EP1356910A1 - Vorrichtung zum Steuern und Überwachen des Betriebes von selbstfahrenden Geräten mit Gelenkarm, wie Betonpumpen und Methode zur Wartung solcher Geräte - Google Patents

Vorrichtung zum Steuern und Überwachen des Betriebes von selbstfahrenden Geräten mit Gelenkarm, wie Betonpumpen und Methode zur Wartung solcher Geräte Download PDF

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Publication number
EP1356910A1
EP1356910A1 EP03101118A EP03101118A EP1356910A1 EP 1356910 A1 EP1356910 A1 EP 1356910A1 EP 03101118 A EP03101118 A EP 03101118A EP 03101118 A EP03101118 A EP 03101118A EP 1356910 A1 EP1356910 A1 EP 1356910A1
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EP
European Patent Office
Prior art keywords
machine
data
central unit
apt
articulated arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP03101118A
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English (en)
French (fr)
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EP1356910B1 (de
Inventor
Davide Cipolla
Maurizio Baldinucci
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COMPAGNIA ITALIANA FORME ACCIAIO S P A
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CIFA SpA
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    • 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
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution

Definitions

  • the present invention relates to a system for controlling and monitoring the operation of self-moving machines with an articulated arm, particularly concrete pumps.
  • the Applicant has therefore addressed to the problem of supplying machines with an articulated arm that would help and force a generic user to operate the same in a correct manner - so that the structure is not uselessly burdened by extra safety measures - and that would be as light as possible and suited to the real needs of a specific customer - so as to achieve the highest customer satisfaction without compromising safety.
  • Fig. 1 is a side elevation view of an exemplary concrete pump
  • Fig. 2 is a top plan view of the truck of Fig. 1;
  • Fig. 3 is an exemplary diagram illustrating the connections among the different elements that form the system of the present invention.
  • Figs. 4A and 4B are two illustrative drawings of the images that are displayed on a control monitor which show to the operator the operating condition of the machine.
  • Fig. 1 an exemplary machine with an articulated arm is shown, specifically a concrete pump which comprises the system of the present invention.
  • a delivery duct T receives fluid concrete from pumping unit P and transports it along the articulated arm to outlet end T1.
  • the articulated arm shown in Figure 1 comprises four sections B1-B4.
  • a plurality of attitude and position sensors S1-Sn by means of which it is possible to detect in real time data regarding the operation attitude of the entire machine is provided.
  • proximity sensors S1 it is possible to detect if and to what extent stabilizers E are extended outward. By means of this measurement, on the basis of known data regarding position and angle of the stabilizers relative to a pre-established point of the machine, it is possible to calculate the real stabilizing area of the machine.
  • a levelness sensor S2 is instead placed in a central position of the truck, for example where the two stabilizers intersect.
  • Sensor S2 can be an electronic bubble.
  • An inclination sensor S3 is mounted near the hinge of the first section of arm B1 to determine its attitude relative to a reference axis (for example the horizontal axis).
  • a pressure sensor S4 is instead mounted by the actuator of the first section of arm B1 to read the pressure in the hydraulic cylinder.
  • Still an other rotation sensor (not shown) gives an indication of the rotation angle relative to a reference axis taken by a rotating tower G on which the arm B1-B4 is mounted. The readings taken by these last three sensors, along with other geometric parameters, allow to determine unequivocally the intensity and direction of the tilting moment vector of the articulated arm to the machine.
  • Pressure sensors S5 and S6 are also provided on the actuator of last section B4, one on the piston side and the other on the rod side. By means of these sensors it is possible to obtain a signal that is proportional to the actual and instantaneous load applied to the actuator and, therefore, to the last section of arm B4.
  • proximity sensors S7 positioned close to pumping unit P, to read the pumping cycles per unit of time (for example, cycles/min) so as to determine, according to geometric parameters, the instantaneous, partial and total - over a pre-established period of time - concrete rate (m 3 /hour).
  • a pressure and temperature sensor S8 is placed within the pumping unit P to measure instantaneous pressure and temperature values of the oil.
  • a central unit 10 (Fig. 3) that collects the signals, possibly codifies them and converts them into numerical values meaningful to the operator.
  • Unit 10 is then connected, by means of a can-bus interface, to a display 11, preferably with a graphic interface, on which the operator can read instantaneous operation values and signals processed as specified next.
  • the central unit 10 in addition to supplying to the display 11 numerical indications of sensors S1-Sn, selectable and viewable as desired according to the operator's choices, combines the collected data to provide comprehensible evaluations to the operator, regarding the operation status relative to threshold predetermined values.
