EP0715673B2 - 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 Download PDF

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Publication number
EP0715673B2
EP0715673B2 EP94924288A EP94924288A EP0715673B2 EP 0715673 B2 EP0715673 B2 EP 0715673B2 EP 94924288 A EP94924288 A EP 94924288A EP 94924288 A EP94924288 A EP 94924288A EP 0715673 B2 EP0715673 B2 EP 0715673B2
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EP
European Patent Office
Prior art keywords
mast
large manipulator
manipulator according
end hose
control member
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.)
Expired - Lifetime
Application number
EP94924288A
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German (de)
French (fr)
Other versions
EP0715673A1 (en
EP0715673B1 (en
Inventor
Karl Schlecht
Hartmut Dr. 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<BR>AKTIENGESELLSCHAFT
PUTZMEISTER BR AG
Putzmeister AG
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Application filed by PUTZMEISTER<BR>AKTIENGESELLSCHAFT, PUTZMEISTER BR AG, Putzmeister AG filed Critical PUTZMEISTER<BR>AKTIENGESELLSCHAFT
Publication of EP0715673A1 publication Critical patent/EP0715673A1/en
Publication of EP0715673B1 publication Critical patent/EP0715673B1/en
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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 manipulator, in particular for truck-mounted concrete pumps, with one on one Frame, in particular arranged on a chassis, about a substantially vertical axis of rotation rotating head by means of a drive unit, one composed of at least three mast arms, trained as a concrete placing boom Articulated mast, which mast arms around horizontal, mutually parallel articulation axes compared to the neighboring turret or mast arm by means of each of another drive unit can be pivoted to a limited extent and with a tax body Remote control device for controlling the drive units and to adjust the an end hose carrying mast tip along a Adjustment path.
  • the invention further relates to a method for handling the large manipulator.
  • Truck-mounted concrete pumps of this type are mobile tools, with a full 360 ° swivel range of the rotary head even when the articulated mast is in a horizontal position can be used.
  • the operator is for control of the truck-mounted concrete pump and positioning of the concrete end hose on the last arm of the Articulated masts responsible. It has more than three rotary ones Degrees of freedom of the articulated mast over the associated Drive units under the movement of the Articulated masts in the unstructured three-dimensional Work space when observing the site conditions to operate.
  • proportional radio remote controls became this operator activity relieved that the operator is not more with one cable spatially with the truck-mounted concrete pump is chained.
  • the object of the invention based on the well-known large manipulator of the beginning to improve the specified type, that the operator is able to select any point in the Space within easy reach of the articulated mast Handling directly from the concrete placement point head for.
  • the idea of the solution according to the invention lies underlying that the operator comfortable the end hose directs it by hand to the concrete insertion point and him the mast tip automatically follows. This is a suitable signal transmission path required with the mast tip from the operator with computer support via a preferably through the end hose predetermined adjustment path can be moved.
  • the remote control device one at the Mast tip or arranged on the end hose, over the control device mechanical, optical, electromagnetic or electrically triggered signal transmitter for control one of the drive units of the articulated and Axes of rotation in accordance with one by means of the control member relative to the current position of the mast tip actuating directly displayed adjustment path, computer-assisted coordinate generator, the mast tip according to the spatial movements of the End hose can be moved and only outside a specified range whose movements can be tracked.
  • control organ as mechanical with the signal generator connected, opposite the mast tip in different directions indicating the adjustment path arbitrarily adjustable control lever designed, for example via a sensor ring, a rope or a Rod is actuated and also with the movable End hose can be mechanically connected or grips it with a certain game.
  • control device and the signal generator also through a directionally sensitive wireless Sender-receiver route, for example through a light, infrared or radio link connected to each other be, with a tax in hand or transmitter located on the operator's helmet can be used.
  • a directionally sensitive wireless Sender-receiver route for example through a light, infrared or radio link connected to each other be, with a tax in hand or transmitter located on the operator's helmet
  • a directionally sensitive wireless Sender-receiver route for example through a light, infrared or radio link connected to each other be, with a tax in hand or transmitter located on the operator's helmet
  • One from this station after above preferably in the form of a narrow directional cone
  • the signal emitted can differ from that in the range of Mast tip arranged direction-sensitive receiver recorded and via suitable evaluation electronics and the coordinate encoder in the desired one Movement of the articulated mast are implemented.
  • the transmitter can also use a laser diode for this purpose and the receiver a direction
  • a preferred embodiment of the invention provides before that the control member than on the movable end hose preferably detachable and / or adjustable in height arranged direction-sensitive inclinometer is trained.
  • the directional sensitivity can for example by using a biaxial Inclination sensor can be realized.
  • the tilt sensor expediently has evaluation electronics with integrated or subordinate signal transmitter for Delivery of one of the measured inclination directions dependent adjustment path signal and / or one of the measured speed angle dependent inclination angle for the movement of the mast tip on.
  • the inclinator can preferably together with the signal transmitter in one opposite the mast tip Housing secured against rotation on the end hose to be ordered. Because of these measures it is possible to tip the mast when deflecting the End hose in a direction corresponding to the direction of deflection Direction with one of the deflection or Tilt angle dependent speed to move.
  • the large manipulator is particularly easy to use, if at the end hose around the hose axis and / or about a transverse to the hose axis
  • Axis pivotable handle provided becomes.
  • the handle has two-handed operation expediently two diametrically opposite one after the other Protruding sides of the end hose Handle parts on.
  • the handle is also suitable for Attachment of 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. To an unwanted Avoid moving the mast tip additionally one of the switching elements as a dead man's switch be trained.
