EP1319110B1 - Large-scale manipulator comprising a vibration damper - Google Patents

Large-scale manipulator comprising a vibration damper Download PDF

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Publication number
EP1319110B1
EP1319110B1 EP01945335A EP01945335A EP1319110B1 EP 1319110 B1 EP1319110 B1 EP 1319110B1 EP 01945335 A EP01945335 A EP 01945335A EP 01945335 A EP01945335 A EP 01945335A EP 1319110 B1 EP1319110 B1 EP 1319110B1
Authority
EP
European Patent Office
Prior art keywords
boom
scale manipulator
manipulator according
mast
pass filter
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
EP01945335A
Other languages
German (de)
French (fr)
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EP1319110B8 (en
EP1319110A1 (en
Inventor
Kurt Rau
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 AG
Putzmeister Werk Maschinenfabrik GmbH
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Application filed by Putzmeister AG, Putzmeister Werk Maschinenfabrik GmbH filed Critical Putzmeister AG
Priority to EP07119143A priority Critical patent/EP1882795B1/en
Priority to DE20122093U priority patent/DE20122093U1/en
Publication of EP1319110A1 publication Critical patent/EP1319110A1/en
Application granted granted Critical
Publication of EP1319110B1 publication Critical patent/EP1319110B1/en
Publication of EP1319110B8 publication Critical patent/EP1319110B8/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms
    • 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
    • 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
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20018—Transmission control

Definitions

  • the invention relates to a large manipulator, in particular for concrete pumps, arranged on a frame, preferably rotatable about a vertical axis fulcrum, with a composed of at least three mast arms, preferably designed as a concrete distributor boom articulated mast, which mast arms to each horizontal, mutually parallel buckling axes in pairs opposite the adjacent Mastbock or boom by means of a respective drive unit are limited pivotally, with a preferably remote-controlled control device for the mast movement by means of the individual drive units associated actuators, and means for damping mechanical vibrations in the articulated mast.
  • a large manipulator of this kind is known ( DE-19520166 A1 ). However, no damping means are provided there.
  • the articulated mast of a large manipulator of this type is by its construction an elastically oscillatory system that can be excited to natural oscillations.
  • a resonant excitation of such vibrations can cause the mast tip to vibrate with amplitudes of one meter and more.
  • Vibration excitation is possible, for example, by the pulsating operation of a concrete pump and by the resulting periodic acceleration and deceleration of the concrete column forced through the delivery line. As a result, the concrete can no longer be evenly distributed and the worker carrying the end hose is endangered.
  • the present invention seeks to provide precautions and procedures, which with simple means optimal mast damping is possible.
  • the inventive solution is based on the idea that determined on at least one of the drive units or the associated boom arm derived from the mechanical vibration of the respective boom time-dependent parameter is evaluated in an evaluation unit to form a dynamic damping signal and connected to the associated drive unit controlling actuator is switched.
  • the time-dependent pressure difference between the bottom and rod side of the hydraulic cylinder is determined as a measured variable and evaluated in the evaluation unit to form the dynamic damping signal.
  • the dynamic portion of the time-dependent pressure difference is expediently filtered out above a defined limit frequency and phase-shifted and / or amplified for the formation of the attenuation signal.
  • the Cutoff frequency is preferably set in the range of 0.2 to 10 Hz in accordance with the mechanical natural frequency of the respective boom arm. In any case, the cutoff frequency of the high pass filter should be chosen to be slightly lower than the natural frequency of the relevant boom arm.
  • the mast damping without position control can lead to an undesirable drift of the mast top
  • At least one of the drive units or boom arms at least one sensor for determining a time-dependent measured variable derived from the mechanical vibrations of the respective boom and a downstream of the at least one sensor, the output connected to the associated actuator evaluation Generation of an attenuation signal is assigned.
  • each drive unit has a double-acting hydraulic cylinder, wherein the hydraulic cylinder can be acted upon by pressure oil via a respective proportional change-over valve forming the associated actuator.
  • at least one of the hydraulic cylinders per pressure transducer is arranged on the rod-side and bottom-side end, which are connected to the evaluation unit via a comparator or differential element.
  • the evaluation unit comprises a high-pass filter, which may be digital or analog.
  • the cutoff frequencies of the high-pass filters belonging to each mast arm are separated according to the natural frequencies adjustable to the respective boom arms. Typical cut-off frequencies of the high-pass filters are 0.2 to 10 Hz.
  • a preferred embodiment of the invention provides that the high-pass filter is formed by a low-pass filter whose input is connected via a differential element on the output thereof. To avoid overshoots, each high-pass filter forms an aperiodic transition function. Furthermore, each high-pass filter is advantageously followed by an evaluation and safety circuit or routine, which on the input side can additionally be acted upon by the output signals of the two pressure transducers of the associated hydraulic cylinders.
  • a preferred embodiment of the invention provides that the control device has a microcontroller with a coordinate transmitter for controlling the actuators, the input side via a bus system and a remote control device with driving data for the mast movement can be acted upon, that each actuator is additionally associated with a damping unit forming transformer , which on the input side can be acted upon by the measured variables associated with the relevant mast arm and connected on the output side to the actuator.
  • the articulated mast is controlled by the pump driver on the basis of the driving data predetermined by the remote control device, while the mast damping takes place automatically during the movement process and in the working position of the articulated mast.
  • the damping units are coupled into the control circuits of the individual drive units.
  • each mast arm is associated with an independent damping unit.
  • Suitable pressure sensors are, for example, membrane sensors or piezosensors, to which, in the presence of a microcontroller, a transducer with an analogue-to-digital converter is assigned. It is important that the pressure sensors have sufficient dynamics.
  • an arrangement for drift compensation of the articulated mast is provided according to an advantageous embodiment of the invention, the at least one arranged on one of the mast arms inclination or distance sensor, a setpoint memory and an input side with the setpoint memory and with the output of the Inclination or distance sensor connected comparator for controlling at least one of the actuators.
  • the inclination or distance sensor is advantageously arranged on the end arm of the articulated mast, while the setpoint memory can be acted upon via a control routine with the digital output signal of the inclination or distance sensor.
  • the control routine ensures that the instantaneous inclination value or ground clearance of the end arm is stored in the setpoint memory when a working position of the articulated mast is reached.
  • the truck-mounted concrete pump 10 includes a transport vehicle 11, a z. B. formed as a two-cylinder piston pump pulsating sludge pump 12 and a vehicle-mounted vertical axis 13 rotatable distribution boom 14 as a support for a concrete delivery line 16 via the delivery line 16 is liquid concrete, which is continuously introduced into a hopper 12 during concreting, to one of the Location of the vehicle 11 removed arranged concreting 18 promoted.
  • the distribution boom 14 consists of a by means of a hydraulic rotary drive 19 about the vertical axis 13 rotatable mast bracket 21 and a pivotable on this articulated mast 22, which is continuously adjustable to variable range and height difference between the vehicle 11 and the concreting 18.
  • the articulated mast 22 consists in the illustrated embodiment of five pivotally interconnected mast arms 23 to 27, which are parallel to each other and at right angles to the vertical axis 13 of the mast bracket 21 extending axes 28 to 32 pivotally.
  • the bending angles ⁇ 1 to ⁇ 5 ( Fig. 2 ) of the articulated joints formed by the joint axes 28 to 32 and their arrangement with each other are coordinated so that the distribution boom 14 with the off Fig.
  • a multiple folding corresponding space-saving transport configuration on the vehicle 11 can be stored.
  • drive units 34 to 38 which are assigned to the joint axes 28 to 32 individually, the articulated mast 22 at different distances and / or height differences between the concreting site 18 and the vehicle location is deployable ( Fig. 2 ).
  • the mast leader controls z.
  • Example by means of a radio remote control 50 the mast movements through which the mast tip 33 is passed with the end hose 43 over the area to be concreted.
  • the end hose 43 has a typical length of 3 to 4 m and can be kept because of its articulated suspension in the area of the mast top 33 and due to its inherent flexibility with its outlet end of a hose man in the favorable position for concreting 18.
  • the remote control 50 includes a plurality of controls 60 designed as a control lever, which can be adjusted in each case in two mutually perpendicular adjustment directions forward and backward with the delivery of control signals.
  • the control signals are transmitted via a radio link 61 to the vehicle-fixed radio receiver 62, which is connected on the output side via a trained example as a CAN bus bus 63 to the microcontroller 52.
  • the microcontroller 52 contains inter alia a computer-aided coordinate transmitter 64 in which the transmitted by the radio receiver 62 driving data in coordinate signals for the drive units 19, 34 to 38 of the six axes 13, 28 to 32 are implemented.
  • the magnitude of the deflection of the controls 60 can be converted into speed-determining signals.
  • the drive unit 19 for the mast block 21 is designed as a hydraulic rotary drive, which is controlled by the actuator 66.
  • the individual drive units 19, 34 to 36 can also be controlled directly via the operating elements 60 and the associated actuators 66 to 76.
  • the articulated mast 22, together with the transport vehicle 11 is a vibratory system, which in operation of the pulsating working Slurry pump 12 can be excited to forced oscillations.
  • the vibrations can lead to deflections of the mast tip 33 and of the end hose 43 hanging thereon, with amplitudes of one meter and frequencies of between 0.5 and a few Hz.
  • the microcontroller 52 additionally contains a number of software-supported damping units 82, which are connected to the pilot control input of one of the actuators 68 to 76, respectively. On the input side, the damping units 82 are acted upon by a time-dependent measured variable derived from the mechanical vibrations of the respective boom arms 23 to 27.
  • the measuring signal ⁇ p (t) is fed to a digital high-pass filter 90, 92 in a predetermined time cycle.
  • the high pass filter is at the in Fig. 4 embodiment shown formed by a digital low-pass filter 90 with downstream comparator 92, on which latter additionally the input signal of the low-pass filter 90 is switched.
  • the cutoff frequency of the high-pass filter 90, 92 is set separately for each mast arm 23 to 27 and is selected slightly lower than its mechanical natural frequency.
  • the attenuation units 82 additionally include a digital high pass filter 90, 92 downstream evaluation and safety algorithm 93 for adjusting the necessary for the vibration damping gain.
  • the safety algorithm also monitors the movement limit values of the boom arm, for example via a stop control. For this purpose, the absolute pressure values p s and p b measured by the ground and rod-side pressure sensors 84, 86 can also be evaluated.
  • a drift movement of the buckling mast 22 occurs due to structural tolerances. This is the case in particular in the working position of the articulated mast during the pumping action.
  • the drift can be monitored and compensated.
  • Fig. 2 and 4 can be seen, for this purpose on the last boom arm 27, for example, designed as a tilt sensor solid angle sensor 94 or a distance sensor and a setpoint memory 96 is provided. This can be stored in the setpoint memory 96 in each working position, ie at the end of each driving process, the instantaneous angular position or the ground clearance of the mast tip 33.
  • a drift can be detected in the further course of time and compensated for by controlling at least one of the actuators 68 to 76, for example via the coordinate transmitter 64.
  • the invention relates to a large manipulator in particular of concrete pumps.
  • the large manipulator has a composed of at least three mast arms 23 to 27, preferably designed as a concrete distributor mast articulated boom 22, the mast arms are limited to each horizontal, mutually parallel bending axes 28 to 32 by means of a respective drive unit 34 to 38 pivotally limited.
  • a control device 50, 62, 52 are provided for the mast movement with the aid of the individual drive units associated actuators and means for damping mechanical vibrations in the articulated mast.