  • the software implemented in the central unit 10 can suggest to the operator in what direction corrective maneuvers should be made.
  • a number of signals output from detecting sensors of the operating conditions of the machine are collected, possibly codified and/or decodified, and combined with geometric parameters of the machine itself to obtain data regarding forces and moments acting instantaneously; these data are then compared with predetermined threshold values to provide the operator with a comprehensible indication of current safety conditions or use of the machine capabilities.
  • FIG. 4A A possible comprehensible indication displayed to the operator is shown in Figure 4A.
  • central unit 10 is able to determine the operating area of the articulated arm and the area in which, instead, the arm must not be used, for example the broken line area.
  • an incremental lateral bar 11b tells the operator, percentage-wise, how close it is to the predetermined threshold values, for example how close it is to the rollover threshold.
  • the incremental bar reaches 100% - indicative of the reaching, lacking any safety coefficient, of the predetermined threshold - an acoustic or luminous alarm is also emitted and, possibly, the operator is prevented from continuing with his intervention.
  • comprehensible indications 11c to aid the operator are also displayed.
  • arrows that can alternatively be lit the central unit 10, based on a comparison operation between the instantaneous values read by the sensors and the predetermined design values, is therefore able to suggest corrective measures to the operator, for example in what direction to move the articulated arm to reenter within the operative area, or if the arm needs to be retracted for gaining again a safety condition.
  • the concrete rate for example to avoid dangerous oscillations phased with pumping frequency, or still
  • the data used to provide the operator with comprehensible indications are also stored in a "black box", or memory device, for next use.
  • the so stored data are used by the machine owner or by the company in charge of maintenance to reconstruct how the machine was used and, especially, the duration and the number of times the machine has worked close to or outside the predetermined threshold values.
  • central unit 10 is able to evaluate, based on predetermined parameters, if the time-integrated use has led to a condition that requires maintenance: in this case said unit alerts the operator signaling the need for maintenance, that can also be premature or postponed relative to what foreseeable based on average use.
  • the memory device is in turn interconnected, always by means of central unit 10, to a control panel (not shown) of the machine. This way, it is possible to store repetitive procedures in the memory device that are later automatically executed, by means of central unit 10, by said control panel without the operator's intervention.
  • the automatic procedure can be implemented, still meeting safety requirements, thanks to the fact that the central unit is able to coordinate and compare, time by time, the command of the automatic procedure with the indications regarding the operating areas determined for the specific working conditions.
  • an operation that could be automated is the uniform pouring of concrete along a straight line keeping terminal T1 of duct T at the same distance from the ground: this operation, that manually requires a certain level of experience to coordinate all the actuators movements, can be carried out automatically and safely thanks to the system according to the present invention.
  • a controlling and monitoring system that can detect the instantaneous operation parameters and show them in a comprehensible way to the operator, while, at the same time, helping him execute proper corrective actions to quickly reenter within the predetermined operating areas.
  • time integration it is possible to correctly and specifically establish the exact moment to perform maintenance operations; the system also allows to gather important information useful for the designing activity. All this is, therefore, beneficial to the final user who will have a product - intended as the sum of the machines and all relative maintenance services - that is tailored to his specific needs.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Non-Positive-Displacement Pumps (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
EP03101118.2A 2002-04-24 2003-04-23 Vorrichtung zum steuern und überwachen des betriebes von selbstfahrenden geräten mit gelenkarm, wie betonpumpen und methode zur wartung solcher geräte Expired - Lifetime EP1356910B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITMI20020891 2002-04-24
IT2002MI000891A ITMI20020891A1 (it) 2002-04-24 2002-04-24 Sistema per il controllo e la sorveglianza del funzionamento di macchinari semoventi a braccio articolato quali pompe per calcestruzzo e met

Publications (2)

Publication Number Publication Date
EP1356910A1 true EP1356910A1 (de) 2003-10-29
EP1356910B1 EP1356910B1 (de) 2016-10-05

Family

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EP03101118.2A Expired - Lifetime EP1356910B1 (de) 2002-04-24 2003-04-23 Vorrichtung zum steuern und überwachen des betriebes von selbstfahrenden geräten mit gelenkarm, wie betonpumpen und methode zur wartung solcher geräte

Country Status (2)

