Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
  • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
  • B66C13/00—Other constructional features or details
  • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
  • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
  • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
  • B66C13/00—Other constructional features or details
  • B66C13/18—Control systems or devices
• • E—FIXED CONSTRUCTIONS
  • E04—BUILDING
  • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
  • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
  • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
  • E04G21/04—Devices for both conveying and distributing
• • E—FIXED CONSTRUCTIONS
  • E04—BUILDING
  • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
  • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
  • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
  • E04G21/04—Devices for both conveying and distributing
  • E04G21/0418—Devices for both conveying and distributing with distribution hose
• • E—FIXED CONSTRUCTIONS
  • E04—BUILDING
  • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
  • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
  • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
  • E04G21/04—Devices for both conveying and distributing
  • E04G21/0418—Devices for both conveying and distributing with distribution hose
  • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
  • E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms

Definitions

• the present invention relates to a large manipulator according to the preamble of claim 1 and a truck-mounted concrete pump with such a large manipulator and a method for operating a corresponding large manipulator.
• Large manipulators are used, for example, in truck-mounted concrete pumps, in which concrete is pumped through a concrete pump through a concrete delivery line, which is arranged on a multi-section boom, so that concrete can be conveyed precisely over a long distance to a certain point.
• the placing boom consists of one or more segments and can be folded in the joints using appropriate hydraulic cylinders with deflection kinematics.
• the mast can be mounted on a mobile substructure, generally a truck chassis, or on a stationary platform and can be pivoted about a vertical axis.
• the end of the hose is controlled by an operator via a remote control to the concreting point (rough positioning). This is done by directly actuating the valves of a hydraulic system assigned to the individual cylinders. Another operator guides the end hose over the concreting point (fine positioning). Due to the design, elastic deformations occur in the segments of the placing boom, so that the boom tends to form vibrations. In particular, due to the fact that the concrete is not continuously, but pulsating, by means of two-cylinder thick matter pumps, the placing boom, in particular on the last link when the concrete emerges from the end hose, is excited to oscillate, so that an oscillation amplitude at the end hose of more than one meter can occur.
• the pump frequency is in the range of the natural frequency of the placing boom, resonance vibrations can occur.
• the delivery rate of the pump and thus the pumping frequency is regulated back so far that the vibrations at the top of the mast are limited and the hose operator is not endangered.
• the object of the invention is therefore to dampen the swinging of the placing boom, in particular on the last link of the placing tower and on the end hose, and the deflection of the To reduce the mast tip during the pumping strokes in such a way that the maximum vibration amplitude is minimized, preferably limited to 10 to 20 cm.
• an automatic control device which only has to detect two different parameters, is subordinate to a large-size mampulator of the generic type of the remote control device with which an operator performs the positioning of the large-size manipulator, in order to use it to operate the large-size manipulator to control existing drive units so that both the vibrations caused by a malfunction such.
• the control device detects a parameter which describes the fault state, which leads to the deviation from the predetermined target position and in particular the vibrations, at least on one mast member.
• a parameter which describes the fault state which leads to the deviation from the predetermined target position and in particular the vibrations, at least on one mast member.
• this can be the determination of the pressure fluctuations in the concrete delivery line.
• the load of at least one drive unit that serves to adjust the mast members is also determined.
• at least one of the drive units is controlled by means of the control device in such a way that, by actuating the drive unit, the deviation from the predetermined desired position is minimized and the vibration of the mast member or members is damped.
• the control device has at least one detection unit for detecting the parameter, which describes the fault state, and at least one determination unit for determining the load which acts on the drive unit.
• the control device preferably comprises a damping minimizing means which has the load determined by the determination unit as an input variable and generates a control variable for the drive unit as the output variable.