Abstract

The heavy manipulator has a frame supporting a mast block which is rotatable about a vertical axis, provided with a handling mast having at least 3 relatively pivoted mast arms (23-27), operated via respective drive units (34-38) coupled to a control device, responding to remote-control commands and associated setting elements (68-76). At least one of the drive units or mast arms has a sensor (84,86) for detecting mechanical oscillation, coupled to an evaluation unit (82) providing a damping signal for the associated setting element. An independent claim for a method for damping mechanical oscillation of a heavy manipulator mast is also included.

Description

Die Erfindung betrifft einen Großmanipulator, insbesondere für Betonpumpen, mit einem auf einem Gestell angeordneten, vorzugsweise um eine vertikale Drehachse drehbaren Mastbock, mit einem aus mindestens drei Mastarmen zusammengesetzten, vorzugsweise als Betonverteilermast ausgebildeten Knickmast, welche Mastarme um jeweils horizontale, zueinander parallele Knickachsen paarweise gegenüber dem benachbarten Mastbock oder Mastarm mittels je eines Antriebsaggregats begrenzt verschwenkbar sind, mit einer vorzugsweise fernbedienbaren Steuereinrichtung für die Mastbewegung mit Hilfe von den einzelnen Antriebsaggregaten zugeordneten Stellgliedern, und mit Mitteln zur Dämpfung von mechanischen Schwingungen im Knickmast. Ein Großmanipulator dieser Art ist bekannt ( DE-19520166 A1 ). Allerdings sind dort keine Dämpfungsmittel vorgesehen.The invention relates to a large manipulator, in particular for concrete pumps, arranged on a frame, preferably rotatable about a vertical axis fulcrum, with a composed of at least three mast arms, preferably designed as a concrete distributor boom articulated mast, which mast arms to each horizontal, mutually parallel buckling axes in pairs opposite the adjacent Mastbock or boom by means of a respective drive unit are limited pivotally, with a preferably remote-controlled control device for the mast movement by means of the individual drive units associated actuators, and means for damping mechanical vibrations in the articulated mast. A large manipulator of this kind is known ( DE-19520166 A1 ). However, no damping means are provided there.