Country Link
EP (1) EP1356910B1 (de)
IT (1) ITMI20020891A1 (de)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007045426A1 (de) * 2005-10-18 2007-04-26 Putzmeister Concrete Pumps Gmbh Arbeitsmast, insbesondere für grossmanipulatoren und fahrbare betonpumpen
EP1849931A2 (de) * 2006-04-24 2007-10-31 COMPAGNIA ITALIANA FORME ACCIAIO S.p.A. Verbesserte Vorrichtung zur Überwachung und Kontrolle vom Betrieb von selbstfahrenden Maschinen mit Knickmast, wie Autobetonpumpen
WO2008003548A1 (de) * 2006-07-06 2008-01-10 Putzmeister Concrete Pumps Gmbh Autobetonpumpe mit knickmast
WO2008110397A1 (de) * 2007-03-13 2008-09-18 Putzmeister Concrete Pumps Gmbh Grossmanipulator
WO2010060668A1 (de) * 2008-11-03 2010-06-03 Putzmeister Concrete Pumps Gmbh Fahrbare arbeitsmaschine mit stützauslegern
WO2013097380A1 (zh) * 2011-12-26 2013-07-04 湖南三一智能控制设备有限公司 用于多节臂架的流量分配系统、装置和方法、工程机械设备
WO2013107123A1 (zh) * 2012-01-16 2013-07-25 湖南三一智能控制设备有限公司 一种机械臂控制系统、方法及工程机械
CN104847113A (zh) * 2014-12-12 2015-08-19 北汽福田汽车股份有限公司 一种臂架控制方法
WO2015197708A1 (de) * 2014-06-25 2015-12-30 Schwing Gmbh Fahrbarer grossmanipulator
DE102015203020A1 (de) * 2015-02-19 2016-08-25 Robert Bosch Gmbh Verfahren zum Bestimmen eines Abstands
WO2017060458A1 (de) 2015-10-07 2017-04-13 Schwing Gmbh Abstützvorrichtung zum abstützen einer mobilen vorrichtung
DE102016000531A1 (de) * 2016-01-21 2017-07-27 Putzmeister Engineering Gmbh Mobiles Arbeitsgerät
WO2019111190A1 (en) * 2017-12-07 2019-06-13 Soilmec Spa Device to measure the flow rate of a fluid, such as concrete, in a pumping plant connected to a drilling machine
CN114475532A (zh) * 2022-01-18 2022-05-13 三一汽车制造有限公司 泵车支腿的控制方法、控制装置及泵车的控制方法
WO2024038096A1 (de) 2022-08-17 2024-02-22 Schwing Gmbh Autobetonpumpe

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019118902A1 (de) * 2019-07-12 2021-01-14 Putzmeister Engineering Gmbh Fahrbare Betonpumpe

Citations (3)

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Publication number Priority date Publication date Assignee Title
EP0737851A2 (de) * 1995-04-13 1996-10-16 Bruger + Fischer Krananlagen und Hebezeuge GmbH Verfahren und Vorrichtung zum Erfassen von Belastungen von Hub- und Zugeinrichtungen
EP1150019A1 (de) * 2000-04-28 2001-10-31 Hiab AB Zähler für Hebevorgänge von Kränen
US20020015354A1 (en) * 2000-04-28 2002-02-07 Rmc Industries Corporation Methods and systems for remotely monitoring sensor data in delivery vehicles

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0737851A2 (de) * 1995-04-13 1996-10-16 Bruger + Fischer Krananlagen und Hebezeuge GmbH Verfahren und Vorrichtung zum Erfassen von Belastungen von Hub- und Zugeinrichtungen
EP1150019A1 (de) * 2000-04-28 2001-10-31 Hiab AB Zähler für Hebevorgänge von Kränen
US20020015354A1 (en) * 2000-04-28 2002-02-07 Rmc Industries Corporation Methods and systems for remotely monitoring sensor data in delivery vehicles

