Betonpumpe 24 angeschlossene Förderleitung 28 auf. Der Knickmast 20 weist fünf Mast¬ arme 1,2,3,4 und 5 auf, die an dem Knickgelenk A mit dem Drehkopf 17 und an den Knickgelenken B,C,D und E um jeweils horizontale Knickachsen schwenkbar miteinander verbunden sind. Das Ein- und Ausfalten der Mastarme 1 bis 5 um die Gelenke A bis E erfolgt hydraulisch mit¬ tels doppelt wirkender Hydrozylinder 30, die mit ihren freien zylinderseitigen und stangenseitigen Enden an Auslegern bzw. Umlegebügeln der Mastarme 1 bis 5 und des Drehkopfs 17 angelenkt sind. In der in Fig. 1 ge¬ zeigten Fahrstellung sind die Mastarme in zueinander im wesentlichen paralleler Ausrichtung gegeneinander ge¬ faltet, während sie in der Darstellung nach Fig. 2a und b auseinandergefaltet sind.The truck-mounted concrete pump shown in the drawing has a chassis 10, a mast bracket 16 arranged in the vicinity of the front axle 12 and the driver's cab 14 of the chassis 10, one on the mast bracket 16 by a vertically cal axis of rotation 18 by means of a hydraulic rotary unit (not shown) which can be rotated through 360 ° and which carries a knuckle boom 20, a rotary head 17, a hydraulically driven concrete pump 24 which can be loaded with concrete via a material feed container 22 and a delivery line 28 connected to the concrete pump 24 via a pipe switch 26 . The articulated mast 20 has five mast arms 1, 2, 3, 4 and 5 which are connected to one another at the articulated joint A with the rotary head 17 and at the articulated joints B, C, D and E so as to be pivotable about horizontal articulation axes. The mast arms 1 to 5 are folded in and out about the joints A to E hydraulically by means of double-acting hydraulic cylinders 30, which are articulated with their free cylinder-side and rod-side ends to arms or folding brackets of the mast arms 1 to 5 and the rotary head 17 . In the driving position shown in FIG. 1, the mast arms are folded towards one another in an essentially parallel orientation, while in the illustration according to FIGS. 2a and b they are unfolded.
Zur Betätigung der Antriebsaggregate 30 des Knickmasts 20 ist eine Fernsteuereinrichtung vorgesehen, die einen Signalgeber 53 und einen mit dem Signalgeber 53 galva¬ nisch oder drahtlos kommunizierende, fahrzeugfeste Zen¬ tralsteuerung 31 umfaßt. Zum Verstellen der Mastspitze 55 und des daran angeordneten, nach unten hängenden Endschlauchs 50 ist ein mit dem Signalgeber 53 mecha¬ nisch verbundenes oder drahtlos kommunizierendes Steu¬ erorgan 52,54 vorgesehen, das vom Bediener 51 un ittel- bar über den gewünschten Verstellweg der Mastspitze 55 verfahren wird.To actuate the drive units 30 of the articulated mast 20, a remote control device is provided, which comprises a signal transmitter 53 and a central control 31 fixed to the vehicle and communicating with the signal transmitter 53 in a galvanic or wireless manner. To adjust the mast tip 55 and the end hose 50 hanging thereon, a control member 52, 54 which is mechanically connected to the signal transmitter 53 or communicates wirelessly is provided, which is operated by the operator 51. bar is moved over the desired adjustment path of the mast tip 55.
Bei dem in Fig. 3 gezeigten Ausführungsbeispiel ist das Steuerorgan 52 als mechanisch über einen Kunststoffstab 60 mit dem an der Mastspitze 55 angeordneten Signalge¬ ber 53 verbundener, den Endschlauch 50 mit Spiel umge¬ bender Sensorring ausgebildet. Der Signalgeber 52 ist dabei zweckmäßig als analog-proportional wirkender kar- danischer Winkelgeber ausgebildet, der über ein Steuer¬ kabel 62 mit der zentralen Steuereinrichtung 31 verbun¬ den ist. Im unteren Bereich des Kunststoffstabs 60 ist bei dem gezeigten Ausführungsbeispiel zusätzlich ein vertikal verschiebbarer, analog-proportional wirkender Schubschalter 63 angeordnet, über den eine Vertikalver¬ stellung der Mastspitze 55 auslösbar ist. Der Höhenver- stellschalter 63 kann grundsätzlich auch am oberen Ende des Kunststoffstabs 60 angeordnet und durch Heben und Senken des Kunststoffstabs betätigt werden. Diese An¬ ordnung unterliegt im rauhen Baustellenbetrieb einer geringeren Beεchädigungsgefahr.In the exemplary embodiment shown in FIG. 3, the control element 52 is designed as a sensor ring mechanically connected via a plastic rod 60 to the signal transmitter 53 arranged on the mast tip 55 and surrounding the end hose 50 with play. The signal transmitter 52 is expediently designed as an analog-proportional cardanic angle transmitter which is connected to the central control device 31 via a control cable 62. In the exemplary embodiment shown, a vertically displaceable, analog-proportional push switch 63 is additionally arranged in the lower region of the plastic rod 60, via which a vertical adjustment of the mast tip 55 can be triggered. In principle, the height adjustment switch 63 can also be arranged at the upper end of the plastic rod 60 and actuated by raising and lowering the plastic rod. This arrangement is subject to a lower risk of damage in rough construction site operation.