Der Knickmast eines Großmanipulators dieser Art ist seiner Konstruktion nach ein elastisch schwingungsfähiges System, das zu Eigenschwingungen anregbar ist. Eine resonante Anregung solcher Schwingungen kann dazu führen, dass die Mastspitze mit Amplituden von einem Meter und mehr schwingt. Eine Schwingungsanregung ist zum Beispiel durch den pulsierenden Betrieb einer Betonpumpe und durch die hieraus resultierende periodische Beschleunigung und Verzögerung der durch die Förderleitung gedrängten Betonsäule möglich. Dies hat zur Folge, dass der Beton nicht mehr gleichmäßig verteilt werden kann und der Arbeiter, der den Endschlauch führt, gefährdet wird. Um dies zu vermeiden, wurde bei einer bekannten Betonpumpe mit Knickmast ( DE-A 195 03 895 ) die Verwendung eines Lageregelkreises vorgeschlagen, der innerhalb eines vorgebbaren Variationsbereichs das Niveau der Mastspitze bezüglich einer ortsfesten horizontalen Bezugsebene stabilisiert. Hierzu ist eine Sensoreinrichtung vorgesehen, über deren Ausgangssignale ein Koordinatenstellantrieb zur kompensatorischen Auslenkung der Mastspitze oder des Endschlauchs ansteuerbar ist. Es hat sich gezeigt, dass diese Maßnahmen recht aufwendig sind und nicht immer zu dem gewünschten Ergebnis führen. Die für die Regelung erforderliche Armbewegungssensorik spricht erst an, wenn die Bewegung bereits ausgeführt wird, wenn es also schon zu spät ist. Es lässt sich damit also keine ausreichende Regelgüte erzielen.The articulated mast of a large manipulator of this type is by its construction an elastically oscillatory system that can be excited to natural oscillations. A resonant excitation of such vibrations can cause the mast tip to vibrate with amplitudes of one meter and more. Vibration excitation is possible, for example, by the pulsating operation of a concrete pump and by the resulting periodic acceleration and deceleration of the concrete column forced through the delivery line. As a result, the concrete can no longer be evenly distributed and the worker carrying the end hose is endangered. In order to avoid this, in a known concrete pump with articulated mast ( DE-A 195 03 895 ) proposed the use of a position control loop which stabilizes the level of the mast top with respect to a fixed horizontal reference plane within a predeterminable range of variation. For this purpose, a sensor device is provided, via whose output signals a coordinate actuator for compensatory deflection of the mast top or the end hose can be controlled. It has been shown that these measures are quite complex and do not always lead to the desired result. The Armbewegungssensorik required for the regulation only responds when the movement is already carried out, so it is already too late. It can thus be achieved so that no sufficient quality control.

Ausgehend hiervon liegt der Erfindung die Aufgabe zugrunde, Vorkehrungen und Verfahrensmaßnahmen zu treffen, womit mit einfachen Mitteln eine optimale Mastbedämpfung möglich ist.Proceeding from this, the present invention seeks to provide precautions and procedures, which with simple means optimal mast damping is possible.

Zur Lösung dieser Aufgabe werden die in den Ansprüchen 1 und 15 angegebenen Merkmalskombinationen vorgeschlagen. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen.To solve this problem, the feature combinations specified in claims 1 and 15 are proposed. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims.

Der erfindungsgemäßen Lösung liegt der Gedanke zugrunde, dass an mindestens einem der Antriebsaggregate oder am zugehörigen Mastarm eine von der mechanischen Schwingung des betreffenden Mastarms abgeleitete zeitabhängige Messgröße bestimmt, in einer Auswerteeinheit unter Bildung eines dynamischen Dämpfungssignals ausgewertet und einem das zugehörige Antriebsaggregat ansteuernden Stellglied aufgeschaltet wird.The inventive solution is based on the idea that determined on at least one of the drive units or the associated boom arm derived from the mechanical vibration of the respective boom time-dependent parameter is evaluated in an evaluation unit to form a dynamic damping signal and connected to the associated drive unit controlling actuator is switched.

Gemäß einer bevorzugten Ausgestaltung der Erfindung, bei der das Antriebsaggregat als doppeltwirkender Hydrozylinder ausgebildet ist, wird als Messgröße die zeitabhängige Druckdifferenz zwischen Boden- und Stangenseite des Hydrozylinders bestimmt und in der Auswerteeinheit zur Bildung des dynamischen Dämpfungssignals ausgewertet. Bei der Signalaufbereitung wird zweckmäßig der dynamische Anteil der zeitabhängigen Druckdifferenz oberhalb einer definierten Grenzfrequenz herausgefiltert und für die Bildung des Dämpfungssignals phasenverschoben und/oder verstärkt. Die Grenzfrequenz wird nach Maßgabe der mechanischen Eigenfrequenz des betreffenden Mastarms vorzugsweise im Bereich von 0,2 bis 10 Hz eingestellt. Jedenfalls sollte die Grenzfrequenz des Hochpassfilters etwas niedriger als die Eigenfrequenz des betreffenden Mastarms gewählt werden. Da die Mastdämpfung ohne Positionsregelung zu einer unerwünschten Drift der Mastspitze führen kann, wird gemäß einer vorteilhaften Ausgestaltung der Erfindung vorgeschlagen, dass bei einem in eine definierte Arbeitsposition ausgefahrenen Knickmast die Neigung oder der Bodenabstand des Endarms in vorgegebenen Zeitabständen gemessen und mit einem zuvor abgespeicherten Sollwert verglichen wird, und dass beim Auftreten einer Drift der Knickmast durch Ansteuerung mindestens eines der Stellglieder nachgeführt wird.According to a preferred embodiment of the invention, in which the drive unit is designed as a double-acting hydraulic cylinder, the time-dependent pressure difference between the bottom and rod side of the hydraulic cylinder is determined as a measured variable and evaluated in the evaluation unit to form the dynamic damping signal. In the signal processing, the dynamic portion of the time-dependent pressure difference is expediently filtered out above a defined limit frequency and phase-shifted and / or amplified for the formation of the attenuation signal. The Cutoff frequency is preferably set in the range of 0.2 to 10 Hz in accordance with the mechanical natural frequency of the respective boom arm. In any case, the cutoff frequency of the high pass filter should be chosen to be slightly lower than the natural frequency of the relevant boom arm. Since the mast damping without position control can lead to an undesirable drift of the mast top, it is proposed according to an advantageous embodiment of the invention that measured at a extended working position articulated mast the inclination or the ground clearance of the end arm at predetermined time intervals and compared with a previously stored setpoint is, and that the occurrence of a drift of the articulated mast is tracked by driving at least one of the actuators.