Cited By (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EA013204B1 (ru) * 2005-10-18 2010-04-30 Путцмайстер Канкрит Пампс Гмбх Рабочая стрела, в частности, для больших манипуляторов и автобетононасосов
WO2007045426A1 (de) * 2005-10-18 2007-04-26 Putzmeister Concrete Pumps Gmbh Arbeitsmast, insbesondere für grossmanipulatoren und fahrbare betonpumpen
EP1849931A2 (de) * 2006-04-24 2007-10-31 COMPAGNIA ITALIANA FORME ACCIAIO S.p.A. Verbesserte Vorrichtung zur Überwachung und Kontrolle vom Betrieb von selbstfahrenden Maschinen mit Knickmast, wie Autobetonpumpen
EP1849931A3 (de) * 2006-04-24 2011-03-02 COMPAGNIA ITALIANA FORME ACCIAIO S.p.A. Verbesserte Vorrichtung zur Überwachung und Kontrolle vom Betrieb von selbstfahrenden Maschinen mit Knickmast, wie Autobetonpumpen
CN101512081B (zh) * 2006-07-06 2012-10-10 普茨迈斯特工程有限公司 带铰接杆的汽车式混凝土泵
WO2008003548A1 (de) * 2006-07-06 2008-01-10 Putzmeister Concrete Pumps Gmbh Autobetonpumpe mit knickmast
EA012868B1 (ru) * 2006-07-06 2009-12-30 Путцмайстер Конкрит Пампс Гмбх Автобетононасос со складной мачтой
US7909059B2 (en) 2006-07-06 2011-03-22 Putzmeister Engineering Gmbh Mobile concrete pump having an articulated mast
WO2008110397A1 (de) * 2007-03-13 2008-09-18 Putzmeister Concrete Pumps Gmbh Grossmanipulator
EP2186968A1 (de) * 2007-03-13 2010-05-19 Putzmeister Concrete Pumps GmbH Großmanipulator
US8281811B2 (en) 2007-03-13 2012-10-09 Putzmeister Engineering Gmbh Large manipulator
CN102317555B (zh) * 2008-11-03 2014-03-19 普茨迈斯特工程有限公司 具有支承悬伸臂的可行驶工作机械
WO2010060668A1 (de) * 2008-11-03 2010-06-03 Putzmeister Concrete Pumps Gmbh Fahrbare arbeitsmaschine mit stützauslegern
US9068366B2 (en) 2008-11-03 2015-06-30 Putzmeister Engineering Gmbh Mobile work machine having support booms
WO2013097380A1 (zh) * 2011-12-26 2013-07-04 湖南三一智能控制设备有限公司 用于多节臂架的流量分配系统、装置和方法、工程机械设备
WO2013107123A1 (zh) * 2012-01-16 2013-07-25 湖南三一智能控制设备有限公司 一种机械臂控制系统、方法及工程机械
US9856662B2 (en) * 2014-06-25 2018-01-02 Schwing Gmbh Mobile large manipulator
WO2015197708A1 (de) * 2014-06-25 2015-12-30 Schwing Gmbh Fahrbarer grossmanipulator
DE102014009165B4 (de) 2014-06-25 2020-07-16 Schwing Gmbh Fahrbarer Großmanipulator
US20170167149A1 (en) * 2014-06-25 2017-06-15 Schwing Gmbh Mobile large manipulator
CN104847113A (zh) * 2014-12-12 2015-08-19 北汽福田汽车股份有限公司 一种臂架控制方法
DE102015203020A1 (de) * 2015-02-19 2016-08-25 Robert Bosch Gmbh Verfahren zum Bestimmen eines Abstands
DE102015117086A1 (de) 2015-10-07 2017-04-13 Schwing Gmbh Abstützvorrichtung zum Abstützen einer mobilen Vorrichtung
WO2017060458A1 (de) 2015-10-07 2017-04-13 Schwing Gmbh Abstützvorrichtung zum abstützen einer mobilen vorrichtung
DE102016000531A1 (de) * 2016-01-21 2017-07-27 Putzmeister Engineering Gmbh Mobiles Arbeitsgerät
WO2019111190A1 (en) * 2017-12-07 2019-06-13 Soilmec Spa Device to measure the flow rate of a fluid, such as concrete, in a pumping plant connected to a drilling machine
US11747182B2 (en) 2017-12-07 2023-09-05 Soilmec S.P.A. Device to measure the flow rate of a fluid, such as concrete, in a pumping plant connected to a drilling machine
CN114475532A (zh) * 2022-01-18 2022-05-13 三一汽车制造有限公司 泵车支腿的控制方法、控制装置及泵车的控制方法
CN114475532B (zh) * 2022-01-18 2023-06-13 三一汽车制造有限公司 泵车支腿的控制方法、控制装置及泵车的控制方法
WO2024038096A1 (de) 2022-08-17 2024-02-22 Schwing Gmbh Autobetonpumpe
DE102022120770A1 (de) 2022-08-17 2024-02-22 Schwing Gmbh Autobetonpumpe

Also Published As

Publication number Publication date
ITMI20020891A1 (it) 2003-10-24
ITMI20020891A0 (it) 2002-04-24
EP1356910B1 (de) 2016-10-05

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