Weiter kann an dem Sensorring 52 zusätzlich ein Schal¬ ter 64 zum Ein- und Ausschalten der Betonpumpe und zur Steuerung der Fördermenge angeordnet werden.Furthermore, a switch 64 for switching the concrete pump on and off and for controlling the delivery rate can additionally be arranged on the sensor ring 52.
Bei dem in Fig. 4 gezeigten Ausführungsbeispiel ist zwischen dem Steuerorgan 54 und dem Signalgeber 53 eine drahtlose, richtungsempfindliche Signalübertragungs¬ strecke, beispielsweise eine Laserlicht- oder Infrarot- - li ¬In the exemplary embodiment shown in FIG. 4, a wireless, direction-sensitive signal transmission path, for example a laser light or infrared sensor, is located between the control element 54 and the signal transmitter 53. - left
strecke vorgesehen, bei der das Steuerorgan 54 als in der Hand oder auf dem Helm des Bedieners 51 befindli¬ cher Sender ausgebildet ist. Der Sender 54 gibt bei dem gezeigten Ausführungsbeispiel einen engen, nach oben weisenden Richtkegel 55 mit variierender Intensitäts¬ verteilung ab, die über den Empfänger 53 und die Steu¬ ereinrichtung 31 ausgewertet und zur Nachführung der Mastspitze 55 ausgewertet werden kann. Damit wird auch hier erreicht, daß der Knickmast 20 mit seiner Mast¬ spitze 55 einer Bewegung des Bedieners 51 parallel zur horizontalen Ebene 40 folgt.Distance provided, in which the control member 54 is designed as a transmitter located in the hand or on the helmet of the operator 51. In the exemplary embodiment shown, the transmitter 54 emits a narrow, upward-pointing directional cone 55 with a varying intensity distribution, which can be evaluated via the receiver 53 and the control device 31 and evaluated for tracking the mast tip 55. This also ensures that the articulated mast 20 with its mast tip 55 follows a movement of the operator 51 parallel to the horizontal plane 40.
Bei dem Ausführungsbeispiel nach Fig. 5 steht der Be¬ diener 51 über ein Seil 65, das an seinem Helm 52 oder an seinem Körper befestigt ist, mit dem als kardanischer Winkelgeber ausgebildeten Signalgeber 53 mechanisch in Verbindung. Die durch die Bewegung des Bedieners 51 über den Seilzug 65 ausgeübte Kraft wird nach Richtung und Zugkraft über den Signalgeber 53 und die zentrale Steuereinrichtung 31 so ausgewertet, daß der Knickmast 20 mit seiner Mastspitze 55 einer Bewegung des Bedie¬ ners parallel zur Ebene 40 folgt.In the exemplary embodiment according to FIG. 5, the operator 51 is mechanically connected to the signal transmitter 53 designed as a cardanic angle transmitter via a rope 65 which is fastened to his helmet 52 or to his body. The force exerted by the movement of the operator 51 via the cable pull 65 is evaluated in terms of direction and pulling force via the signal transmitter 53 and the central control device 31 such that the articulated mast 20 with its mast tip 55 follows a movement of the operator parallel to the plane 40.
