EP1319110B1 - Grand manipulateur pourvu d'un amortisseur de vibrations - Google Patents

Grand manipulateur pourvu d'un amortisseur de vibrations 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)
English (en)
Other versions
EP1319110B8 (fr
EP1319110A1 (fr
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
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Application filed by Putzmeister AG, Putzmeister Werk Maschinenfabrik GmbH filed Critical Putzmeister AG
Priority to DE20122093U priority Critical patent/DE20122093U1/de
Priority to EP07119143A priority patent/EP1882795B1/fr
Publication of EP1319110A1 publication Critical patent/EP1319110A1/fr
Application granted granted Critical
Publication of EP1319110B1 publication Critical patent/EP1319110B1/fr
Publication of EP1319110B8 publication Critical patent/EP1319110B8/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Manipulator (AREA)
  • Buildings Adapted To Withstand Abnormal External Influences (AREA)
  • Surgical Instruments (AREA)
  • Vibration Dampers (AREA)
  • Fluid-Damping Devices (AREA)

Claims (19)

  1. Manipulateur de grande dimension, en particulier pour pompes à béton, avec un support de mât (21) disposé sur un bâti (11) et pouvant de préférence tourner autour d'un axe de rotation vertical (13), avec un mât articulé (22) composé d'au moins trois bras de mât (23 à 27) et réalisé de préférence sous forme de mât distributeur de béton, dont les bras de mât (23 à 27) peuvent pivoter par paires de manière limitée par rapport au support de mât (21) ou bras de mât (28 à 26) adjacent respectivement autour d'axes d'articulation (28 à 32) horizontaux parallèles les uns aux autres au moyen d'un organe d'entraînement (34 à 38) respectif, avec un dispositif de commande (50, 62, 52) de préférence télécommandable pour le mouvement du mât à l'aide d'actionneurs (68 à 76) associés aux différents organes d'entraînement (34 à 38) et avec des moyens (82, 84, 86) pour amortir les oscillations mécaniques du mât articulé (22), caractérisé en ce qu'à au moins un des organes d'entraînement (34 à 38) ou bras de mât (23 à 27) sont associés au moins un capteur (84, 86) pour déterminer une grandeur de mesure (Δp) dépendante du temps dérivée des oscillations mécaniques du bras de mât (23 à 27) concerné et une unité d'évaluation (82) située en aval dudit au moins un capteur (84, 86), reliée côté sortie à l'actionneur (68 à 76) associé pour générer un signal d'amortissement.
  2. Manipulateur de grande dimension selon la revendication 1, caractérisé en ce que chaque organe d'entraînement (34 à 38) présente un vérin hydraulique à double action, que les vérins hydrauliques peuvent chacun être soumis à de l'huile sous pression via une vanne proportionnelle à deux voies (68 à 76) formant l'actionneur associé, qu'un capteur de pression (84, 86) est disposé à chacune des extrémités côté tige et côté fond d'au moins un des vérins hydrauliques, lequel est relié à l'unité d'évaluation (82) de préférence via un comparateur (88).
  3. Manipulateur de grande dimension selon la revendication 2, caractérisé en ce que l'unité d'évaluation (82) contient un filtre passe-haut analogique ou numérique (90, 92).
  4. Manipulateur de grande dimension selon la revendication 3, caractérisé en ce que les fréquences limites des filtres passe-haut (90, 92) appartenant aux différents bras de mât (23 à 27) sont réglables indépendamment les unes des autres.
  5. Manipulateur de grande dimension selon la revendication 3 ou 4, caractérisé en ce que les fréquences limites des filtres passe-haut (90, 92) sont réglables en fonction de la fréquence propre des bras de mât (23 à 27) associés.
  6. Manipulateur de grande dimension selon l'une des revendications 3 à 5, caractérisé en ce que les fréquences limites des filtres passe-haut (90, 92) sont réglables à une valeur comprise entre 0,2 et 10 Hz.
  7. Manipulateur de grande dimension selon l'une des revendications 3 à 6, caractérisé en ce que chaque filtre passe-haut est formé par un filtre passe-bas (90) dont l'entrée est appliquée à la sortie via un comparateur (92).
  8. Manipulateur de grande dimension selon l'une des revendications 3 à 7, caractérisé en ce que chaque filtre passe-haut (90, 92) forme une fonction de transition apériodique.
  9. Manipulateur de grande dimension selon l'une des revendications 3 à 8, caractérisé en ce que chaque filtre passe-haut (90, 92) est suivi d'un circuit ou d'une routine d'évaluation et de sécurité (93).
  10. Manipulateur de grande dimension selon la revendication 9, caractérisé en ce que les signaux de sortie (ps, pb) des deux capteurs de pression (84, 86) peuvent être soumis, côté entrée, au circuit ou à la routine d'évaluation et de sécurité (93).
  11. Manipulateur de grande dimension selon l'une des revendications 1 à 10, caractérisé en ce que le dispositif de commande présente un microcontrôleur (52) avec un transmetteur de coordonnées (64) pour commander les actionneurs (68 à 76), auquel peuvent être soumises, côté entrée, via un système de BUS (63) et un dispositif de télécommande (50, 64), des données de déplacement pour le mouvement du mât, qu'à chaque actionneur est de plus associé un transmetteur formant l'unité d'amortissement (82), auquel peut être soumise, côté entrée, la grandeur de mesure (△p) appartenant au bras de mât (23 à 27) concerné.
  12. Manipulateur de grande dimension selon l'une des revendications 1 à 11, caractérisé par un dispositif pour compenser la dérive du mât articulé (22), qui présente au moins un capteur d'angle solide (94) ou capteur de distance disposé sur un des bras de mât (27), une mémoire de valeurs de consigne (96) ainsi qu'un comparateur relié à la mémoire de valeurs de consigne et à la sortie du capteur d'angle solide ou de distance pour commander au moins un des actionneurs (68 à 76).
  13. Manipulateur de grande dimension selon la revendication 12, caractérisé en ce que le capteur d'angle solide ou de distance est disposé sur le bras d'extrémité (27) du mât articulé (22).
  14. Manipulateur de grande dimension selon la revendication 12 ou 13, caractérisé en ce que la mémoire de valeurs de consigne (96) peut être soumise, via une routine de commande, au signal de sortie numérique du capteur d'angle solide ou de distance (94).
  15. Procédé pour amortir les oscillations mécaniques d'un mât articulé (22) dans un manipulateur de grande dimension, dans lequel les bras de mât (23 à 27) du mât articulé (22) peuvent pivoter les uns par rapport aux autres au moyen d'un organe d'entraînement (34 à 38) respectif, caractérisé en ce que, sur au moins un des organes d'entraînement (34 à 38) ou sur le bras de mât (23 à 27) associé, une grandeur de mesure (Δp) dépendante du temps dérivée de l'oscillation mécanique du bras de mât concerné est déterminée, évaluée dans une unité d'évaluation (82) en formant un signal d'amortissement dynamique et appliquée à un actionneur (68 à 76) qui commande l'organe d'entraînement concerné.
  16. Procédé selon la revendication 15, caractérisé en ce que, dans le cas d'un organe d'entraînement (34 à 38) réalisé sous la forme d'un vérin hydraulique, le différentiel de pression (Δp) dépendant du temps entre le côté fond et le côté tige du vérin hydraulique est déterminé comme grandeur de mesure et évalué dans l'unité d'évaluation (82) en formant le signal d'amortissement dynamique.
  17. Procédé selon la revendication 16, caractérisé en ce que dans l'unité d'évaluation (82, 90, 92), la part dynamique de la grandeur de mesure (△p) est éliminée par filtrage au-dessus d'une fréquence limite définie et déphasée et/ou amplifiée pour la formation du signal d'amortissement.
  18. Procédé selon la revendication 17, caractérisé en ce que la fréquence limite est réglée en fonction de la fréquence propre mécanique du bras de mât concerné, de préférence à une valeur comprise entre 0,2 et 10 Hz.
  19. Procédé selon l'une des revendications 15 à 18, caractérisé en ce que, lorsque le mât articulé (22) est sorti dans une position de travail, l'inclinaison ou la distance au sol du bras d'extrémité est mesurée à intervalles de temps prédéfinis et comparée avec une valeur de consigne préalablement mémorisée, et, en cas de survenue d'une divergence avec la valeur de consigne, le mât articulé est réajusté en commandant au moins un des actionneurs (68 à 76).
EP01945335A 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations Expired - Lifetime EP1319110B8 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE20122093U DE20122093U1 (de) 2000-09-19 2001-07-04 Großmanipulator mit Schwingungsdämpfer
EP07119143A EP1882795B1 (fr) 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10046546A DE10046546A1 (de) 2000-09-19 2000-09-19 Großmanipulator mit Schwingungsdämpfer
DE10046546 2000-09-19
PCT/EP2001/007617 WO2002025036A1 (fr) 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations

Related Child Applications (1)

Application Number Title Priority Date Filing Date
EP07119143A Division EP1882795B1 (fr) 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations

Publications (3)

Publication Number Publication Date
EP1319110A1 EP1319110A1 (fr) 2003-06-18
EP1319110B1 true EP1319110B1 (fr) 2008-03-26
EP1319110B8 EP1319110B8 (fr) 2008-07-09

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Family Applications (2)

Application Number Title Priority Date Filing Date
EP07119143A Expired - Lifetime EP1882795B1 (fr) 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations
EP01945335A Expired - Lifetime EP1319110B8 (fr) 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP07119143A Expired - Lifetime EP1882795B1 (fr) 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations

Country Status (8)

Country Link
US (1) US6883532B2 (fr)
EP (2) EP1882795B1 (fr)
JP (1) JP4580617B2 (fr)
KR (1) KR100800798B1 (fr)
AT (2) ATE390530T1 (fr)
DE (4) DE10046546A1 (fr)
ES (2) ES2344612T3 (fr)
WO (1) WO2002025036A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017118274A1 (de) 2017-08-10 2019-02-14 Putzmeister Engineering Gmbh Großmanipulator und hydraulische Schaltungsanordnung für einen Großmanipulator
WO2019166330A1 (fr) 2018-02-27 2019-09-06 Putzmeister Engineering Gmbh Manipulateur de grande taille comprenant un amortisseur de vibrations
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WO2019029957A1 (fr) 2017-08-10 2019-02-14 Putzmeister Engineering Gmbh Grand manipulateur et circuit hydraulique pour grand manipulateur
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US6883532B2 (en) 2005-04-26
WO2002025036A1 (fr) 2002-03-28
JP2004510077A (ja) 2004-04-02
EP1319110B8 (fr) 2008-07-09
ATE390530T1 (de) 2008-04-15
US20030196506A1 (en) 2003-10-23
EP1882795A3 (fr) 2009-04-22
EP1882795A2 (fr) 2008-01-30
DE50113790C5 (de) 2017-03-02
EP1882795B1 (fr) 2010-06-16
JP4580617B2 (ja) 2010-11-17
DE20122093U1 (de) 2004-03-25
ATE471416T1 (de) 2010-07-15
EP1319110A1 (fr) 2003-06-18
DE50115523C5 (de) 2016-11-03
KR100800798B1 (ko) 2008-02-04
DE10046546A1 (de) 2002-03-28
DE50115523D1 (de) 2010-07-29
DE50113790D1 (de) 2008-05-08

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