Zur Durchführung des beschriebenen Verfahrens wird gemäß der Erfindung vorgeschlagen, dass mindestens einem der Antriebsaggregate oder Mastarme mindestens ein Sensor zur Bestimmung einer von den mechanischen Schwingungen des betreffenden Mastarms abgeleiteten zeitabhängigen Messgröße sowie eine dem mindestens einen Sensor nachgeordnete, ausgangsseitig an das zugehörige Stellglied angeschlossene Auswerteeinheit zur Erzeugung eines Dämpfungssignals zugeordnet ist.To carry out the described method, it is proposed according to the invention that at least one of the drive units or boom arms at least one sensor for determining a time-dependent measured variable derived from the mechanical vibrations of the respective boom and a downstream of the at least one sensor, the output connected to the associated actuator evaluation Generation of an attenuation signal is assigned.

Gemäß einer bevorzugten Ausgestaltung der Erfindung weist jedes Antriebsaggregat einen doppeltwirkenden Hydrozylinder auf, wobei die Hydrozylinder über je ein das zugehörige Stellglied bildendes Proportionalwechselventil mit Drucköl beaufschlagbar sind. In diesem Falle ist gemäß der Erfindung am stangen- und bodenseitigen Ende mindestens eines der Hydrozylinder je ein Druckaufnehmer angeordnet, die über ein Vergleicher- oder Differenzglied mit der Auswerteeinheit verbunden sind. Vorteilhafterweise umfasst die Auswerteeinheit einen Hochpassfilter, der digital oder analog ausgebildet sein kann. Vorteilhafterweise sind die Grenzfrequenzen der zu jedem Mastarm gehörenden Hochpassfilter getrennt nach Maßgabe der Eigenfrequenzen der jeweiligen Mastarme einstellbar. Typische Grenzfrequenzen der Hochpassfilter betragen 0,2 bis 10 Hz.According to a preferred embodiment of the invention, each drive unit has a double-acting hydraulic cylinder, wherein the hydraulic cylinder can be acted upon by pressure oil via a respective proportional change-over valve forming the associated actuator. In this case, according to the invention, at least one of the hydraulic cylinders per pressure transducer is arranged on the rod-side and bottom-side end, which are connected to the evaluation unit via a comparator or differential element. Advantageously, the evaluation unit comprises a high-pass filter, which may be digital or analog. Advantageously, the cutoff frequencies of the high-pass filters belonging to each mast arm are separated according to the natural frequencies adjustable to the respective boom arms. Typical cut-off frequencies of the high-pass filters are 0.2 to 10 Hz.

Eine bevorzugte Ausgestaltung der Erfindung sieht vor, dass der Hochpassfilter durch einen Tiefpassfilter gebildet ist, dessen Eingang über ein Differenzglied auf dessen Ausgang aufgeschaltet ist. Um Überschwingungen zu vermeiden, bildet jeder Hochpassfilter eine aperiodische Übergangsfunktion. Weiter ist jedem Hochpassfilter vorteilhafterweise eine Bewertungs- und Sicherheitsschaltung oder -routine nachgeordnet, die eingangsseitig zusätzlich mit den Ausgangssignalen der beiden Druckaufnehmer der zugeordneten Hydrozylinder beaufschlagt werden können.A preferred embodiment of the invention provides that the high-pass filter is formed by a low-pass filter whose input is connected via a differential element on the output thereof. To avoid overshoots, each high-pass filter forms an aperiodic transition function. Furthermore, each high-pass filter is advantageously followed by an evaluation and safety circuit or routine, which on the input side can additionally be acted upon by the output signals of the two pressure transducers of the associated hydraulic cylinders.

Eine bevorzugte Ausgestaltung der Erfindung sieht vor, dass die Steuereinrichtung einen Mikrocontroller mit Koordinatengeber zur Ansteuerung der Stellglieder aufweist, der eingabeseitig über ein BUS-System und eine Fernsteuereinrichtung mit Fahrdaten für die Mastbewegung beaufschlagbar ist, dass jedem Stellglied zusätzlich ein die Dämpfungseinheit bildender Übertrager zugeordnet ist, der eingabeseitig mit den zum betreffenden Mastarm gehörenden Messgrößen beaufschlagbar und ausgangsseitig mit dem Stellglied verbunden ist. Mit diesen Vorkehrungen wird der Knickmast aufgrund der über die Fernsteuereinrichtung vorgegebenen Fahrdaten durch den Pumpenfahrer gesteuert, während die Mastbedämpfung während des Bewegungsvorgangs und in der Arbeitsstellung des Knickmasts automatisch erfolgt. Die Dämpfungseinheiten sind dabei in die Steuerkreise der einzelnen Antriebsaggregate eingekoppelt. Die einzelnen Übertrager sind zweckmäßig als Hochpassfilter zweiter Ordnung ausgebildet, deren Übergangsfunktion ein aperiodisches Verhalten aufweist. Damit wird gewährleistet, dass über den Filter und dessen Übertrager keine zusätzlichen Störungen dem System aufgeprägt werden. Eine Besonderheit der erfindungsgemäßen Dämpfungseinrichtung besteht somit darin, dass jedem Mastarm eine unabhängige Dämpfungseinheit zugeordnet ist.A preferred embodiment of the invention provides that the control device has a microcontroller with a coordinate transmitter for controlling the actuators, the input side via a bus system and a remote control device with driving data for the mast movement can be acted upon, that each actuator is additionally associated with a damping unit forming transformer , which on the input side can be acted upon by the measured variables associated with the relevant mast arm and connected on the output side to the actuator. With these provisions, the articulated mast is controlled by the pump driver on the basis of the driving data predetermined by the remote control device, while the mast damping takes place automatically during the movement process and in the working position of the articulated mast. The damping units are coupled into the control circuits of the individual drive units. The individual transformers are expediently designed as high-pass filters of the second order whose transition function has an aperiodic behavior. This ensures that no additional disturbances are imposed on the system via the filter and its transformer. A special feature of the damping device according to the invention is thus that each mast arm is associated with an independent damping unit.

Als Drucksensoren kommen beispielsweise Membransensoren oder Piezosensoren in Betracht, denen bei Vorhandensein eines Mikrocontrollers ein Messumwandler mit einem Analog-Digitalwandler zugeordnet ist. Wichtig ist, dass die Drucksensoren eine ausreichende Dynamik aufweisen.Suitable pressure sensors are, for example, membrane sensors or piezosensors, to which, in the presence of a microcontroller, a transducer with an analogue-to-digital converter is assigned. It is important that the pressure sensors have sufficient dynamics.