Die zusätzliche Einleitung einer Vertikalbewegung ist sowohl bei mechanischer als auch bei drahtloser Signal¬ übertragung von der Beton-Einbringstelle aus über ein handbetätigtes Höhenstellelement 63 möglich. Entspre¬ chend kann auch die Betonpumpe von der Einfüllstelle aus mit einem hierfür vorgesehenen Schalter ein- und ausgeschaltet werden. Bei einer Auslenkung des Steuerorgans 52 in der ge¬ wünschten Bewegungsrichtung werden über den Signalgeber 53 entsprechende Steuersignale an die Steuereinrichtung 31 übertragen und in einer Datenaufbereitungsstufe und einem rechnergestützten Koordinatengeber in Koordina¬ tensignale für die Antriebsaggregate 30 der sechs Ach¬ sen 18,A,B,C,D,E umgesetzt. Zusätzlich kann die Größe der Auslenkung des Steuerorgans 52,54 über eine geeig¬ nete Sensorik oder Elektronik in geschwindigkeitsbe¬ stimmende Signale umgesetzt werden. Alle sechs Achsen werden innerhalb des Koordinatengebers so softwaremäßig angesteuert, daß die betreffenden Gelenke in Abhängig¬ keit von Weg und Zeit sich harmonisch zueinander bewe¬ gen. Die Ansteuerung der redundanten Freiheitsgrade der Knickgelenke erfolgt nach einer vorprogrammierten Stra¬ tegie, bei der auch Kollisionszonen in Form von Hinder¬ nissen, Decken, Einbauten und dergleichen über die Be¬ triebssoftware eingegeben und im Bewegungsablauf be¬ rücksichtigt werden können.The additional initiation of a vertical movement is possible both with mechanical and with wireless signal transmission from the concrete introduction point via a manually operated height adjusting element 63. Correspondingly, the concrete pump can also be switched on and off from the filling point using a switch provided for this purpose. When the control member 52 is deflected in the desired direction of movement, corresponding control signals are transmitted to the control device 31 via the signal transmitter 53 and, in a data preparation stage and a computer-aided coordinate transmitter, into coordinate signals for the drive units 30 of the six axes 18, A, B , C, D, E implemented. In addition, the size of the deflection of the control member 52, 54 can be converted into speed-determining signals by means of suitable sensors or electronics. All six axes are controlled by software within the coordinate transmitter so that the relevant joints move harmoniously with one another depending on the distance and time. The redundant degrees of freedom of the articulated joints are controlled according to a pre-programmed strategy, which also includes collision zones in The shape of obstacles, ceilings, fixtures and the like can be entered via the operating software and taken into account in the movement sequence.
Bei dem in Fig. 6 bis 8 gezeigten Ausführungsbeispiel ist das Steuerorgan 52 als Neigungsgeber ausgebildet. Es befindet sich zusammen mit dem Signalgeber 53 in ei¬ nem kleinen Gehäuse, das mit einer Schelle 70 verdre¬ hungssicher am Endschlauch 50 befestigbar ist. Die vom Neigungsgeber 52,53 abgegebenen Steuersignale werden über das Steuerkabel 62 der Zentralsteuerung 31 zuge¬ leitet. Der zweiachsig ausgebildete Neigungsgeber 52 ist richtungsempfindlich. Er spricht sowohl auf seitli- ehe Auslenkungen des Endschlauchs entsprechend Fig. 7b als auch auf dazu senkrechte Auslenkungen entsprechend Fig. 7c an und eignet sich daher zusammen mit dem Sig¬ nalgeber zur Abgabe eines von der gemessenen Neigungs¬ richtung abhängigen Verstellwegsignals. Weiter kann ein von dem gemessenen Neigungswinkel abhängiges Geschwin- digkeitssignal für die Bewegung der Mastspitze 55 er¬ zeugt werden.In the exemplary embodiment shown in FIGS. 6 to 8, the control member 52 is designed as an inclination sensor. It is located together with the signal transmitter 53 in a small housing which can be fastened to the end hose 50 in a rotationally secure manner with a clamp 70. The control signals emitted by the inclination sensor 52, 53 are fed to the central control 31 via the control cable 62. The two-axis inclinometer 52 is direction sensitive. He speaks on both sides Before deflections of the end hose according to FIG. 7b as well as deflections perpendicular to them according to FIG. 7c and are therefore suitable together with the signal transmitter for emitting an adjustment path signal which is dependent on the measured direction of inclination. Furthermore, a speed signal for the movement of the mast tip 55 which is dependent on the measured angle of inclination can be generated.