  • the drive units are used for operational safety reasons of the articulated mast and the mast bracket expedient while maintaining the coordinate encoder the height of the mast tip in a given Combined controlled horizontal plane.
  • This is supposed to be achieved be that the mast tip in the signal generator the way follows that it is always approximately vertical in certain Height distance above the operator remains at a predetermined minimum deflection of the end hose of, for example, ⁇ 50 cm is tracked.
  • a manually operated height control element can be provided for height adjustment of the mast tip.
  • the height control element can be, for example to a lifting and lowering force acting on the control element appealing, preferably analog speed-controlled Changeover switch with a defined Have zero position.
  • the drive units of the redundant articulated axes of the articulated mast in each case in accordance with one if necessary optionally selectable travel-swivel characteristics are operable.
  • the mast arms are dependent from their orientation to the axis of gravity on the one hand and the load acting on them (e.g. Concrete in the delivery pipe) on the other hand more or less exposed to large bending and torsional loads are given the position of the mast tip Falsified swivel positions in the individual joints, according to a preferred embodiment the invention proposed that the swing-away characteristic in the coordinate transmitter according to the load-dependent attacks on the individual mast arms Bending and torsional moments can be modified.
  • the truck-mounted concrete pump shown in the drawing has a chassis 10, one near the front axle 12 and the cab 14 of the chassis 10 arranged mast bracket 16, one on the mast bracket 16 a vertical axis of rotation 18 by means of a not shown hydraulic rotating unit rotatable through 360 °, an articulated mast 20 carrying rotary head 17, one can be loaded with concrete via a material feed container 22, hydraulically driven concrete pump 24 and one via a pipe switch 26 to the concrete pump 24 connected delivery line 28.
  • the articulated mast 20 has five mast arms 1, 2, 3, 4 and 5, which the articulation A with the turret 17 and to the Articulated joints B, C, D and E around horizontal Articulated axes are pivotally connected.
  • a mast control device 20 is provided, the one signal generator 53 and one with the signal generator 53 galvanically or wirelessly communicating, central control 31 fixed to the vehicle.
  • control member 52 as mechanical via a plastic rod 60 with that arranged on the mast tip 55
  • Signal generator 53 connected to the end hose 50 Game surrounding sensor ring trained.
  • the signal generator 52 is useful as analog proportional acting gimbal encoder designed via a control cable 62 to the central control device 31 is connected.
  • a vertically displaceable, analog proportional acting push switch 63 arranged, via the a vertical adjustment of the mast tip 55 can be triggered.
  • the height adjustment switch 63 can in principle also arranged at the upper end of the plastic rod 60 and actuated by lifting and lowering the plastic rod become. This arrangement is subject to rough Construction site operation with a lower risk of damage.
  • a wireless, direction-sensitive signal transmission path for example a laser light or infrared path provided in which the control body 54 than in the hand or on the operator's helmet 51 located transmitter is formed.
  • the transmitter 54 gives in the embodiment shown, a narrow, upward pointing cone 55 with varying intensity distribution starting from the receiver 53 and the control device 31 evaluated and for tracking the mast tip 55 can be evaluated.
  • the articulated mast 20 with its mast tip 55 a movement of the operator 51st follows parallel to the horizontal plane 40.
  • the additional initiation of a vertical movement is for both mechanical and wireless signal transmission from the concrete placement point a manually operated height adjustment element 63 is possible.
  • Corresponding can also use the concrete pump from the filling point on and off with a switch provided for this purpose turned off.
  • control member 52 is designed as a tilt sensor et. It is located together with the signal generator 53 in a small housing, which is clamped with a 70 can be secured against rotation on the end hose 50.
  • the control signals emitted by the tilt sensor 52, 53 are via the control cable 62 of the central control 31 forwarded.
  • the biaxial one Inclinometer 52 is direction sensitive. He speaks both on lateral deflections of the end hose corresponding to Fig. 7b as well as perpendicular to deflections 7c and is therefore suitable together with the signal generator to deliver a depend on the measured direction of inclination Adjustment signal. Furthermore, one of the measured Inclination angle dependent speed signal generated for the movement of the mast tip 55.
  • a handle 72 releasable by means of a quick-release clamp 74 attached.
  • the handle 72 consists of two handle parts 72 ', 72 "which are diametrically opposite one after the other Extend sides over the end hose.
  • the Handle is about 340 ° around the end hose axis rotatably arranged so that it is comfortable from all sides can be detected. If necessary, it is also possible the handle 72 around the transverse to the end hose axis to pivot extending axis 76.
  • the handle can also be used with some switching and control devices be equipped, for example with a Switch 78 for switching the concrete pump on and off, two sensing elements 80 for adjusting the delivery rate in a positive and negative direction, one as an adjustment lever trained height adjustment 82 for the End hose 50 and a dead man switch 84 as a safety precaution.
  • a Switch 78 for switching the concrete pump on and off
  • two sensing elements 80 for adjusting the delivery rate in a positive and negative direction
  • one as an adjustment lever trained height adjustment 82 for the End hose 50 and a dead man switch 84 as a safety precaution.
  • the procedure described is suitable for concrete processing on finely structured construction sites especially when long-range devices be used.
  • the invention relates to a large manipulator, in particular for truck-mounted concrete pumps.
  • a chassis 10 On a chassis 10 is a on a mast bracket 16 about a vertical axis of rotation 18 rotatable turret 17 and one of at least three Mast arms 1 to 5 composite articulated mast 20 arranged.
  • Mast arms 1 to 5 of the articulated mast 20 are about horizontal, mutually parallel articulation axes A to E compared to the adjacent turret 17 or mast arm 1 to 5 by means of one drive unit each 30 limited pivoting.
  • the actuation of the Articulated masts 20 take place via a remote control device, the one arranged on the mast tip 55, over a Control device 52 mechanically triggered signal transmitter 53 for controlling the drive units 30 of the Buckling and rotation axes according to a means of the control member 52 relative to the current position the mast tip 55 immediately displayed adjustment actuating, computer-assisted coordinate transmitter having.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Manipulator (AREA)
  • Jib Cranes (AREA)