Für den Fall, dass eine Positionsregelung fehlt, ist gemäß einer vorteilhaften Ausgestaltung der Erfindung eine Anordnung zur Driftkompensation des Knickmasts vorgesehen, die mindestens einen an einem der Mastarme angeordneten Neigungs- oder Abstandssensor, einen Sollwertspeicher sowie eine eingangsseitig mit dem Sollwertspeicher und mit dem Ausgang des Neigungs- oder Abstandssensors verbundenen Vergleicher zur Ansteuerung mindestens eines der Stellglieder aufweist. Der Neigungs- oder Abstandssensor ist vorteilhafterweise am Endarm des Knickmasts angeordnet, während der Sollwertspeicher über eine Steuerroutine mit dem digitalen Ausgangssignal des Neigungs- oder Abstandssensors beaufschlagbar ist. Die Steuerroutine sorgt dafür, dass der momentane Neigungswert oder Bodenabstand des Endarms bei Erreichen einer Arbeitsposition des Knickmasts im Sollwertspeicher abgespeichert wird.In the event that a position control is missing, an arrangement for drift compensation of the articulated mast is provided according to an advantageous embodiment of the invention, the at least one arranged on one of the mast arms inclination or distance sensor, a setpoint memory and an input side with the setpoint memory and with the output of the Inclination or distance sensor connected comparator for controlling at least one of the actuators. The inclination or distance sensor is advantageously arranged on the end arm of the articulated mast, while the setpoint memory can be acted upon via a control routine with the digital output signal of the inclination or distance sensor. The control routine ensures that the instantaneous inclination value or ground clearance of the end arm is stored in the setpoint memory when a working position of the articulated mast is reached.

Im Folgenden wird die Erfindung anhand der in der Zeichnung in schematischer Weise dargestellten Ausführungsbeispiele näher erläutert. Es zeigen

Fig. 1
eine Seitenansicht einer Autobetonpumpe mit zusammengelegtem Knickmast;
Fig. 2
die Autobetonpumpe nach Fig. 1 mit Knickmast in Arbeitsstellung;
Fig. 3
ein Schema einer Steuereinrichtung für die Mastbewegung und -bedämpfung;
Fig. 4
ein Schema mit Flußdiagramm des im Mikrocontroller enthaltenen Softwareübertragers für die Mastbedämpfung.
In the following the invention will be explained in more detail with reference to the embodiments schematically illustrated in the drawing. Show it
Fig. 1
a side view of a truck-mounted concrete pump with collapsed articulated mast;
Fig. 2
the truck-mounted concrete pump Fig. 1 with articulated mast in working position;
Fig. 3
a scheme of a control device for the mast movement and damping;
Fig. 4
a diagram with a flow chart of the mast damping software transmitter included in the microcontroller.

Die Autobetonpumpe 10 umfaßt ein Transportfahrzeug 11, eine z. B. als Zweizylinder-Kolbenpumpe ausgebildete pulsierende Dickstoffpumpe 12 sowie einen um eine fahrzeugfeste Hochachse 13 drehbaren Verteilermast 14 als Träger für eine Betonförderleitung 16. Über die Förderleitung 16 wird Flüssigbeton, der in einen Aufgabebehälter 12 während des Betonierens fortlaufend eingebracht wird, zu einer von dem Standort des Fahrzeugs 11 entfernt angeordneten Betonierstelle 18 gefördert.The truck-mounted concrete pump 10 includes a transport vehicle 11, a z. B. formed as a two-cylinder piston pump pulsating sludge pump 12 and a vehicle-mounted vertical axis 13 rotatable distribution boom 14 as a support for a concrete delivery line 16 via the delivery line 16 is liquid concrete, which is continuously introduced into a hopper 12 during concreting, to one of the Location of the vehicle 11 removed arranged concreting 18 promoted.

Der Verteilermast 14 besteht aus einem mittels eines hydraulischen Drehantriebs 19 um die Hochachse 13 drehbaren Mastbock 21 und einem an diesem schwenkbaren Knickmast 22, der auf variable Reichweite und Höhendifferenz zwischen dem Fahrzeug 11 und der Betonierstelle 18 kontinuierlich einstellbar ist. Der Knickmast 22 besteht bei dem dargestellten Ausführungsbeispiel aus fünf gelenkig miteinander verbundenen Mastarmen 23 bis 27, die um parallel zueinander und rechtwinklig zur Hochachse 13 des Mastbocks 21 verlaufende Achsen 28 bis 32 schwenkbar sind. Die Knickwinkel ε1 bis ε5 (Fig. 2) der durch die Gelenkachsen 28 bis 32 gebildeten Knickgelenke und deren Anordnung zueinander sind so aufeinander abgestimmt, daß der Verteilermast 14 mit der aus Fig. 1 ersichtlichen, einer mehrfachen Faltung entsprechenden raumsparenden Transportkonfiguration auf dem Fahrzeug 11 ablegbar ist. Durch programmgesteuerte Aktivierung von Antriebsaggregaten 34 bis 38, die den Gelenkachsen 28 bis 32 einzeln zugeordnet sind, ist der Knickmast 22 in unterschiedlichen Distanzen und/oder Höhendifferenzen zwischen der Betonierstelle 18 und dem Fahrzeugstandort entfaltbar (Fig. 2).The distribution boom 14 consists of a by means of a hydraulic rotary drive 19 about the vertical axis 13 rotatable mast bracket 21 and a pivotable on this articulated mast 22, which is continuously adjustable to variable range and height difference between the vehicle 11 and the concreting 18. The articulated mast 22 consists in the illustrated embodiment of five pivotally interconnected mast arms 23 to 27, which are parallel to each other and at right angles to the vertical axis 13 of the mast bracket 21 extending axes 28 to 32 pivotally. The bending angles ε 1 to ε 5 ( Fig. 2 ) of the articulated joints formed by the joint axes 28 to 32 and their arrangement with each other are coordinated so that the distribution boom 14 with the off Fig. 1 apparent, a multiple folding corresponding space-saving transport configuration on the vehicle 11 can be stored. By program-controlled activation of drive units 34 to 38, which are assigned to the joint axes 28 to 32 individually, the articulated mast 22 at different distances and / or height differences between the concreting site 18 and the vehicle location is deployable ( Fig. 2 ).

Der Mastführer steuert z. B. mittels einer Funk-Fernbedienung 50 die Mastbewegungen, durch die die Mastspitze 33 mit dem Endschlauch 43 über den zu betonierenden Bereich hinweggeführt wird. Der Endschlauch 43 hat eine typische Länge von 3 bis 4 m und kann wegen seiner gelenkigen Aufhängung im Bereich des Mastspitze 33 und aufgrund seiner Eigenflexibilität mit seinem Austrittsende von einem Schlauchmann in der günstigen Position zur Betonierstelle 18 gehalten werden.The mast leader controls z. Example by means of a radio remote control 50, the mast movements through which the mast tip 33 is passed with the end hose 43 over the area to be concreted. The end hose 43 has a typical length of 3 to 4 m and can be kept because of its articulated suspension in the area of the mast top 33 and due to its inherent flexibility with its outlet end of a hose man in the favorable position for concreting 18.