Im unteren Teil des Endschlauchs 50 ist ein Handgriff 72 mittels einer Schnellverschlußschelle 74 lösbar be¬ festigt. Der Handgriff 72 besteht aus zwei Griffteilen 72 ,72'', die nach einander diametral gegenüberliegen¬ den Seiten über den Endschlauch überstehen. Der Hand¬ griff ist um die Endschlauchachse um etwa 340° drehbar angeordnet, so daß er von allen Seiten her bequem er¬ faßt werden kann. Bei Bedarf ist es auch möglich, den Handgriff 72 um die quer zur Endschlauchachse verlau¬ fende Achse 76 zu verschwenken. Der Handgriff kann zu¬ sätzlich mit einigen Schalt- und Steuerorganen bestückt werden, beispielsweise mit einem Schalter 78 zum Ein- und Ausschalten der Betonpumpe, zwei Tastelementen 80 zum Verstellen der Fördermenge in positiver und negati¬ ver Richtung, einem als Verstellhebel ausgebildeten Hö- henverstellorgan 82 für den Endschlauch 50 und einem Totmannschalter 84 als Sicherungsvorkehrung.In the lower part of the end hose 50, a handle 72 is detachably fastened by means of a quick-release clamp 74. The handle 72 consists of two handle parts 72, 72 ″, which protrude one after the other diametrically opposite sides over the end hose. The handle is rotatable about 340 ° about the end hose axis, so that it can be gripped comfortably from all sides. If necessary, it is also possible to pivot the handle 72 about the axis 76 extending transversely to the end hose axis. The handle can also be equipped with some switching and control elements, for example with a switch 78 for switching the concrete pump on and off, two sensing elements 80 for adjusting the delivery rate in positive and negative directions, and a height adjusting element designed as an adjusting lever 82 for the end hose 50 and a dead man's switch 84 as a safety precaution.
Die beschriebene Verfahrensweise bietet sich für die Betonverarbeitung auf feinstrukturierten Baustellen an, insbesondere dann, wenn Geräte mit großer Reichweite eingesetzt werden.The procedure described lends itself to concrete processing on finely structured construction sites, especially when devices with a long range are involved be used.
Zusammenfassend ist folgendes festzustellen: Die Erfin¬ dung betrifft einen Großmanipulator, insbesondere für Autobetonpumpen. Auf einem Fahrgestell 10 ist ein an einem Mastbock 16 um eine vertikale Drehachse 18 dreh¬ barer Drehkopf 17 sowie ein aus mindestens drei Mastar¬ men 1 bis 5 zusammengesetzter Knickmast 20 angeordnet. Die Mastarme 1 bis 5 des Knickmasts 20 sind um horizon¬ tale, zueinander parallele Knickachsen A bis E gegen¬ über dem jeweils benachbarten Drehkopf 17 oder Mastarm 1 bis 5 mittels je eines. Antriebsaggregats 30 begrenzt verschwenkbar. Die Betätigung des Knickmasts 20 erfolgt über eine Fernsteuereinrichtung, die einen an der Mast¬ spitze 55 angeordneten, über ein Steuerorgan 52 mecha¬ nisch auslösbaren Signalgeber 53 zur Ansteuerung eines die Antriebsaggregate 30 der Knick- und Drehachsen nach Maßgabe eines mittels des Steuerorgans 52 relativ zur augenblicklichen Position der Mastspitze 55 unmittelbar angezeigten Verstellwegs betätigenden, rechnerunter- stützten Koordinatengebers aufweist. In summary, the following can be stated: The invention relates to a large manipulator, in particular for truck-mounted concrete pumps. A rotating head 17, which is rotatable on a mast bracket 16 about a vertical axis of rotation 18, and an articulated mast 20 composed of at least three mast arms 1 to 5 are arranged on a chassis 10. The mast arms 1 to 5 of the articulated mast 20 are about horizontal, mutually parallel articulation axes A to E with respect to the respectively adjacent rotary head 17 or mast arm 1 to 5 by means of one each. Drive unit 30 limited pivotable. The articulation mast 20 is actuated via a remote control device, which has a signal transmitter 53 arranged on the mast tip 55 and mechanically triggerable via a control member 52 for controlling one of the drive units 30 of the articulation and rotation axes in accordance with one by means of the control member 52 relative to the has the instantaneous position of the mast tip 55 immediately displayed adjustment path actuating, computer-assisted coordinate transmitter.