Description

Die Erfindung betrifft einen Großmanipulator, insbesondere für Autobetonpumpen, mit einem auf einem Gestell, insbesondere auf einem Fahrgestell angeordneten, um eine im wesentlichen vertikale Drehachse mittels eines Antriebsaggregats drehbaren Drehkopf, einem aus mindestens drei Mastarmen zusammengesetzten, als Betonverteilermast ausgebildeten Knickmast, welche Mastarme um jeweils horizontale, zueinander parallele Knickachsen gegenüber dem jeweils benachbarten Drehkopf oder Mastarm mittels je eines weiteren Antriebsaggregats begrenzt verschwenkbar sind, und mit einer ein Steuerorgan aufweisenden Fernsteuereinrichtung zur Ansteuerung der Antriebsaggregate und zum Verstellen der einen Endschlauch tragenden Mastspitze entlang einem Verstellweg. Weiter betrifft die Erfindung ein Verfahren zur Handhabung des Großmanipulators.The invention relates to a large manipulator, in particular for truck-mounted concrete pumps, with one on one Frame, in particular arranged on a chassis, about a substantially vertical axis of rotation rotating head by means of a drive unit, one composed of at least three mast arms, trained as a concrete placing boom Articulated mast, which mast arms around horizontal, mutually parallel articulation axes compared to the neighboring turret or mast arm by means of each of another drive unit can be pivoted to a limited extent and with a tax body Remote control device for controlling the drive units and to adjust the an end hose carrying mast tip along a 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 eingesetzt werden können. Der Bediener ist für die Steuerung der Autobetonpumpe und die Positionierung des Beton-Endschlauchs am letzten Arm des Knickmasts verantwortlich. Er hat dazu mehr als drei rotatorische Freiheitsgrade des Knickmasts über die zugehörigen Antriebsaggregate unter Bewegung des Knickmasts im nicht strukturierten dreidimensionalen Arbeitsraum bei Beachtung der Baustellenrandbedingungen zu betätigen. Durch den Einsatz von Proportional-Funkfemsteuerungen wurde diese Bedienertätigkeit dahingehend erleichtert, daß der Bediener nicht mehr mit einem Kabel räumlich mit der Autobetonpumpe verkettet ist. Es besteht jedoch weiterhin das Risiko, daß bei einer Einzelachsenbetätigung unkontrollierte Bewegungen am Endschlauch und damit eine Gefährdung des Baustellenpersonals auftreten können. Außerdem erfordert eine schnelle praxisgerechte Bewegung des Endschlauches eine simultane Ansteuerung mehrerer Achsen. Zur Erleichterung der Handhabung des Großmanipulators wurde daher bereits vorgeschlagen, statt der Einzelansteuerung der rotatorischen Freiheitsgrade des Knickmasts den Endschlauch durch geeignete Rechnerunterstützung in einem kartesischen x-, y-, z-Koordinatensystem mit Hilfe von Stellhebeln zu verfahren, wobei wahlweise ein gestellfestes oder baustellenfestes Koordinatensystem gewählt werden kann ("Computer controlled concrete distribution", Dr.-Ing. Hartmut Benckert, Putzmeister-Werk, Seiten 111-119, 8th Int. Symposium on automation and robotics, IPA (FHG) Stuttgart 1991). Diese Art der Betätigung hat sich jedoch bei vielen Anwendungsfällen als nicht rationell genug erwiesen, da die hierfür erforderliche Betätigung der Stellhebel mit den optisch wahrnehmbaren Bewegungsabläufen des Knickmasts nicht immer präzise genug in Einklang gebracht werden kann.Truck-mounted concrete pumps of this type are mobile tools, with a full 360 ° swivel range of the rotary head even when the articulated mast is in a horizontal position can be used. The operator is for control of the truck-mounted concrete pump and positioning of the concrete end hose on the last arm of the Articulated masts responsible. It has more than three rotary ones Degrees of freedom of the articulated mast over the associated Drive units under the movement of the Articulated masts in the unstructured three-dimensional Work space when observing the site conditions to operate. Through the use of proportional radio remote controls became this operator activity relieved that the operator is not more with one cable spatially with the truck-mounted concrete pump is chained. However, there is still a risk that that uncontrolled when actuating a single axis Movements on the end hose and therefore a hazard of construction site personnel can occur. Moreover requires fast, practice-oriented movement a simultaneous control of the end hose multiple axes. To facilitate handling of the large manipulator has therefore already been proposed instead of individually controlling the rotational degrees of freedom of the kink mast the end hose by suitable Computer support in a Cartesian x, y, z coordinate system with the help of adjusting levers procedure, with either a frame-fixed or construction site-fixed Coordinate system can be selected ("Computer controlled concrete distribution", Dr.-Ing. Hartmut Benckert, Putzmeister plant, pages 111-119, 8th Int. Symposium on automation and robotics, IPA (FHG) Stuttgart 1991). This type of activity has changed however, in many applications as not rational proven enough because the operation required for this the control lever with the visually perceptible movement sequences of the articulated mast is not always precise enough can be reconciled.

Ausgehend hiervon liegt der Erfindung die Aufgabe zugrunde, den bekannten Großmanipulator der eingangs angegebenen 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 object of the invention based on the well-known large manipulator of the beginning to improve the specified type, that the operator is able to select any point in the Space within easy reach of the articulated mast Handling directly from the concrete placement point head for.

Zur Lösung dieser Aufgabe werden die in den Patentansprüchen 1 und 25 angegebenen Merkmalskombinationen vorgeschlagen. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen.To solve this problem, the in the claims 1 and 25 specified combinations of features suggested. Advantageous configurations and further developments of the invention result from the dependent claims.

Der erfindungsgemäßen Lösung liegt der Gedanke zugrunde, daß der Bediener den Endschlauch bequem von Hand auf die Beton-Einbringstelle hinlenkt und ihm die Mastspitze automatisch dahin folgt. Hierzu ist eine geeignete Signalübertragungsstrecke erforderlich, mit der die Mastspitze vom Bediener mit Rechnerunterstützung über einen vorzugsweise durch den Endschlauch vorgegebenen Verstellweg bewegt werden kann. Um dies zu erreichen, wird gemäß der Erfindung vorgeschlagen, daß die Fernsteuereinrichtung einen an der Mastspitze oder am Endschlauch angeordneten, über das Steuerorgan mechanisch, optisch, elektromagnetisch oder elektrisch auslösbaren Signalgeber zur Ansteuerung eines die Antriebsaggregate der Knick- und Drehachsen nach Maßgabe eines mittels des Steuerorgans relativ zur augenblicklichen Position der Mastspitze unmittelbar angezeigten Verstellwegs betätigenden, rechnerunterstützten Koordinatengebers aufweist, wobei die Mastspitze nach Maßgabe der räumlichen Bewegungen des Endschlauchs verfahrbar und nur außerhalb eines vorgegebenen Spielraums dessen Bewegungen nachführbar ist.The idea of the solution according to the invention lies underlying that the operator comfortable the end hose directs it by hand to the concrete insertion point and him the mast tip automatically follows. This is a suitable signal transmission path required with the mast tip from the operator with computer support via a preferably through the end hose predetermined adjustment path can be moved. Around to achieve this is proposed according to the invention, that the remote control device one at the Mast tip or arranged on the end hose, over the control device mechanical, optical, electromagnetic or electrically triggered signal transmitter for control one of the drive units of the articulated and Axes of rotation in accordance with one by means of the control member relative to the current position of the mast tip actuating directly displayed adjustment path, computer-assisted coordinate generator, the mast tip according to the spatial movements of the End hose can be moved and only outside a specified range whose movements can be tracked.

Gemäß einer bevorzugten Ausgestaltung der Erfindung ist das Steuerorgan als mechanisch mit dem Signalgeber verbundener, gegenüber der Mastspitze in verschiedene, den Verstellweg anzeigende Richtungen beliebig verstellbarer 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 is the control organ as mechanical with the signal generator connected, opposite the mast tip in different directions indicating the adjustment path arbitrarily adjustable control lever designed, for example via a sensor ring, a rope or a Rod is actuated and also with the movable End hose can be mechanically connected or grips it with a certain game.