• the control variable can be the adjustment speed of the cylinder piston, for example, in the case of a concrete placing boom, in which the drive units for the mast members are designed as hydraulic cylinders.
• the damping minimizing means is preferably designed as a virtual spring-damper element which comprises at least one spring element and one damping element which are connected in parallel with one another.
• the virtual spring-damper element represents the drive unit, for. B. the hydraulic cylinder in a concrete placing boom.
• the concept of control according to the virtual spring-damper element is based on the idea that effective damping is achieved when the drive unit, for. B. the hydraulic cylinder behaves like a parallel spring-damper element.
• a corresponding control variable for the drive unit can then be calculated from the force balance of the force component, which acts on the one hand on the drive unit, and the force components of the spring and damping elements on the other hand.
• control device advantageously comprises a disturbance variable feed-in, which has as input the parameter describing the disturbance, which is detected by the detection unit, the feedforward variable calculating from this input parameter a position of the drive unit which is corrected with respect to the target position specified by the operator and which compensates for the disturbance.
• the determination unit determines the fault condition beforehand using the parameter, i.e. before the fault condition occurs at the point at which compensation is to be achieved by the control device, there is sufficient time to provide a position of the drive unit that is opposite to the fault. If, for example, in the case of a concrete placing boom, the determination unit knows that a pressure wave propagates through the concrete delivery line, a corresponding mast link can be brought into a position opposite to the pressure wave by the disturbance variable feed-in via a corrected position of the drive unit. It is therefore advantageous for the determination unit to have sensors which measure the parameter characterizing the fault state at locations which, viewed from the mast tip, are arranged in front of the mast member to be corrected.
• the pressure sensors at the base of the placing boom for a concrete pump, whereby a compromise regarding the exactness of the detection of the fault at the point to be compensated and the possibility of a sufficient reaction time must be found.
• the disturbance variable can also be located directly at the point of origin, e.g. B. the switchover time of the concrete pump on this, combined with a measurement of the flow velocity in the concrete delivery line can be measured.
• This not only reduces the vibrations caused by the damping minimizer, e.g. B. in terms of the number of vibrations and also the amplitude of the vibrations, for. B. by avoiding resonance vibrations, but it also counteracts a direct deviation of the target position by the disturbance variable, with additional vibrations due to unnecessary movements of the drive unit being avoided by including the corrected position in the calculation of the damping minimizer.
• the damping minimizing means Due to the preferably leading determination of the disturbance variable and / or the damping by the damping minimizing means, it is further advantageous not to relate the control in the large manipulator to the drive unit which is directly responsible for the actuation of the mast member, the vibrations and amplitudes of which are kept as low as possible should be, e.g. B. the mast tip, but one that is seen from the mast tip from the mast member to be corrected.
• the adjustment speed of the drive unit is determined as the controlled variable. This results from Newton's axiom
• the control device comprises a speed controller which can regulate the adjustment speed of the drive unit determined by the damping minimizing means.
• the control device comprises at least one position sensor which detects the position of the drive unit.
• a corresponding position sensor can also be designed as a position measuring system, so that the actual position can be determined starting from an initial position of the drive unit.
• such a measuring system can also be used to record the adjustment speed of the drive unit, namely when the adjustment speed of the drive unit is determined by changing the position of the drive unit.
• the determination unit preferably comprises force sensors or arranged on the piston rod pressure sensors assigned to the cylinder chambers, which determine the load on the drive unit on the one hand directly via the force measurement or on the other hand via the pressure difference in the cylinder chambers of the cylinder.
• the detection device comprises at least one pressure sensor, preferably two or more pressure sensors in the concrete delivery line, in order to determine pressure fluctuations in the concrete delivery line as a disturbance variable.
• the speed controller which regulates the adjustment speed of the drive unit, preferably regulates the adjustment speed of the preferably hydraulically operated cylinder piston via a valve, which is arranged between the cylinder chambers and a hydraulic oil supply, both the speed controller and the valve in the hydraulic system having to work with sufficient accuracy and speed. in order to set the adjustment speed determined by the damping minimizing means as precisely as possible.