Claims

Patentansprüche claims
1. Großmanipulator, insbesondere für Autobetonpumpen mit einem auf einem Gestell, insbesondere einem Fahrgestell (10) , angeordneten, um eine im wesent¬ lichen vertikale Drehachse (18) mittels eines An- triebsaggregats verdrehbaren Drehkopf (17) einem aus mindestens drei Mastarmen (1 bis 5) zusammenge¬ setzten, vorzugsweise als Betonverteilermaεt ausge¬ bildeten Knickmast (20) , welche Mastarme (1 bis 5) um jeweils horizontale, zueinander parallele Knick¬ achsen (A bis E) gegenüber dem jeweils benachbarten Drehkopf (17) oder Mastarm (1 bis 5) mittels je ei¬ nes weiteren Antriebsaggregats (30) begrenzt ver¬ schwenkbar sind und mit einer ein Steuerorgan (52, 54) aufweisenden Fernsteuereinrichtung (53,31) zur Ansteuerung der Antriebsaggregate (30) und zum Ver¬ stellen der vorzugsweise einen Endschlauch (50) tragenden Mastspitze (55) entlang einem vorgegebe¬ nen Verstellweg, dadurch gekennzeichnet, daß die Fernsteuereinrichtung einen an der Mastspitze (55) oder am Endschlauch (50) angeordneten, über das Steuerorgan (52;54) mechanisch, optisch, elektro¬ magnetisch oder elektrisch auslösbaren Signalgeber (53) zur Ansteuerung eines die Antriebsaggregate (30) der Knick- und Drehachsen (A bis E, 18) nach Maßgabe eines mittels des Steuerorgans (52,54) re¬ lativ zur augenblicklichen Position der Mastspitze (55) unmittelbar angezeigten Verstellwegs betäti¬ genden, rechnerunterstützten Koordinatengebers auf- weist .1. Large manipulator, in particular for truck-mounted concrete pumps, with a rotary head (17) arranged on a frame, in particular a chassis (10), which can be rotated about a substantially vertical axis of rotation (18) by means of a drive unit, and which has at least three mast arms (1 to 5) composed articulated mast (20), preferably designed as a concrete distributor mast, which mast arms (1 to 5) about horizontal, mutually parallel articulated axes (A to E) with respect to the respectively adjacent rotary head (17) or mast arm ( 1 to 5) can be pivoted to a limited extent by means of a further drive unit (30) each and with a remote control device (53, 31) having a control element (52, 54) for controlling the drive units (30) and for preferably adjusting them an end hose (50) carrying mast tip (55) along a predetermined adjustment path, characterized in that the remote control device has one on the mast tip (55) or on the end hose (50) arranged, via the control member (52; 54) mechanically, optically, electromagnetically or electrically triggerable signal transmitter (53) for controlling one of the drive units (30) of the articulation and rotation axes (A to E, 18) in accordance with a by means of the control member (52, 54) relative to the instantaneous position of the mast tip (55) directly displayed adjustment path actuating computer-assisted coordinate transmitter points.
2. Großmanipulator nach Anspruch 1, dadurch gekenn¬ zeichnet, daß das Steuerorgan (52) als mechanisch mit dem Signalgeber (53) verbundener, gegenüber der Mastspitze (55) in verschiedene, den Verstellweg anzeigende Richtungen verstellbarer Steuerhebel ausgebildet ist.2. Large manipulator according to claim 1, characterized gekenn¬ characterized in that the control member (52) as a mechanically connected to the signal transmitter (53), opposite the mast tip (55) in different, the adjustment path indicating adjustable control lever is formed.
3. Großmanipulator nach Anspruch 2, dadurch gekenn¬ zeichnet, daß der Steuerhebel über einen Sensorring (52) , ein Seil oder eine Stange betätigbar ist.3. Large manipulator according to claim 2, characterized gekenn¬ characterized in that the control lever via a sensor ring (52), a rope or a rod can be actuated.
4. Großmanipulator nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß das Steuerorgan (52) mit dem beweglichen Endschlauch (50) , vorzugsweise mit vorgegebenem räumlichem Spiel mechanisch ver¬ bunden ist.4. Large manipulator according to one of claims 1 to 3, characterized in that the control member (52) with the movable end hose (50), preferably with a predetermined spatial clearance mechanically connected.
5. Großmanipulator nach Anspruch 1, dadurch gekenn¬ zeichnet, daß das Steuerorgan und der Signalgeber durch eine richtungsempfindliche drahtlose Sender- Empfänger-Strecke (55) miteinander verbunden sind.5. Large manipulator according to claim 1, characterized gekenn¬ characterized in that the control member and the signal generator are connected by a directionally sensitive wireless transmitter-receiver section (55).
6. Großmanipulator nach Anspruch 5, dadurch gekenn¬ zeichnet, daß die richtungsempfindliche Sender-Emp¬ fänger-Strecke eine Licht-, Infrarot- oder Funk¬ strecke ist.6. Large manipulator according to claim 5, characterized gekenn¬ characterized in that the direction-sensitive transmitter-receiver range is a light, infrared or radio range.