Die Fernbedienung 50 enthält mehrere, als Steuerhebel ausgebildete Bedienorgane 60, die jeweils in zwei zueinander senkrechten Verstellrichtungen vor- und rückwärts unter Abgabe von Steuersignalen verstellt werden können. Die Steuersignale werden über eine Funkstrecke 61 zum fahrzeugfesten Funkempfänger 62 übertragen, der ausgangsseitig über ein beispielsweise als CAN-Bus ausgebildetes Bussystem 63 an den Mikrocontroller 52 angeschlossen ist. Der Mikrocontroller 52 enthält u.a. einen rechnergestützten Koordinatengeber 64, in welchem die vom Funkempfänger 62 übertragenen Fahrdaten in Koordinatensignale für die Antriebsaggregate 19, 34 bis 38 der sechs Achsen 13, 28 bis 32 umgesetzt werden. Zusätzlich kann die Größe der Auslenkung der Bedienorgane 60 in geschwindigkeitsbestimmende Signale umgesetzt werden. Die Betätigung der Antriebsaggregate 34 bis 38 erfolgt über die als Proportionalwechselventile ausgebildeten Stellglieder 68 bis 76, die mit ihren Ausgangsleitungen 78, 80 bodenseitig und stangenseitig an die als doppeltwirkende Hydrozylinder ausgebildeten Antriebsaggregate 34 bis 38 angeschlossen sind. Das Antriebsaggregat 19 für den Mastbock 21 ist als hydraulischer Drehantrieb ausgebildet, der über das Stellglied 66 angesteuert wird. Neben der Ansteuerung über den Koordinatengeber 64, der die ankommenden Fahrdaten beispielsweise als Zylinderkoordinaten interpretiert und entsprechend umsetzt (vgl. DE-A 43 06 127 ), können die einzelnen Antriebsaggregate 19, 34 bis 36 auch direkt über die Bedienorgane 60 und die zugehörigen Stellglieder 66 bis 76 angesteuert werden.The remote control 50 includes a plurality of controls 60 designed as a control lever, which can be adjusted in each case in two mutually perpendicular adjustment directions forward and backward with the delivery of control signals. The control signals are transmitted via a radio link 61 to the vehicle-fixed radio receiver 62, which is connected on the output side via a trained example as a CAN bus bus 63 to the microcontroller 52. The microcontroller 52 contains inter alia a computer-aided coordinate transmitter 64 in which the transmitted by the radio receiver 62 driving data in coordinate signals for the drive units 19, 34 to 38 of the six axes 13, 28 to 32 are implemented. In addition, the magnitude of the deflection of the controls 60 can be converted into speed-determining signals. The actuation of the drive units 34 to 38 via the proportional control valves designed as actuators 68 to 76, which are connected with their output lines 78, 80 on the bottom side and rod side to the designed as a double-acting hydraulic cylinder drive units 34 to 38. The drive unit 19 for the mast block 21 is designed as a hydraulic rotary drive, which is controlled by the actuator 66. In addition to the control via the coordinate encoder 64, which interprets the incoming driving data, for example, as a cylindrical coordinates and implemented accordingly (see. DE-A 43 06 127 ), the individual drive units 19, 34 to 36 can also be controlled directly via the operating elements 60 and the associated actuators 66 to 76.

Der Knickmast 22 stellt zusammen mit dem Transportfahrzeug 11 ein schwingungsfähiges System dar, das im Betrieb von der pulsierend arbeitenden Dickstoffpumpe 12 zu erzwungenen Schwingungen anregbar ist. Die Schwingungen können zu Auslenkungen der Mastspitze 33 und des an dieser hängenden Endschlauchs 43 führen, mit Amplituden um einen Meter und Frequenzen zwischen 0,5 und einigen Hz.The articulated mast 22, together with the transport vehicle 11 is a vibratory system, which in operation of the pulsating working Slurry pump 12 can be excited to forced oscillations. The vibrations can lead to deflections of the mast tip 33 and of the end hose 43 hanging thereon, with amplitudes of one meter and frequencies of between 0.5 and a few Hz.

Um ein resonantes Aufschaukeln des Knickmasts 22 zu vermeiden, enthält der Mikrocontroller 52 zusätzlich eine Anzahl softwaregestützter Dämpfungseinheiten 82, die mit dem Vorsteuereingang jeweils eines der Stellglieder 68 bis 76 verbunden sind. Eingangsseitig sind die Dämpfungseinheiten 82 mit einer von den mechanischen Schwingungen des jeweiligen Mastarms 23 bis 27 abgeleiteten zeitabhängigen Meßgröße beaufschlagt. Bei dem gezeigten Ausführungsbeispiel ist zu diesem Zweck am bodenseitigen und stangenseitigen Ende eines jeden als Hydrozylinder ausgebildeten Antriebsaggregats 34 bis 38 je ein Drucksensor 84, 86 angeordnet, deren Ausgänge ps und pb mit einem Vergleicher 88 verbunden sind, in welchem ein der Druckdifferenz △p (t) = ps - pb entsprechendes zeitabhängiges Meßsignal erzeugt wird. Das Meßsignal △p (t) wird in einem vorgegebenen Zeittakt einem digitalen Hochpaßfilter 90, 92 zugeleitet. Der Hochpaßfilter ist bei dem in Fig. 4 gezeigten Ausführungsbeispiel durch einen digitalen Tiefpaßfilter 90 mit nachgeordnetem Vergleicher 92 gebildet, auf welch letzteren zusätzlich das Eingangssignal des Tiefpaßfilters 90 aufgeschaltet ist. Die Eckfrequenz des Hochpaßfilters 90, 92 wird für jeden Mastarm 23 bis 27 getrennt eingestellt und etwas niedriger als dessen mechanische Eigenfrequenz gewählt. Die Dämpfungseinheiten 82 enthalten zusätzlich einen dem digitalen Hochpaßfilter 90, 92 nachgeordneten Bewertungs- und Sicherheitsalgorithmus 93 zur Einstellung des für die Schwingungsdämpfung notwendigen Verstärkungsgrads. Weiter werden durch den Sicherheitsalgorithmus auch die Bewegungsgrenzwerte des Mastarms beispielsweise über eine Anschlagskontrolle überwacht. Dazu können auch die von den boden- und stangenseitigen Drucksensoren 84, 86 gemessenen absoluten Druckwerte ps und pb ausgewertet werden.In order to avoid a resonant rocking of the buckling mast 22, the microcontroller 52 additionally contains a number of software-supported damping units 82, which are connected to the pilot control input of one of the actuators 68 to 76, respectively. On the input side, the damping units 82 are acted upon by a time-dependent measured variable derived from the mechanical vibrations of the respective boom arms 23 to 27. In the embodiment shown, a pressure sensor 84, 86 is arranged for this purpose on the bottom side and rod end of each designed as a hydraulic cylinder drive unit 34, whose outputs p s and p b are connected to a comparator 88, in which one of the pressure difference △ p (t) = p s - p b corresponding time-dependent measurement signal is generated. The measuring signal △ p (t) is fed to a digital high-pass filter 90, 92 in a predetermined time cycle. The high pass filter is at the in Fig. 4 embodiment shown formed by a digital low-pass filter 90 with downstream comparator 92, on which latter additionally the input signal of the low-pass filter 90 is switched. The cutoff frequency of the high-pass filter 90, 92 is set separately for each mast arm 23 to 27 and is selected slightly lower than its mechanical natural frequency. The attenuation units 82 additionally include a digital high pass filter 90, 92 downstream evaluation and safety algorithm 93 for adjusting the necessary for the vibration damping gain. Furthermore, the safety algorithm also monitors the movement limit values of the boom arm, for example via a stop control. For this purpose, the absolute pressure values p s and p b measured by the ground and rod-side pressure sensors 84, 86 can also be evaluated.