Alternativ dazu können das Steuerorgan und der Signalgeber auch durch eine richtungsempfindliche drahtlose Sender-Empfängerstrecke, beispielsweise durch eine Licht-, Infrarot- oder Funkstrecke miteinander verbunden sein, wobei als Steuerorgan ein in der Hand oder auf dem Helm des Bedieners befindlicher Sender verwendet werden kann. Ein von diesem Sender nach oben vorzugsweise in Form eines engen Richtkegels abgegebenes Signal kann von dem im Bereich der Mastspitze angeordneten richtungsempfindlichen Empfänger aufgenommen und über eine geeignete Auswerteelektronik und den Koordinatengeber in die gewünschte Bewegung des Knickmasts umgesetzt werden. Der Sender kann zu diesem Zweck auch eine Laserdiode und der Empfänger einen richtungsempfindlichen Lichtempfänger enthalten.Alternatively, the control device and the signal generator also through a directionally sensitive wireless Sender-receiver route, for example through a light, infrared or radio link connected to each other be, with a tax in hand or transmitter located on the operator's helmet can be used. One from this station after above preferably in the form of a narrow directional cone The signal emitted can differ from that in the range of Mast tip arranged direction-sensitive receiver recorded and via suitable evaluation electronics and the coordinate encoder in the desired one Movement of the articulated mast are implemented. The transmitter can also use a laser diode for this purpose and the receiver a direction sensitive Light receiver included.

Eine bevorzugte Ausgestaltung der Erfindung sieht vor, daß das Steuerorgan als an dem beweglichen Endschlauch vorzugsweise lösbar und/oder höhenverstellbar angeordneter 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 nachgeordnetem Signalgeber zur Abgabe eines von der gemessenen 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 verdrehungssicher am Endschlauch befestigten Gehäuse angeordnet werden. Aufgrund dieser Maßnahmen ist es möglich, die Mastspitze beim Auslenken des Endschlauchs in eine der Auslenkungsrichtung entsprechende Richtung mit einer von dem Auslenkungs- oder Neigungswinkel abhängigen Geschwindigkeit zu bewegen.A preferred embodiment of the invention provides before that the control member than on the movable end hose preferably detachable and / or adjustable in height arranged direction-sensitive inclinometer is trained. The directional sensitivity can for example by using a biaxial Inclination sensor can be realized. The tilt sensor expediently has evaluation electronics with integrated or subordinate signal transmitter for Delivery of one of the measured inclination directions dependent adjustment path signal and / or one of the measured speed angle dependent inclination angle for the movement of the mast tip on. The inclinator can preferably together with the signal transmitter in one opposite the mast tip Housing secured against rotation on the end hose to be ordered. Because of these measures it is possible to tip the mast when deflecting the End hose in a direction corresponding to the direction of deflection Direction with one of the deflection or Tilt angle dependent speed to move.

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 angeordneter Handgriff vorgesehen wird. Für die beidhändige Bedienung weist der Handgriff zweckmäßig zwei nach einander diametral gegenüberliegenden Seiten des Endschlauchs 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.With the inclinometer according to the invention the large manipulator is particularly easy to use, if at the end hose around the hose axis and / or about a transverse to the hose axis Axis pivotable handle provided becomes. The handle has two-handed operation expediently two diametrically opposite one after the other Protruding sides of the end hose Handle parts on. The handle is also suitable for Attachment of 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. To an unwanted Avoid moving the mast tip additionally one of the switching elements as a dead man's switch be trained.

Aus Gründen der Betriebssicherheit werden die Antriebsaggregate des Knickmasts und des Mastbocks über den Koordinatengeber 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 Mindestauslenkung des Endschlauchs von beispielsweise ± 50 cm nachgeführt wird. Zur Höhenverstellung der Mastspitze kann zusätzlich ein handbetätigtes Höhenstellelement vorgesehen werden. Das Höhenstellelement kann beispielsweise einen auf eine am Steuerorgan angreifende Hub- und Senkkraft ansprechenden, vorzugsweise analog geschwindigkeitsgesteuerten Wechselschalter mit definierter Nullstellung aufweisen.The drive units are used for operational safety reasons of the articulated mast and the mast bracket expedient while maintaining the coordinate encoder the height of the mast tip in a given Combined controlled horizontal plane. This is supposed to be achieved be that the mast tip in the signal generator the way follows that it is always approximately vertical in certain Height distance above the operator remains at a predetermined minimum deflection of the end hose of, for example, ± 50 cm is tracked. For height adjustment of the mast tip can also a manually operated height control element can be provided. The height control element can be, for example to a lifting and lowering force acting on the control element appealing, preferably analog speed-controlled Changeover switch with a defined Have zero position.

Von besonderem Vorteil ist es, wenn die Bewegungsgeschwindigkeit der Mastspitze nach Maßgabe der Auslenkungsweite des Steuerorgans in Verstellrichtung relativ zu einer Nullstellung steuerbar ist.It is particularly advantageous if the movement speed the mast tip as required the deflection range of the control element in the direction of adjustment is controllable relative to a zero position.

Zur Optimierung des Bewegungsablaufs bei der Horizontal- und/oder Vertikalverstellung ist es wichtig, daß die Antriebsaggregate der redundanten Knickachsen des Knickmasts jeweils nach Maßgabe einer gegebenenfalls wahlweise vorgebbaren Weg-Schwenk-Charakteristik betätigbar sind. Da die Mastarme in Abhängigkeit von ihrer Ausrichtung zur Gravitationsachse einerseits und von der an ihnen angreifenden Last (z.B. Beton im Förderrohr) andererseits mehr oder weniger großen Biege- und Torsionsbelastungen ausgesetzt sind, die die Lage der Mastspitze bei gegebenen Schwenkstellungen in den einzelnen Gelenken verfälscht, wird gemäß einer bevorzugten Ausgestaltung der Erfindung vorgeschlagen, daß die Weg-Schwenk-Charakteristik im Koordinatengeber nach Maßgabe der an den einzelnen Mastarmen angreifenden lastabhängigen Biege- und Torsionsmomente modifizierbar ist. Entsprechendes gilt, wenn zur Vermeidung von Kollisionen im Bewegungsraum des Knickmasts Hindernisse zu überwinden sind. Hierzu ist es zweckmäßig, die Weg-Schwenk-Charakteristik der Knickachsen im Koordinatengeber nach Maßgabe von die Mastarmbewegung räumlich begrenzenden Kollisionszonen, insbesondere durch Vorgabe eines höchsten und/oder tiefsten Knickpunkts zu modifizieren. Eine weitere Sicherheit in dieser Hinsicht wird erzielt, wenn die Weg-Schwenk-Charakteristik der Knickachsen im Koordinatengeber nach Maßgabe von durch einen vorzugsweise am letzten Mastarm angeordneten Abstandssensor abgegebenen Meßsignalen modifizierbar ist.To optimize the movement sequence at the Horizontal and / or vertical adjustment it is important that the drive units of the redundant articulated axes of the articulated mast in each case in accordance with one if necessary optionally selectable travel-swivel characteristics are operable. Because the mast arms are dependent from their orientation to the axis of gravity on the one hand and the load acting on them (e.g. Concrete in the delivery pipe) on the other hand more or less exposed to large bending and torsional loads are given the position of the mast tip Falsified swivel positions in the individual joints, according to a preferred embodiment the invention proposed that the swing-away characteristic in the coordinate transmitter according to the load-dependent attacks on the individual mast arms Bending and torsional moments can be modified. The same applies if to avoid collisions obstacles in the area of movement of the articulated mast are to be overcome. For this purpose, it is appropriate to Path-swivel characteristic of the articulation axes in the coordinate encoder according to the mast arm movement spatially delimiting collision zones, in particular by specifying a highest and / or lowest Modify break point. Another security in this regard is achieved when the swivel characteristic the kink axes in the coordinate encoder in accordance with a preference delivered to the last mast arm arranged distance sensor Measurement signals can be modified.