7. Großmanipulator nach Anspruch 5 oder 6, dadurch ge- kennzeichnet, daß der Sender (54) eine Laserdiode und der Empfänger (53) einen richtungsempfindlichen Lichtempfänger enthält.7. Large manipulator according to claim 5 or 6, thereby indicates that the transmitter (54) contains a laser diode and the receiver (53) contains a direction-sensitive light receiver.
8. Großmanipulator nach einem der Ansprüche 5 bis 7, dadurch gekennzeichnet, daß das Steuerorgan (54) an dem beweglichen Endschlauch (50) oder an einem Kör¬ perteil einer Bedienungsperson (51) fixierbar und vorzugsweise von Hand auslösbar ist.8. Large manipulator according to one of claims 5 to 7, characterized in that the control member (54) on the movable end hose (50) or on a body part of an operator (51) can be fixed and preferably triggered by hand.
9. Großmanipulator nach Anspruch 1, dadurch gekenn¬ zeichnet, daß das Steuerorgan (52) als an dem be¬ weglichen Endschlauch (50) vorzugsweise lösbar und/oder höhenverstellbar angeordneter, richtungs¬ empfindlicher Neigungsgeber ausgebildet ist.9. Large manipulator according to claim 1, characterized gekenn¬ characterized in that the control member (52) as the movable end hose (50) is preferably detachable and / or height-adjustable, directionally sensitive inclination sensor.
10. Großmanipulator nach Anspruch 9, dadurch gekenn¬ zeichnet, daß das Steuerorgan (52) als zweiachsiger Neigungsgeber ausgebildet ist.10. Large manipulator according to claim 9, characterized gekenn¬ characterized in that the control member (52) is designed as a two-axis inclination sensor.
11. Großmanipulator nach Anspruch 9 oder 10, dadurch gekennzeichnet, daß der Neigungsgeber (52) eine Auswerteelektronik mit integriertem oder nachgeord- netem Signalgeber (53) zur Abgabe eines von der ge¬ messenen Neigungsrichtung abhängigen Verstellweg- signals und/oder eines von dem gemessenen Neigungs¬ winkel abhängigen Geschwindigkeitssignals für die Bewegung der Mastspitze (55) aufweist.11. Large manipulator according to claim 9 or 10, characterized in that the inclination sensor (52) has evaluation electronics with an integrated or post-arranged signal transmitter (53) for emitting an adjustment path signal which is dependent on the measured direction of inclination and / or one of the measured Inclination angle-dependent speed signal for the movement of the mast tip (55).
12. Großmanipulator nach einem der Ansprüche 9 bis 11, 18 -12. Large manipulator according to one of claims 9 to 11, 18 -
dadurch gekennzeichnet, daß der Neigungsgeber (52) vorzugsweise zusammen mit dem Signalgeber (53) in einem gegenüber der Mastspitze (55) verdrehungsεi- cher am Endschlauch (50) befestigbaren Gehäuse an¬ geordnet ist.characterized in that the inclination sensor (52) is preferably arranged together with the signal transmitter (53) in a housing which can be fastened to the end hose (50) so that it cannot be rotated relative to the mast tip (55).
13. Großmanipulator nach einem der Ansprüche 1 bis 12, gekennzeichnet durch einen am Endschlauch (50) um die Schlauchachse und/oder um eine quer zur Schlauch- achεe verlaufende Achεe (76) schwenkbar angeordne¬ ten Handgriff (72) .13. Large manipulator according to one of claims 1 to 12, characterized by a handle (72) arranged on the end hose (50) about the hose axis and / or about an axis (76) extending transversely to the hose axis.
14. Großmanipulator nach Anspruch 13, dadurch gekenn¬ zeichnet, daß der Handgriff (72) zwei nacheinander diametral gegenüberliegenden Seiten des Endschlauchs (50) überstehende Griffteile (72',72") für die beidhändige Bedienung aufweist.14. Large manipulator according to claim 13, characterized gekenn¬ characterized in that the handle (72) has two successively diametrically opposite sides of the end hose (50) projecting handle parts (72 ', 72 ") for two-handed operation.