Da die Achslagen der Knickachsen ungeregelt sind, ist nicht auszuschließen, daß aufgrund von Bautoleranzen eine Driftbewegung des Knickmasts 22 erfolgt. Dies ist insbesondere in der Arbeitsstellung des Knickmasts während der Pumptätigkeit der Fall. Die Drift kann überwacht und kompensiert werden. Wie aus Fig. 2 und 4 zu ersehen ist, ist zu diesem Zweck am letzten Mastarm 27 ein beispielsweise als Neigungssensor ausgebildeter Raumwinkelsensor 94 oder ein Abstandssensor sowie ein Sollwertspeicher 96 vorgesehen. Damit kann in jeder Arbeitsstellung, also am Schluß eines jeden Fahrvorgangs, die augenblickliche Winkellage oder der Bodenabstand der Mastspitze 33 im Sollwertspeicher 96 abgespeichert werden. Durch Vergleich eines Istwerts mit dem abgespeicherten Sollwert kann im weiteren Zeitverlauf eine Drift erkannt und durch Ansteuerung mindestens eines der Stellglieder 68 bis 76 z.B. über den Koordinatengeber 64 kompensiert werden.Since the axial positions of the buckling axes are unregulated, it can not be ruled out that a drift movement of the buckling mast 22 occurs due to structural tolerances. This is the case in particular in the working position of the articulated mast during the pumping action. The drift can be monitored and compensated. How out Fig. 2 and 4 can be seen, for this purpose on the last boom arm 27, for example, designed as a tilt sensor solid angle sensor 94 or a distance sensor and a setpoint memory 96 is provided. This can be stored in the setpoint memory 96 in each working position, ie at the end of each driving process, the instantaneous angular position or the ground clearance of the mast tip 33. By comparing an actual value with the stored setpoint, a drift can be detected in the further course of time and compensated for by controlling at least one of the actuators 68 to 76, for example via the coordinate transmitter 64.

Zusammenfassend ist folgendes festzuhalten: Die Erfindung bezieht sich auf einen Großmanipulator insbesondere von Betonpumpen. Der Großmanipulator weist einen aus mindestens drei Mastarmen 23 bis 27 zusammengesetzten, vorzugsweise als Betonverteilermast ausgebildeten Knickmast 22 auf, dessen Mastarme um jeweils horizontale, zueinander parallele Knickachsen 28 bis 32 mittels je eines Antriebsaggregats 34 bis 38 begrenzt verschwenkbar sind. Weiter sind eine Steuereinrichtung 50, 62, 52 für die Mastbewegung mit Hilfe von den einzelnen Antriebsaggregaten zugeordneten Stellgliedern sowie Mittel zur Dämpfung von mechanischen Schwingungen im Knickmast vorgesehen. Um mit einfachen Mitteln eine wirkungsvolle Mastbedämpfung zu erzielen, wird gemäß der Erfindung vorgeschlagen, daß vorzugsweise an jedem Antriebsaggregat 34 bis 38 oder am zugehörigen Mastarm 23 bis 27 eine von der mechanischen Schwingung des betreffenden Mastarms abgeleitete zeitabhängige Meßgröße bestimmt, in einer Auswerteeinheit 82 unter Bildung eines dynamischen Dämpfungssignals aufgearbeitet und einem das betreffende Antriebsaggregat ansteuernden Stellglied 68 bis 76 aufgeschaltet wird.In summary, the following should be noted: The invention relates to a large manipulator in particular of concrete pumps. The large manipulator has a composed of at least three mast arms 23 to 27, preferably designed as a concrete distributor mast articulated boom 22, the mast arms are limited to each horizontal, mutually parallel bending axes 28 to 32 by means of a respective drive unit 34 to 38 pivotally limited. Further, a control device 50, 62, 52 are provided for the mast movement with the aid of the individual drive units associated actuators and means for damping mechanical vibrations in the articulated mast. In order to achieve an effective mast damping with simple means, it is proposed according to the invention that preferably determines at each drive unit 34 to 38 or the associated boom arm 23 to 27 derived from the mechanical vibration of the respective boom time-dependent measurement, in an evaluation unit 82 under formation worked up a dynamic attenuation signal and an actuator 68 to 76 activating the relevant drive unit is activated.

Claims (19)