Im folgenden wird die Erfindung anhand eines in der Zeichnung in schematischer Weise dargestellten Ausführungsbeispiels näher erläutert. Es zeigen

Fig. 1
eine Seitenansicht einer Autobetonpumpe mit fünfarmigem Knickmast in zusammengeklapptem Zustand;
Fig. 2a und b
eine Seitenansicht und eine Draufsicht einer Autobetonpumpe mit auseinandergeklapptem Knickmast;
Fig. 3
einen Ausschnitt des Knickmasts nach Fig. 2a mit an der Mastspitze angeordneter, mechanisch betätigter Fernsteuereinrichtung;
Fig. 4
einen Ausschnitt entsprechend Fig. 3 mit drahtlos betätigter Fernsteuereinrichtung;
Fig. 5
einen Ausschnitt entsprechend Fig. 3 mit seil-betätigter Fernsteuereinrichtung;
Fig. 6
einen Ausschnitt des Knickmasts nach Fig. 2a mit am Endschlauch angeordnetem Neigungsgeber und Handgriff;
Fig. 7a bis c
drei Seitenansichten der Mastspitze mit Endschlauchabschnitt ohne Auslenkung, mit Auslenkung links oder rechts und mit Auslenkung vor und zurück;
Fig. 8a bis c
das untere Ende des Endschlauchs mit Handgriff in drei Seitenansichten.
The invention is explained in more detail below with reference to an exemplary embodiment shown schematically in the drawing. Show it
Fig. 1
a side view of a truck-mounted concrete pump with five-arm articulated mast in the folded state;
2a and b
a side view and a plan view of a truck-mounted concrete pump with an unfolded articulated mast;
Fig. 3
a section of the articulated mast according to Figure 2a with mechanically operated remote control device arranged on the mast tip;
Fig. 4
a section corresponding to Figure 3 with wireless remote control device.
Fig. 5
a section corresponding to Figure 3 with rope-operated remote control device.
Fig. 6
a section of the articulated mast according to Figure 2a with the inclination sensor and handle arranged on the end hose;
7a to c
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;
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 angeordneten Mastbock 16, einen am Mastbock 16 um eine vertikale Drehachse 18 mittels eines nicht dargestellten hydraulischen 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 Mastarme 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 mittels 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 gezeigten Fahrstellung sind die Mastarme in zueinander im wesentlichen paralleler Ausrichtung gegeneinander gefaltet, 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, one near the front axle 12 and the cab 14 of the chassis 10 arranged mast bracket 16, one on the mast bracket 16 a vertical axis of rotation 18 by means of a not shown hydraulic rotating unit rotatable through 360 °, an articulated mast 20 carrying rotary head 17, one can be loaded with concrete via a material feed container 22, hydraulically driven concrete pump 24 and one via a pipe switch 26 to the concrete pump 24 connected delivery line 28. The articulated mast 20 has five mast arms 1, 2, 3, 4 and 5, which the articulation A with the turret 17 and to the Articulated joints B, C, D and E around horizontal Articulated axes are pivotally connected. Folding the mast arms 1 to 5 in and out Joints A to E are hydraulic by means of double-acting Hydraulic cylinder 30 with its free cylinder side and rod-side ends on brackets or Folding arms for mast arms 1 to 5 and the rotating head 17 are articulated. In the driving position shown in Fig. 1 the mast arms are essentially in relation to each other folded parallel to each other while they unfolded in the representation according to FIGS. 2a and b are.

Zur Betätigung der Antriebsaggregate 30 des Knickmasts 20 ist eine Femsteuereinrichtung vorgesehen, die einen Signalgeber 53 und einen mit dem Signalgeber 53 galvanisch oder drahtlos kommunizierende, fahrzeugfeste Zentralsteuerung 31 umfaßt. Zum Verstellen der Mastspitze 55 und des daran angeordneten, nach unten hängenden Endschlauchs 50 ist ein mit dem Signalgeber 53 mechanisch verbundenes oder drahtlos kommunizierendes Steuerorgan 52,54 vorgesehen, das vom Bediener 51 unmittelbar über den gewünschten Verstellweg der Mastspitze 55 verfahren wird.To actuate the drive units 30 des A mast control device 20 is provided, the one signal generator 53 and one with the signal generator 53 galvanically or wirelessly communicating, central control 31 fixed to the vehicle. To the Adjusting the mast tip 55 and the arranged on it downward hanging end hose 50 is a with the signal generator 53 mechanically connected or wirelessly communicating control element 52, 54 is provided, by the operator 51 immediately above the desired one Move the adjustment path of the mast tip 55 becomes.

