EP1356910B1 - 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
EP1356910B1
EP1356910B1 EP03101118.2A EP03101118A EP1356910B1 EP 1356910 B1 EP1356910 B1 EP 1356910B1 EP 03101118 A EP03101118 A EP 03101118A EP 1356910 B1 EP1356910 B1 EP 1356910B1
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EP
European Patent Office
Prior art keywords
machine
data
central unit
articulated arm
sensors
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
EP03101118.2A
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English (en)
French (fr)
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EP1356910A1 (de
Inventor
Davide Cipolla
Maurizio Baldinucci
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.)
COMPAGNIA ITALIANA FORME ACCIAIO S P A
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COMPAGNIA ITALIANA FORME ACCIAIO S P A
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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 (see EP-A-0 737 851 .
  • 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 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 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)

Claims (8)

  1. Anordnung zum Steuern und Überwachen des Betriebes von selbstfahrenden Maschinen mit einem Gelenkarm, der eine Vielzahl von Abschnitten (B1-B4) aufweist, und mit ausfahrbaren Stabilisatoren (E), insbesondere Betonpumpen, wobei die Anordnung eine Vielzahl von Sensoren und Umwandlern, die dazu geeignet sind, Daten über die Lage, Stellung und Betriebsparameter der Maschine zu erfassen, und eine Zentraleinheit umfasst, die dazu geeignet ist, die genannten Daten in Echtzeit zu empfangen, sie mit anderen Bezugsdaten über die ordnungsgemäße Verwendung der Maschine zu verarbeiten und zu vergleichen und sie einer Bedienungsperson verständlich zu machen, dadurch gekennzeichnet, dass die genannten Sensoren und Umwandler zumindest einen Näherungssensor (S1), der einem entsprechenden Stabilisator (E) zugeordnet ist, um zu ermitteln, ob und wieweit der Stabilisator (E) nach außen ausgezogen ist, und einen Ebenheitssensor (S2) zur Bestimmung der Maschinenneigung, einen Neigungssensor (S3), der neben dem Gelenk des ersten Abschnitts (B1) der Vielzahl von Abschnitten (B1-B4) des Arms montiert ist, um seine Stellung im Hinblick auf eine Bezugsachse zu bestimmen, und einen Drucksensor (S4) umfassen, der dem Aktuator des genannten ersten Abschnitts (B1) zugeordnet ist, um den Druck in seinem Hydraulikzylinder zu lesen.
  2. Anordnung nach Anspruch 1, worin die genannten Sensoren und Umwandler ferner Drucksensoren (S5, S6) umfassen, die am Aktuator des letzten Abschnitts (B4) an der Kolbenseite, der andere an der Stangenseite, vorgesehen sind, um ein Signal zu erhalten, das zur effektiven und momentanen Last, die auf den Aktuator, und daher auf den genannten letzten Abschnitt (B4) angewandt wird, proportional ist.
  3. Anordnung nach Anspruch 1, worin die genannte Zentraleinheit auch mit einem Bildschirm angeschlossen ist, auf dem die genannten verständlichen Daten graphisch angezeigt sind.
  4. Anordnung nach Anspruch 3, worin die genannten Daten auf dem genannten Bildschirm durch Festlegungsmittel eines Betriebsbereichs der Maschine, Prozentbalken-Mittel über die Annäherung an die Sicherheitsschwelle und Markierungsmittel verständlich gemacht werden, die dazu geeignet sind, eine Handlungsweise anzugeben, die der Bedienungsperson vorgeschlagen wird, um eine Betriebsrisikosituation zu lösen.
  5. Anordnung nach einem der vorhergehenden Ansprüche, worin ferner eine Speichereinrichtung vorgesehen ist, die mit der Zentraleinheit angeschlossen ist und dazu geeignet ist, die genannten Daten zu speichern.
  6. Anordnung nach Anspruch 5, worin ferner eine Takteinrichtung vorgesehen ist, die dazu geeignet ist, ein Signal zu liefern, das ermöglicht, dass die genannten Daten zeitintegriert werden.
  7. Anordnung nach Anspruch 5 oder 6, worin die genannte Zentraleinheit ferner mit einer Schalttafel der Maschine angeschlossen ist, wobei die genannte Speichereinrichtung auch Daten über automatische Verfahren speichert, die von der Schalttafel durch die Zentraleinheit durchgeführt werden können.
  8. Verfahren zur Wartung einer selbstfahrenden Maschine mit einem Gelenkarm, insbesondere einer Betonpumpe, dadurch gekennzeichnet, dass es folgende Schritte umfasst:
    Erfassen im Laufe der Zeit, in einer Anordnung nach einem der Ansprüche 1 bis 7, der Betriebsdaten der Maschine;
    Festsetzen einer Ermüdungsfrequenz, die zum Verhältnis zwischen der Anzahl von Malen, wenn die Maschine in der Nähe der vorgegebenen Betriebsschwellenwerte gearbeitet hat, und der Zeit proportional ist;
    Vergleichen der Gesamtbetriebszeit und der genannten Ermüdungsfrequenz mit vorgegebenen Schwellenwerten;
    Bestimmen, wann mit einem Wartungsverfahren aufgrund des genannten Vergleichs begonnen werden soll.
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
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
ITMI20020891 2002-04-24

Publications (2)

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

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

Cited By (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

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20080069599A (ko) * 2005-10-18 2008-07-28 푸츠마이스터 콘크리트 펌프스 게엠베하 특히 대형 매니플레이터와 이동식 콘크리트 펌프용 작동 붐
ITMI20060818A1 (it) * 2006-04-24 2007-10-25 Cifa Spa Sistema perfezionato per la sorveglianza e il controllo del funzionamento di macchinari semoventi a braccio articolato,quali pompe per calcestruzzo
DE102006031257A1 (de) * 2006-07-06 2008-01-10 Putzmeister Ag Autobetonpumpe mit Knickmast
DE102007012575A1 (de) * 2007-03-13 2008-09-18 Putzmeister Concrete Pumps Gmbh Großmanipulator
DE102008055625A1 (de) * 2008-11-03 2010-05-06 Putzmeister Concrete Pumps Gmbh Fahrbare Arbeitsmaschine mit Stützauslegern
CN102493656B (zh) * 2011-12-26 2014-05-21 三一汽车制造有限公司 用于多节臂架的流量分配系统、装置和方法、工程机械设备
CN102561700B (zh) * 2012-01-16 2014-05-21 三一重工股份有限公司 一种机械臂控制系统、方法及工程机械
DE102014009165B4 (de) * 2014-06-25 2020-07-16 Schwing Gmbh Fahrbarer Großmanipulator
CN104847113B (zh) * 2014-12-12 2017-02-22 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
DE102016000531A1 (de) * 2016-01-21 2017-07-27 Putzmeister Engineering Gmbh Mobiles Arbeitsgerät
CA3082244A1 (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
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
DE102022120770A1 (de) 2022-08-17 2024-02-22 Schwing Gmbh Autobetonpumpe

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Publication number Priority date Publication date Assignee Title
DE102019118902A1 (de) * 2019-07-12 2021-01-14 Putzmeister Engineering Gmbh Fahrbare Betonpumpe

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ITMI20020891A0 (it) 2002-04-24
EP1356910A1 (de) 2003-10-29
ITMI20020891A1 (it) 2003-10-24

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