15. Großmanipulator nach Anspruch 13 oder 14, gekenn¬ zeichnet durch an dem Handgriff (72) angeordnete Schalt- oder Steuerelemente zum Ein- und Ausschal¬ ten der Betonpumpe (78) und/oder zur Verstellung der Fördermenge (80) und/oder zum Heben und Senken der Mastspitze (82) .15. Large manipulator according to claim 13 or 14, marked by switching or control elements arranged on the handle (72) for switching the concrete pump (78) on and off and / or for adjusting the delivery rate (80) and / or Raising and lowering the mast tip (82).
16. Großmanipulator nach Anspruch 13, dadurch gekenn¬ zeichnet, daß eines der Schaltelemente als Totmann¬ schalter (84) ausgebildet ist.16. Large manipulator according to claim 13, characterized gekenn¬ characterized in that one of the switching elements is designed as a dead man switch (84).
17. Großmanipulator nach einem der Anεprüche 1 bis 16, dadurch gekennzeichnet, daß die Antriebsaggregate (30) über den Koordinatengeber unter Beibehaltung einer konstanten Höhe (h) der Mastεpitze (55) über dem Boden (40) kombiniert anεteuerbar εind.17. Large manipulator according to one of claims 1 to 16, characterized in that the drive units (30) can be controlled in combination via the coordinate transmitter while maintaining a constant height (h) of the mast tip (55) above the floor (40).
18. Großmanipulator nach einem der Ansprüche 1 bis 17, gekennzeichnet durch ein zweckmäßig handbetätigtes Höhenstellelement (63) zur Höhenverstellung der Mastspitze (55) .18. Large manipulator according to one of claims 1 to 17, characterized by an expedient manually operated height adjusting element (63) for height adjustment of the mast tip (55).
19. Großmanipulator nach Anspruch 18, dadurch gekenn¬ zeichnet, daß das Höhenstellelement ein auf eine am Steuerorgan (52) oder am Handgriff angreifende Hub- und Senkkraft ansprechender Wechselschalter (63) mit definierter Nullstellung ist.19. Large manipulator according to claim 18, characterized gekenn¬ characterized in that the height control element is a responsive to a control member (52) or the handle lifting and lowering force responsive changeover switch (63) with a defined zero position.
20. Großmanipulator nach einem der Ansprüche l bis 19, dadurch gekennzeichnet, daß die Bewegungsgeschwin¬ digkeit der Mastεpitze (55) nach Maßgabe der Aus¬ lenkungsweite des Steuerorganε (52,54) in Verstell¬ richtung relativ zu einer Nullstellung steuerbar ist.20. Large manipulator according to one of claims 1 to 19, characterized in that the speed of movement of the mast tip (55) can be controlled in the direction of adjustment relative to a zero position in accordance with the deflection range of the control member (52, 54).
21. Großmanipulator nach einem der Ansprüche 1 bis 20, dadurch gekennzeichnet, daß die Antriebsaggregate (30) der redundanten Knickachsen (A bis E) des Knickmasts (20) nach Maßgabe einer wahlweise vor¬ gebbaren Weg-Schwenk-Charakteristik betätigbar sind. 21. Large manipulator according to one of claims 1 to 20, characterized in that the drive units (30) of the redundant articulated axes (A to E) of the articulated mast (20) can be actuated in accordance with an optionally predeterminable path-swivel characteristic.
22. Großmanipulator nach Anspruch 21, dadurch gekenn¬ zeichnet, daß die Weg-Schwenk-Charakteristik der Knickachsen (A bis E) im Koordinatengeber nach Ma߬ gabe von an den einzelnen Mastarmen (1 bis 5) an¬ greifenden lastabhängigen Biege- und/oder Torsions¬ momenten modifizierbar ist.22. Large manipulator according to claim 21, characterized gekenn¬ characterized in that the path-swivel characteristic of the articulated axes (A to E) in the coordinate transmitter according to the measure of the individual mast arms (1 to 5) attacking load-dependent bending and / or Torsions¬ moments can be modified.
23. Großmanipulator nach Anspruch 21 oder 22, dadurch gekennzeichnet, daß die Weg-Schwenk-Charakteristik der Knickachsen (A bis E) im Koordinatengeber nach Maßgabe von die Mastarmbewegungen räumlich begrenz¬ ten Kollisionszonen, insbesondere durch Vorgabe ei¬ nes höchsten und/oder tiefsten Knickpunkts, modifi¬ zierbar ist.23. Large manipulator according to claim 21 or 22, characterized in that the path-swivel characteristic of the articulated axes (A to E) in the coordinate transmitter in accordance with the mast arm movements spatially limited collision zones, in particular by specifying one of its highest and / or lowest Inflection point, is modifiable.