Bei dem in Fig. 3 gezeigten Ausführungsbeispiel ist das Steuerorgan 52 als mechanisch über einen Kunststoffstab 60 mit dem an der Mastspitze 55 angeordneten Signalgeber 53 verbundener, den Endschlauch 50 mit Spiel umgebender Sensorring ausgebildet. Der Signalgeber 52 ist dabei zweckmäßig als analog-proportional wirkender kardanischer Winkelgeber ausgebildet, der über ein Steuerkabel 62 mit der zentralen Steuereinrichtung 31 verbunden 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 Vertikalverstellung der Mastspitze 55 auslösbar ist. Der Höhenverstellschalter 63 kann grundsätzlich auch am oberen Ende des Kunststoffstabs 60 angeordnet und durch Heben und Senken des Kunststoffstabs betätigt werden. Diese Anordnung unterliegt im rauhen Baustellenbetrieb einer geringeren Beschädigungsgefahr.In the embodiment shown in FIG. 3 the control member 52 as mechanical via a plastic rod 60 with that arranged on the mast tip 55 Signal generator 53 connected to the end hose 50 Game surrounding sensor ring trained. The signal generator 52 is useful as analog proportional acting gimbal encoder designed via a control cable 62 to the central control device 31 is connected. In the lower area of the plastic rod 60 is in the embodiment shown additionally a vertically displaceable, analog proportional acting push switch 63 arranged, via the a vertical adjustment of the mast tip 55 can be triggered. The height adjustment switch 63 can in principle also arranged at the upper end of the plastic rod 60 and actuated by lifting and lowering the plastic rod become. This arrangement is subject to rough Construction site operation with a lower risk of damage.

Weiter kann an dem Sensorring 52 zusätzlich ein Schalter 64 zum Ein- und Ausschalten der Betonpumpe und zur Steuerung der Fördermenge angeordnet werden.Furthermore, an additional can be made on the sensor ring 52 Switch 64 for switching the concrete pump on and off and arranged to control the flow rate.

Bei dem in Fig. 4 gezeigten Ausführungsbeispiel ist zwischen dem Steuerorgan 54 und dem Signalgeber 53 eine drahtlose, richtungsempfindliche Signalübertragungsstrecke, beispielsweise eine Laserlicht- oder Infrarotstrecke vorgesehen, bei der das Steuerorgan 54 als in der Hand oder auf dem Helm des Bedieners 51 befindlicher Sender ausgebildet ist. Der Sender 54 gibt bei dem gezeigten Ausführungsbeispiel einen engen, nach oben weisenden Richtkegel 55 mit variierender Intensitätsverteilung ab, die über den Empfänger 53 und die Steuereinrichtung 31 ausgewertet und zur Nachführung der Mastspitze 55 ausgewertet werden kann. Damit wird auch hier erreicht, daß der Knickmast 20 mit seiner Mastspitze 55 einer Bewegung des Bedieners 51 parallel zur horizontalen Ebene 40 folgt.In the embodiment shown in Fig. 4 between the control element 54 and the signal generator 53 a wireless, direction-sensitive signal transmission path, for example a laser light or infrared path provided in which the control body 54 than in the hand or on the operator's helmet 51 located transmitter is formed. The transmitter 54 gives in the embodiment shown, a narrow, upward pointing cone 55 with varying intensity distribution starting from the receiver 53 and the control device 31 evaluated and for tracking the mast tip 55 can be evaluated. In order to is also achieved here that the articulated mast 20 with its mast tip 55 a movement of the operator 51st follows parallel to the horizontal plane 40.

Bei dem Ausführungsbeispiel nach Fig. 5 steht der Bediener 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 Bedieners parallel zur Ebene 40 folgt.5 is the Operator 51 via a rope 65 attached to his helmet 52 or attached to his body with the gimbal Angle transmitter trained signal transmitter 53 mechanically in connection. The through the movement of the Operator 51 is exerted on the cable pull 65 for direction and traction via the signal generator 53 and the central control device 31 is evaluated in such a way that the articulated mast 20 with its mast tip 55 one Operator movement parallel to level 40 follows.

Die zusätzliche Einleitung einer Vertikalbewegung ist sowohl bei mechanischer als auch bei drahtloser Signalübertragung von der Beton-Einbringstelle aus über ein handbetätigtes Höhenstellelement 63 möglich. Entsprechend kann auch die Betonpumpe von der Einfüllstelle aus mit einem hierfür vorgesehenen Schalter einund ausgeschaltet werden.The additional initiation of a vertical movement is for both mechanical and wireless signal transmission from the concrete placement point a manually operated height adjustment element 63 is possible. Corresponding can also use the concrete pump from the filling point on and off with a switch provided for this purpose turned off.

Bei einer Auslenkung des Steuerorgans 52 in der gewünschten Bewegungsrichtung werden über den Signalgeber 53 entsprechende Steuersignale an die Steuereinrichtung 31 übertragen und in einer Datenaufbereitungsstufe und einem rechnergestützten Koordinatengeber in Koordinatensignale für die Antriebsaggregate 30 der sechs Achsen 18,A,B,C,D,E umgesetzt. Zusätzlich kann die Größe der Auslenkung des Steuerorgans 52,54 über eine geeignete Sensorik oder Elektronik in geschwindigkeitsbestimmende Signale umgesetzt werden. Alle sechs Achsen werden innerhalb des Koordinatengebers so softwaremäßig angesteuert, daß die betreffenden Gelenke in Abhängigkeit von Weg und Zeit sich harmonisch zueinander bewegen. Die Ansteuerung der redundanten Freiheitsgrade der Knickgelenke erfolgt nach einer vorprogrammierten Strategie, bei der auch Kollisionszonen in Form von Hindernissen, Dekken, Einbauten und dergleichen über die Betriebssoftware eingegeben und im Bewegungsablauf berücksichtigt werden können.With a deflection of the control member 52 in the desired direction of movement are via the signal generator 53 corresponding control signals to the control device 31 transmitted and in a data preparation stage and a computer-aided coordinate generator in coordinate signals for the drive units 30 of the six axes 18, A, B, C, D, E implemented. In addition can be the size of the deflection of the control element 52.54 via suitable sensors or electronics in speed-determining signals are implemented. All six axes are within the coordinate encoder so controlled by software that the concerned joints depending on distance and time move harmoniously to each other. The control the redundant degrees of freedom of the articulated joints takes place according to a pre-programmed strategy, in which also collision zones in the form of obstacles, ceilings, Internals and the like via the operating software entered and taken into account in the motion sequence can be.