• the large manipulator described above is particularly suitable for truck-mounted concrete pumps which are arranged on a chassis, since the disturbances caused in such devices by the two-cylinder thick matter pumps used can ideally be reduced in the corresponding large manipulator.
• Figure 1 is a side view of a large manipulator designed as a concrete placing boom on the one hand in the extended state and on the other hand in the folded state;
• FIG. 2 shows a schematic diagram to illustrate the control of a cylinder used as a drive unit for tilting two adjacent mast members
• Fig. 3 is a schematic representation of the control concept for the drive unit according to a virtual spring-damper element.
• Fig. 1 shows a side view of a concrete placing boom 1, which is constructed from four mast members 2-5, which in turn are arranged on a turntable 6.
• the turntable 6 itself is rotatably arranged on a frame, in particular a chassis in the form of a truck chassis, which, however, is not shown here.
• the individual mast members 2-5 are connected to one another and to the turntable 6 so as to be rotatable or pivotable, the axes of rotation 10 between the mast members extending parallel to one another and essentially horizontally, that is to say perpendicularly out of the image plane.
• Hydraulic cylinders 8 are provided for pivoting the mast members 2-5 to one another or to the turntable 6, which enable the mast members 2-5 to be rotated relative to one another or to the turntable 6 via a deflection kinematics 9 when the cylinder 8 is actuated.
• a concrete delivery line is shown in the form of a concrete hose 7.
• the concrete hose 7 can be placed at a desired location, for. B. at a certain point for concreting a floor.
• the mast members 2-5 are adjusted via the hydraulic cylinders 8, which in turn are controlled by an operator via a remote control.
• the large manipulator according to the invention has a control device which interacts with the remote control in such a way that the vibrations are damped and the deflection at the mast tip is minimized.
• a schematic functional diagram of the control device is shown in FIG. 2.
• the control device comprises a feedforward control 11 as well as damping minimizing means 12 and a speed controller 13 which controls the adjustment speed of the piston 28 in a hydraulic cylinder 8 via a valve 14.
• various sensors and measuring systems are provided on the large manipulator 1 shown in FIG. 1.
• only one hydraulic cylinder 8 is controlled with the control device, specifically the one that actuates the C-joint of the mast 1 (see FIG. 1).
• Pressure sensors 23 and 24, which measure the pressure in the cylinder chambers 17 and 18 of the hydraulic cylinder 8, are provided on the hydraulic cylinder 8, which is generally used as a drive unit for pivoting the mast members 2-5 with respect to one another and between the turntable 6.
• a displacement measuring system 25 is provided on the piston rod 16, with which the position and the speed of the cylinder piston 28 can be determined.
• a force sensor 26 can be provided on the piston rod 16, with which the force effect on the piston rod 16 can be measured.
• the displacement measuring system 25 can be designed in such a way that either only the position of the cylinder piston is determined and the piston speed is determined from the change in the piston position, or alternatively or additionally the speed of the piston or the piston rod and the direction of the movement is determined, the position of the piston can then also be calculated from this, knowing an initial position of the piston.
• control device comprises a pressure measuring device 15 on the delivery line of the concrete, in which two pressure sensors are preferably provided distributed over the delivery line, which can determine pressure differences in the delivery line. Since in particular the vibration and the deflection of the mast tip are to be reduced, it is advantageous to provide the pressure sensors on a front area of the concrete delivery line, so that, for example, by measuring the delivery pressure at two measuring points, the development of a pressure difference and the course of such a pressure wave through the Delivery line can be estimated. In this way it is possible to predict exactly which pressure loads will occur in an area of the delivery line behind the measuring points and in particular at the mast tip.
• the hydraulic cylinder is now regulated in the following manner: First, a setpoint is specified via the remote control device, which specifies the setpoint position of the hydraulic cylinder 8 and thus the position of the mast member that can be adjusted via the hydraulic cylinder 8.
• the disturbance variable feed-in 11 is transmitted to the disturbance variable feed-in 11 via the drain measurement system 15, which determines the drain fluctuations in the concrete delivery line.
• the setpoint value that is to say the setpoint position of the hydraulic cylinder, is modified and corrected via the feedforward control 11. For example, if the mast link to be adjusted is expected to be more heavily loaded and thus cause elastic change of the target position this counteracted in that the drive cylinder 8 is moved into a corrected position.
• the feedforward control outputs the corrected position So, the so-called spring base point.