  1. Large-scale manipulator, in particular for concrete pumps, with boom block (21) rotatable preferably about a vertical rotation axis (13) on a vehicle chassis (11), with a bendable boom (22) comprising an aggregate of at least three boom arms (23 through 27), preferably configured as a concrete placement boom, of which the boom arms (23 through 27) are pair-wise limitedly pivotable, relative to the adjacent boom block (21) or boom arm (28 to 26), about respective horizontal parallel pivot axes (28 to 32) by means of a drive aggregate (34 through 38), with a preferably remote-controlled control device (50, 62, 52) for movement of the boom with the aid of individual actuating elements (68 through 76) associated with the individual drive aggregates (34 through 38), and with means (82, 84, 86) for damping of mechanical oscillations in the bendable boom (22), thereby characterized, that at least one of the drive aggregates (34 through 38) or boom arms (23 through 27) is provided with a sensor (84, 86) for determining a the time dependent measurement value (△p) derived from the mechanical oscillations of a boom arm (23 through 27), as well as an evaluation unit (82) for producing a damping signal connected downstream of the at least one sensor (84, 86), of which the output is connected to the associated actuating element (68 through 76).
  2. Large-scale manipulator according to Claim 1, thereby characterized, that each drive aggregate (34 through 38) includes a double acting hydraulic cylinder, that the hydraulic cylinder is acted upon by pressure oil via a proportional change valve (68 through 76) forming the associated actuating element, that on the piston rod sided and piston head sided end of at least one of the hydraulic cylinders respectively a pressure sensor (84, 86) is provided, which is connected with the evaluation unit (82) preferably via a comparator (88).
  3. Large-scale manipulator according to Claim 2, thereby characterized, that the evaluation unit (82) includes an analog or digital high pass filter (90, 92).
  4. Large-scale manipulator according to Claim 3, thereby characterized, that the cutoff frequency of the high pass filters (90, 92) belonging to the individual boom arms (23 through 27) are independently adjustable.
  5. Large-scale manipulator according to Claim 3 or 4, thereby characterized, that the cutoff frequency of the high pass filter (90, 92) is adjustable according to the value of the harmonic frequency of the associated boom arm (23 through 27).
  6. Large-scale manipulator according to one of Claims 3 through 5, thereby characterized, that the cutoff frequency of the high pass filter (90, 92) is adjustable to a value of from 0.2 to 10 Hz.
  7. Large-scale manipulator according to one of Claims 3 through 6, thereby characterized, that each high pass filter is a deep pass filter (90), of which the input is imposed on the output thereof via a comparator (92).
  8. Large-scale manipulator according to one of Claims 3 through 7, thereby characterized, that each high pass filter (90, 92) provides an aperiodic transmission or carrier function.
  9. Large-scale manipulator according to one of Claims 3 through 8, thereby characterized, that each high pass filter (90, 92) has an evaluation and safety circuit or routine (93) connected downstream.
  10. Large-scale manipulator according to Claim 9, thereby characterized, that the evaluation and safety circuit or routine (93) is acted on the input side with the output signals (ps, pb) of the two pressure sensors (84, 86).
  11. Large-scale manipulator according to one of Claims 1 through 10, thereby characterized, that the control device includes a micro-controller (52) with a coordinate provider (64) for controlling the actuating elements (68 through 76), which on the input side is acted upon via a BUS-system (63) and a remote control device (50, 64) with steering data for the boom movement, that each actuating element is provided with a carrier or transmitter forming a damping unit (82), which on the input side is acted upon with the measurement value (△p) belonging to the concerned boom arm (23 through 27).
  12. Large-scale manipulator according to one of Claims 1 through 11, characterized by a device for drift compensation of the placement boom (22), which includes at least one inclination sensor (94) or distance sensor provided on an end of the boom arm (27), a storage unit (96) as well as a computer connected with the intended value storage and the output of the space angle or distance sensor for controlling at least one of the actuating elements (68 through 76).
  13. Large-scale manipulator according to Claim 12, thereby characterized, that the inclination or distance sensor is provided on the end arm (27) of the bendable boom (22).
  14. Large-scale manipulator according to Claim 12 or 13, thereby characterized, that the intended value storage (96) is acted upon via a control routine with the digital output signal of the inclination or distance sensor (94).
  15. Process for dampening mechanical oscillations of a bendable boom (22) of a large-scale manipulator, in which the boom arms (23 through 27) of the bendable boom (22) are pivotable relative to each other via respectively one drive aggregate (34 through 38), thereby characterized, that a time dependent measurement value (Δp) dependent upon the mechanical oscillation of the concerned boom arm is derived from at least one of the drive aggregates (34 through 38) or on the associated boom arm (23 through 27), is submitted to an evaluation unit (82) with formation of a dynamic damping signal, and is imposed upon the actuating element (68 through 76) controlling the drive aggregate.
  16. Process according to Claim 15, thereby characterized, that the drive aggregate (34 through 38) is a hydraulic cylinder in which the time dependent pressure deferential (Δp) between the piston head side and piston rod side are measured as the measurement amplitude or value and evaluated in the evaluation unit (82) with formation of the dampening signal.
  17. Process according to Claim 16, thereby characterized, that in the evaluation unit (82, 90, 92) the dynamic portion of the measurement value (Δp) above a defined cutoff frequency is filtered out and phase delayed and/or amplified for the formation of the damping signal.
  18. Process according to Claim 17, thereby characterized, that the cutoff frequency is set depending upon the value of the mechanical harmonic frequency of the concerned boom arm, preferably to a value of 0.2 to 10 Hz.
  19. Process according to one of Claims 15 through 18, thereby characterized, that in the case of a bendable boom (22) extended to a work position the inclination or the distance from the ground of the end arm is measured in predetermined time intervals and compared to a previously stored intended value, and that upon occurrence of a deviation from the intended value the bendable boom is restored by control of at least one of the actuating elements (68 through 76).
EP01945335A 2000-09-19 2001-07-04 Large-scale manipulator comprising a vibration damper Expired - Lifetime EP1319110B8 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP07119143A EP1882795B1 (en) 2000-09-19 2001-07-04 Large-scale manipulator comprising a vibration damper
DE20122093U DE20122093U1 (en) 2000-09-19 2001-07-04 Heavy manipulator for concrete pumping, incorporates damping of mechanical oscillation of handling mast

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10046546A DE10046546A1 (en) 2000-09-19 2000-09-19 Heavy manipulator for concrete pumping, incorporates damping of mechanical oscillation of handling mast
DE10046546 2000-09-19
PCT/EP2001/007617 WO2002025036A1 (en) 2000-09-19 2001-07-04 Large-scale manipulator comprising a vibration damper

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DE102017118274A1 (en) 2017-08-10 2019-02-14 Putzmeister Engineering Gmbh Large manipulator and hydraulic circuit arrangement for a large manipulator
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US6883532B2 (en) 2005-04-26
KR100800798B1 (en) 2008-02-04
DE50115523C5 (en) 2016-11-03
DE50113790C5 (en) 2017-03-02
EP1319110B8 (en) 2008-07-09
EP1882795A3 (en) 2009-04-22
ATE471416T1 (en) 2010-07-15
WO2002025036A1 (en) 2002-03-28
DE50115523D1 (en) 2010-07-29
EP1882795B1 (en) 2010-06-16
ES2301552T3 (en) 2008-07-01
JP2004510077A (en) 2004-04-02
DE50113790D1 (en) 2008-05-08
DE10046546A1 (en) 2002-03-28
DE20122093U1 (en) 2004-03-25
ES2344612T3 (en) 2010-09-01
EP1882795A2 (en) 2008-01-30
EP1319110A1 (en) 2003-06-18
US20030196506A1 (en) 2003-10-23
KR20030040465A (en) 2003-05-22
ATE390530T1 (en) 2008-04-15
JP4580617B2 (en) 2010-11-17

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