Bei dem in Fig. 6 bis 8 gezeigten Ausführungsbeispiel ist das Steuerorgan 52 als Neigungsgeber ausgebild et. Es befindet sich zusammen mit dem Signalgeber 53 in einem kleinen Gehäuse, das mit einer Schelle 70 verdrehungssicher am Endschlauch 50 befestigbar ist. Die vom Neigungsgeber 52,53 abgegebenen Steuersignale werden über das Steuerkabel 62 der Zentralsteuerung 31 zugeleitet. Der zweiachsig ausgebildete Neigungsgeber 52 ist richtungsempfindlich. Er spricht sowohl auf seitliche Auslenkungen des Endschlauchs entsprechend Fig. 7b als auch auf dazu senkrechte Auslenkungen entsprechend Fig. 7c an und eignet sich daher zusammen mit dem Signalgeber zur Abgabe eines von der gemessenen Neigungsrichtung abhängigen Verstellwegsignals. Weiter kann ein von dem gemessenen Neigungswinkel abhängiges Geschwindigkeitssignal für die Bewegung der Mastspitze 55 erzeugt werden.In the embodiment shown in FIGS. 6 to 8 the control member 52 is designed as a tilt sensor et. It is located together with the signal generator 53 in a small housing, which is clamped with a 70 can be secured against rotation on the end hose 50. The control signals emitted by the tilt sensor 52, 53 are via the control cable 62 of the central control 31 forwarded. The biaxial one Inclinometer 52 is direction sensitive. He speaks both on lateral deflections of the end hose corresponding to Fig. 7b as well as perpendicular to deflections 7c and is therefore suitable together with the signal generator to deliver a depend on the measured direction of inclination Adjustment signal. Furthermore, one of the measured Inclination angle dependent speed signal generated for the movement of the mast tip 55.

Im unteren Teil des Endschlauchs 50 ist ein Handgriff 72 mittels einer Schnellverschlußschelle 74 lösbar befestigt. Der Handgriff 72 besteht aus zwei Griffteilen 72',72", die nach einander diametral gegenüberliegenden Seiten über den Endschlauch überstehen. Der Handgriff ist um die Endschlauchachse um etwa 340° drehbar angeordnet, so daß er von allen Seiten her bequem erfaßt werden kann. Bei Bedarf ist es auch möglich, den Handgriff 72 um die quer zur Endschlauchachse verlaufende Achse 76 zu verschwenken. Der Handgriff kann zusätzlich mit einigen Schalt- und Steuerorganen bestückt werden, beispielsweise mit einem Schalter 78 zum Einund Ausschalten der Betonpumpe, zwei Tastelementen 80 zum Verstellen der Fördermenge in positiver und negativer Richtung, einem als Verstellhebel ausgebildeten Höhenverstellorgan 82 für den Endschlauch 50 und einem Totmannschalter 84 als Sicherungsvorkehrung.In the lower part of the end hose 50 is a handle 72 releasable by means of a quick-release clamp 74 attached. The handle 72 consists of two handle parts 72 ', 72 "which are diametrically opposite one after the other Extend sides over the end hose. The Handle is about 340 ° around the end hose axis rotatably arranged so that it is comfortable from all sides can be detected. If necessary, it is also possible the handle 72 around the transverse to the end hose axis to pivot extending axis 76. The handle can also be used with some switching and control devices be equipped, for example with a Switch 78 for switching the concrete pump on and off, two sensing elements 80 for adjusting the delivery rate in a positive and negative direction, one as an adjustment lever trained height adjustment 82 for the End hose 50 and a dead man 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 is suitable for concrete processing on finely structured construction sites especially when long-range devices be used.

Zusammenfassend ist folgendes festzustellen: Die Erfindung betrifft einen Großmanipulator, insbesondere für Autobetonpumpen. Auf einem Fahrgestell 10 ist ein an einem Mastbock 16 um eine vertikale Drehachse 18 drehbarer Drehkopf 17 sowie ein aus mindestens drei Mastarmen 1 bis 5 zusammengesetzter Knickmast 20 angeordnet. Die Mastarme 1 bis 5 des Knickmasts 20 sind um horizontale, zueinander parallele Knickachsen A bis E gegenüber 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 Mastspitze 55 angeordneten, über ein Steuerorgan 52 mechanisch 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, rechnerunterstützten Koordinatengebers aufweist.In summary, the following can be stated: The The invention relates to a large manipulator, in particular for truck-mounted concrete pumps. On a chassis 10 is a on a mast bracket 16 about a vertical axis of rotation 18 rotatable turret 17 and one of at least three Mast arms 1 to 5 composite articulated mast 20 arranged. Mast arms 1 to 5 of the articulated mast 20 are about horizontal, mutually parallel articulation axes A to E compared to the adjacent turret 17 or mast arm 1 to 5 by means of one drive unit each 30 limited pivoting. The actuation of the Articulated masts 20 take place via a remote control device, the one arranged on the mast tip 55, over a Control device 52 mechanically triggered signal transmitter 53 for controlling the drive units 30 of the Buckling and rotation axes according to a means of the control member 52 relative to the current position the mast tip 55 immediately displayed adjustment actuating, computer-assisted coordinate transmitter having.

Claims (28)