• the corrected position is therefore called the spring base point because, in the exemplary embodiment shown, the corrected position is used as an input variable for the damping minimizing means, which in this case is a virtual spring-damper element which consists of a spring element 19 and damper element 20 connected in parallel ( see Fig. 3).
• the virtual spring-damper element is based on the assumption that an oscillation with respect to the mast 1 or the mast members 2-5 can be avoided if a force balance between those acting on the drive cylinder Force and the opposite force, which is provided by the parallel spring and damper elements 19 and 20, prevails.
• the load energy is thus absorbed and reduced by a corresponding flexibility.
• a controlled variable for the hydraulic cylinder 8 described by the virtual spring-damper element can be calculated from the concept of the force balance.
• this is the adjustment speed s (t), which is in accordance with the equation given in FIG. 3 from the force F t (t) acting on the cylinder 8, the spring constant c and the damping constant d and the position s (t) of the cylinder
• the piston results. If the adjustment speed s (t) of the cylinder piston 28 is regulated in accordance with the equation in FIG. 3, then the vibration of the mast members, here mast members 4 and 5, is minimized.
• the data required for this are on the one hand by the measuring devices of the control device, such as. B. provided by the force sensor 26 and the Wegemeßsystem 25, which on the one hand deliver the force F t (t) and on the other hand the position of the cylinder piston s (t).
• the spring constant c and the damping constant d are freely selectable in the virtual system and can be adapted for optimal damping. According to the representation in Fig.
• a target adjustment speed s (t) of the cylinder piston 28 is calculated.
• a target adjustment speed s (t) of the cylinder piston 28 is calculated.
• drain values 17 and 18 are determined, for which purpose the drain values are used, which are determined via the drain sensors 23 and 24, which are arranged in the cylinder chambers 18 and 17, respectively.
• the vibration damping via the damping minimizing means 12 is advantageously combined with the feedforward control 11, so that not only does the vibration damping take place independently, but also that the absolute deviation from the desired target position is compensated for.
• This is particularly advantageous because the virtual spring-damper element introduces a certain flexibility into the system, which could lead to an increase in the deviation from the desired position.
• a corrected position So is calculated from the estimated load, which is made available as an input variable for the damping minimizing means 12, so that this corrected position
• the target adjustment speed s (t) of the cylinder piston 28 is used as the basis for calculating the controlled variable, d. H. the target adjustment speed s (t) of the cylinder piston 28 is used.
• the setpoint adjustment speed s (t) of the cylinder piston 28 determined by the damping minimizing means 12 is the controlled variable for a speed controller 13 which, via the position measuring system 25, either continuously adjusts the positions of the cylinder piston 28 or directly the adjustment speed of the cylinder piston 28 as well as information about the supply pressure of the hydraulic supply 29 and the pressure in the cylinder chamber 17 of the hydraulic cylinder 8 receives. From this information, the speed controller 13 determines a control voltage U with which a valve 14 for controlling the hydraulic cylinder 8 is controlled.
• Actuating speed s (t) of the cylinder piston 28 is adjustable.
• the valve 14 can be freely selected in this case, provided that it has a natural frequency in the hydraulic system which is above the first natural frequency of the large manipulator 1 to be controlled and which also has a sufficiently rapid hydraulic oil throughput to actuate the hydraulic cylinder 8.
• control device includes well-known hardware components that allow the conversion of the measured values and sensor data determined into digital signals.
• control device comprises known hardware components that enable the programming of the described control concept as well as its implementation and processing.

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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)
• Fluid-Pressure Circuits (AREA)

Applications Claiming Priority (3)

Publications (1)

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• 2001
  • 2001-01-15 DE DE10101570A patent/DE10101570B4/de not_active Expired - Fee Related
• 2002
  • 2002-01-09 AU AU2002224985A patent/AU2002224985B2/en not_active Ceased
  • 2002-01-09 US US10/466,035 patent/US7143682B2/en not_active Expired - Fee Related
  • 2002-01-09 JP JP2002556451A patent/JP2004516995A/ja active Pending
  • 2002-01-09 CN CNB028037510A patent/CN1292138C/zh not_active Expired - Fee Related
  • 2002-01-09 BR BR0206472-3A patent/BR0206472A/pt active Search and Examination
  • 2002-01-09 KR KR1020037009392A patent/KR100838748B1/ko not_active IP Right Cessation
  • 2002-01-09 WO PCT/EP2002/000147 patent/WO2002055813A1/de active IP Right Grant
  • 2002-01-09 EP EP02715404A patent/EP1354106A1/de not_active Withdrawn

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