24. Großmanipulator nach einem der Ansprüche 21 bis 23, dadurch gekennzeichnet, daß die Weg-Schwenk-Charak¬ teristik der Knickachsen (A bis E) im Koordinaten¬ geber nach Maßgabe von durch einen vorzugsweise am letzten Mastarm (5) angeordneten Abstandssensor ab¬ gegebenen Meßsignalen modifizierbar ist.24. Large manipulator according to one of claims 21 to 23, characterized in that the path-swivel characteristic of the articulation axes (A to E) in the coordinate transmitter in accordance with a distance sensor arranged preferably on the last mast arm (5) given measurement signals can be modified.
25. Verfahren zur Handhabung eines Großmanipulators, insbesondere für Autobetonpumpen, mit einem auf ei¬ nem Gestell, insbesondere einem Fahrgestell ange¬ ordneten, vorzugsweise als Knickmast ausgebildeten, an seiner Mastspitze einen Endschlauch tragenden Betonverteilermast, der mit seiner Mastspitze mit Hilfe einer Fernbedienung zu einer Einbaustelle verfahren wird und dessen Endschlauch durch einen Bediener von Hand in die Beton-Einbringstelle ge¬ richtet wird, dadurch gekennzeichnet, daß die Mast¬ spitze den räumlichen Bewegungen des Endschlauchs und/oder des Bedieners selbsttätig nachgeführt wird.25. Method for handling a large-scale manipulator, in particular for truck-mounted concrete pumps, with a concrete distributor mast, which is arranged on a frame, in particular a chassis, and is preferably designed as an articulated mast and has an end hose at its mast tip Installation site is moved and its end hose through a Operator is directed into the concrete introduction point by hand, characterized in that the mast tip automatically tracks the spatial movements of the end hose and / or the operator.
26. Verfahren nach Anspruch 25, dadurch gekennzeichnet, daß die Mastspitze nur außerhalb eines vorgegebenen Spielraums den räumlichen Bewegungen des Endschlauchs nachgeführt wird.26. The method according to claim 25, characterized in that the mast tip is only tracking the spatial movements of the end hose outside a predetermined range.
27. Verfahren nach Anspruch 25 oder 26, dadurch gekenn¬ zeichnet, daß die Mastspitze in konstantem Höhenab¬ stand über der Beton-Einbringstelle verfahren wird.27. The method according to claim 25 or 26, characterized gekenn¬ characterized in that the mast tip is moved at constant Höhenab¬ distance above the concrete insertion point.
28. Verfahren nach einem der Ansprüche 25 bis 27, da¬ durch gekennzeichnet, daß die Mastspitze (55) beim Auslenken des Endschlauchs (50) in eine der Auslen¬ kungsrichtung entsprechende Richtung bewegt wird.28. The method according to any one of claims 25 to 27, characterized in that the mast tip (55) is moved in a direction corresponding to the direction of deflection when the end hose (50) is deflected.
29. Verfahren nach einem der Ansprüche 25 bis 28, da¬ durch gekennzeichnet, daß die Mastspitze (55) beim Auslenken des Endschlauchs (50) mit einer von dem Auslenkungs- oder Neigungswinkel abhängigen Ge¬ schwindigkeit bewegt wird. 29. The method according to any one of claims 25 to 28, characterized in that the mast tip (55) is moved at a speed dependent on the deflection or inclination angle when the end hose (50) is deflected.
EP94924288A 1993-08-26 1994-07-26 Large manipulator, especially for self-propelled concrete pumps, and method for operating it Expired - Lifetime EP0715673B2 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE4328707 1993-08-26
DE4328707 1993-08-26
DE19944412643 DE4412643A1 (en) 1993-08-26 1994-04-13 Large manipulator, in particular for truck-mounted concrete pumps, and method for handling it
DE4412643 1994-04-13
PCT/EP1994/002460 WO1995006178A1 (en) 1993-08-26 1994-07-26 Large manipulator, especially for self-propelled concrete pumps, and method for operating it

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Also Published As

Publication number Publication date
EP0715673B2 (en) 2001-11-21
WO1995006178A1 (en) 1995-03-02
JPH09501998A (en) 1997-02-25
ES2101559T3 (en) 1997-07-01
DE4412643A1 (en) 1995-03-02
ES2101559T5 (en) 2002-05-01
JP3615548B2 (en) 2005-02-02
US5823218A (en) 1998-10-20
EP0715673B1 (en) 1997-03-19
DE59402173D1 (en) 1997-04-24

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