  1. A large manipulator, especially for self-propelled concrete pumps, comprising a rotary head (17) rotatable about an essentially vertical axis of rotation (18) by means of a driving system and arranged on a frame, especially a chassis (10); a jointed mast (20) composed of at least three mast arms (1 to 5) and designed as a concrete-distributing mast, which mast arms (1 to 5) are pivotally limited about horizontal, mutually parallel jointed axes (A to E) relative to the respective adjacent rotary head (17) or mast arm (1 to 5) by means of a further driving system (30); and a remote-control device (53, 31) which has a control member (52, 54) for controlling the driving system (30) and for adjusting a mast top (55), which carries a movable end hose (50), along a predetermined displacement path, characterized in that the remote-control device has a signal transmitter (53) which is arranged at the mast top (55) or on the end hose (50) and can be mechanically, optically, electromagnetically or electrically released through the control member (52; 54), for controlling a calculator- supported coordinate transmitter which operates the driving systems (30) of the jointed axes and axes of rotation (A to E, 18) in accordance with a displacement path directly indicated by means of the control member (52, 54) relative to the instantaneous position of the mast top (55), wherein the mast top (55) is movable in accordance with the spatial movements of the end hose (50) and follows the spatial movements thereof only outside of a specified clearance.
  2. The large manipulator according to Claim 1, characterized in that the control member (52) is a control lever which is mechanically connected to the signal transmitter (53) and is adjustable relative to the mast top (55) in various directions indicating the displacement path.
  3. The large manipulator according to Claim 2, characterized in that the control lever can be operated through a sensor ring (52), a rope or a rod.
  4. The large manipulator according to one of the Claims 1 to 3, characterized in that the control member (52) is mechanically connected to the movable end hose (50), preferably with a predetermined spatial clearance.
  5. The large manipulator according to Claim 1, characterized in that the control member and the signal transmitter are connected with one another by a direction-sensitive wireless transceiver path (55).
  6. The large manipulator according to Claim 5, characterized in that the direction-sensitive wireless transceiver path is a light, infrared or radio path.
  7. The large manipulator according to Claim 5 or 6, characterized in that the signal transmitter contains a Laser diode and the control member (52) contains a direction- sensitive light receiver.
  8. The large manipulator according to one of the Claims 5 to 7, characterized in that the control member (54) can be fixed to the movable end hose (50) or to a body part of an operator (51) and be preferably manually released.
  9. The large manipulator according to Claim 1, characterized in that the control member (52) is designed as a direction-sensitive inclination indicator, which is preferably releasably and/or elevationally adjustably arranged on the movable end hose (50).
  10. The large manipulator according to Claim 9, characterized in that the control member (52) is designed as a biaxial inclination indicator.
  11. The large manipulator according to Claim 9 or 10, characterized in that the inclination indicator (52) has evaluating electronics with an integrated or after-arranged signal transmitter (53) for emitting a displacement-path signal depending on the measured direction of inclination and/or a speed signal depending on the measured angle of inclination for the movement of the mast top (55).
  12. The large manipulator according to one of the Claims 9 to 11, characterized in that the inclination indicator (52) together with the signal transmitter (53) is arranged in a housing, which can be fixedly fastened against rotation relative to the mast top (55) on the end hose (50).
  13. The large manipulator according to one of the Claims 1 to 12, further comprising, a handle (72) pivotally arranged about an end hose axis and/or about an axis (76) extending transversely with respect to the end hose axis.
  14. The large manipulator according to Claim 13, characterized in that the handle (72) has two handle parts (72', 72") projecting toward diametrically opposite sides of the end hose (50) for operation by both hands.
  15. The large manipulator according to Claim 13 or 14, characterized in that a switch or control elements are arranged on the handle (72) for switching the concrete pump (78) on or off and/or for adjusting the amount to be transported (80) and/or for lifting and lowering the mast top (82).
  16. The large manipulator according to Claim 13, characterized in that one of the switch elements is designed as a dead- man switch (84).
  17. The large manipulator according to one of the Claims 1 to 16, characterized in that the driving systems (30) can be controlled through the coordinate transmitter while maintaining a constant height of the mast top (55) above a base (40).
  18. The large manipulator according to one of the Claims 1 to 17, further comprising an advantageously manually operated elevation-adjusting element (63) for adjusting the height of the mast top (55).
  19. The large manipulator according to Claim 18, characterized in that the elevation-adjusting element is a double-throw switch (63) with a defined zero position, said switch reacting to a lifting and lowering force engaging the control member (52) or the handle.
  20. The large manipulator according to one of the Claims 1 to 19, characterized in that the speed of movement of the mast top (55) can be controlled in accordance with a deflection range of the control member (52, 54) in a displacement direction relative to a zero position.
  21. The large manipulator according to one of the Claims 1 to 20, characterized in that the driving systems (30) of the redundant joint axes (A to E) of the jointed mast (20) can be operated in accordance with a selected predetermined swivel path characteristic.
  22. The large manipulator according to Claim 21, characterized in that the swivel path characteristic of the joint axes (A to E) in the coordinate transmitter can be modified in accordance with load-dependent bending and/or torsion moments engaging the individual mast arms (1 to 5).
  23. The large manipulator according to Claim 21 or 22, characterized in that the swivel path characteristic of the joint axes (A to E) in the coordinate transmitter can be modified in accordance with collision zones, spatially limiting the mast-arm movements, in particular by indicating a highest and/or lowest jointed point.
  24. The large manipulator according to one of the Claims 21 to 23, characterized in that the swivel path characteristic of the joint axes (A to E) in the coordinate transmitter can be modified in accordance with measuring signals emitted by a distance sensor arranged on the last mast arm (5).
  25. A method for handling of a large manipulator according to one of the claims 1 to 24, comprising a concrete-distributing mast arranged on a frame, in particular a chassis, the concrete-distributing mast being preferably a jointed mast, and carrying an end hose on its mast top, which concrete-distributing mast can be moved with its mast top with the help of a remote controlled driving system to a building site, and the end hose of which is manually directed by the operator into the concrete-feeding point, characterized in that the mast top is moved in accordance with the spatial movements of the end hose and follows the spatial movements of the end hose only outside of a specified clearance.
  26. The method according to Claim 25, characterized in that the mast top is moved at a constant elevational distance above the concrete-feeding point.
  27. The method according to one of the Claims 25 to 26, characterized in that the mast top (55) is moved during the deflection of the end hose (50) into a direction corresponding with the direction of deflection.
  28. The method according to one of the Claims 25 to 27, characterized in that the mast top (55) is moved during the deflection of the end hose (50) with a speed dependent on the angle of deflection or inclination.
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

Publications (3)

Publication Number Publication Date
EP0715673A1 EP0715673A1 (en) 1996-06-12
EP0715673B1 EP0715673B1 (en) 1997-03-19
EP0715673B2 true EP0715673B2 (en) 2001-11-21

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EP94924288A Expired - Lifetime EP0715673B2 (en) 1993-08-26 1994-07-26 Large manipulator, especially for self-propelled concrete pumps, and method for operating it

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US (1) US5823218A (en)
EP (1) EP0715673B2 (en)
JP (1) JP3615548B2 (en)
DE (2) DE4412643A1 (en)
ES (1) ES2101559T5 (en)
WO (1) WO1995006178A1 (en)

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WO2008110397A1 (en) 2007-03-13 2008-09-18 Putzmeister Concrete Pumps Gmbh Large manipulator
DE102007012575A1 (en) 2007-03-13 2008-09-18 Putzmeister Concrete Pumps Gmbh large manipulator
EP2186968A1 (en) 2007-03-13 2010-05-19 Putzmeister Concrete Pumps GmbH Large scale manipulator
EP3705662A1 (en) 2019-03-07 2020-09-09 Liebherr-Mischtechnik GmbH Articulated arm control for a concrete pump
EP3705663A1 (en) 2019-03-07 2020-09-09 Liebherr-Mischtechnik GmbH Articulated arm control for a concrete pump
EP3705664A1 (en) 2019-03-07 2020-09-09 Liebherr-Mischtechnik GmbH Articulated arm control for a concrete pump
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DE102019105817A1 (en) * 2019-03-07 2020-09-10 Liebherr-Mischtechnik Gmbh Articulated arm control of a concrete pump
DE102019105814A1 (en) * 2019-03-07 2020-09-10 Liebherr-Mischtechnik Gmbh Articulated arm control of a concrete pump
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Also Published As

Publication number Publication date
ES2101559T3 (en) 1997-07-01
DE59402173D1 (en) 1997-04-24
US5823218A (en) 1998-10-20
JP3615548B2 (en) 2005-02-02
EP0715673A1 (en) 1996-06-12
WO1995006178A1 (en) 1995-03-02
EP0715673B1 (en) 1997-03-19
DE4412643A1 (en) 1995-03-02
ES2101559T5 (en) 2002-05-01
JPH09501998A (en) 1997-02-25

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