EP1360386A1 - Vorrichtung zur betätigung des knickmasts eines grossmanipulators sowie grossmanipulator mit einer solchen vorrichtung - Google Patents
Vorrichtung zur betätigung des knickmasts eines grossmanipulators sowie grossmanipulator mit einer solchen vorrichtungInfo
- Publication number
- EP1360386A1 EP1360386A1 EP02711798A EP02711798A EP1360386A1 EP 1360386 A1 EP1360386 A1 EP 1360386A1 EP 02711798 A EP02711798 A EP 02711798A EP 02711798 A EP02711798 A EP 02711798A EP 1360386 A1 EP1360386 A1 EP 1360386A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- mast
- safety
- responds
- control
- routine
- 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
Links
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
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control 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
- 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 invention relates to a device for actuating an articulated mast articulated on a mast bracket, in particular a concrete placing boom, which has at least two mast arms which can be pivoted to a limited extent about horizontal, mutually parallel articulated axes relative to the mast bracket or an adjacent mast arm by means of a preferably hydraulically actuated drive unit , with a preferably remotely controllable control device comprising a position controller for the mast movement with the aid of actuators assigned to the individual drive units and with sensors assigned to the individual mast arms, articulated axes and / or drive axes for position or angle measurement for the position control.
- the invention further relates to a large manipulator, in particular for concrete pumps, with an articulated mast articulated on a mast bracket and with a device for actuating it of the type specified at the beginning.
- Truck-mounted concrete pumps are usually operated by an operator who, via the remote control device, is responsible for both pump control and the positioning of the end hose located at the top of the articulated mast.
- the operator has to actuate several rotational degrees of freedom of the articulated mast via the associated drive units while moving the articulated mast in the non-structured three-dimensional work space while observing the construction site boundary conditions.
- an actuating device has already been proposed (DE-A-4306127), in which the redundant articulated axes of the articulated mast in any rotational position of the mast bracket, regardless of its axis of rotation, with a single actuating operation of the remote tax body can be controlled together.
- the articulated mast executes a stretching and shortening movement that is clear to the operator, whereby the height of the mast tip can also be kept constant.
- the control device there has a computer-assisted coordinate transformer for the drive units which can be controlled via the remote control element and via which the drive units of the articulated axes in one main operating direction of the remote control element independently of the drive unit of the axis of rotation of the mast bracket by executing a stretching and shortening movement of the articulated mast can be actuated at a predetermined height of the mast tip.
- the drive unit of the axis of rotation of the mast bracket can be actuated independently of the drive units of the articulated axes by rotating the articulated mast, while in a third main operating direction the drive units of the articulated axes are independent of the drive unit of the rotary axis by executing a lifting and lowering movement of the mast top are operable.
- the basic requirement for such an actuation of the articulated mast is a position control, which includes, among other things, a sensor system assigned to the individual mast arms, articulated axes and / or drive units for measuring distance or angle.
- the object of the invention is to provide the actuating device for large manipulators of the type specified at the beginning. to improve in such a way that safety monitoring independent of the operator is possible.
- the control device has a safety routine, which responds to output data from the sensors, for controlling the actuators in accordance with specified safety criteria.
- the safety routine has at least one evaluation part for emitting an acoustic or optical warning signal which indicates to the operator that an error has occurred.
- each drive unit has a double-acting hydraulic cylinder
- the hydraulic cylinders can be pressurized with pressure oil via a proportional change-over valve each forming the associated actuator, and the proportional change-over valves are supplied with pressure oil via a common feed line proposed that a feed valve controllable via the safety routine be arranged in the feed line.
- a feed valve controllable via the safety routine be arranged in the feed line.
- the feed valve can have an additional function. examples for example, it can be designed within the system as an alternating service valve for the optional feeding of the mast arm valves and support leg valves.
- the security routine can advantageously include various evaluation parts, individually or in combination
- pressure sensors can be arranged on the bottom and rod ends of the drive units designed as hydraulic cylinders, and the safety routine can include an evaluation part that responds to the output data of the pressure sensors.
- the invention further relates to a large manipulator with the features of a mast actuation device with a safety device.
- the measures according to the invention can also be defined in terms of the method in such a way that for the safety monitoring of an articulated mast in a large manipulator, in which the mast arms of the articulated mast are by means of one drive unit each can be pivoted relative to one another and the relative position of the mast arms with respect to the mast bracket or an adjacent mast arm for position control is constantly measured, the position measurement values of the mast arms are used to control the actuators in accordance with a deviation from specified safety limit values. In particular, a warning signal can be triggered when the safety limit values are exceeded. If the drive units for the mast arms are hydraulically controlled by means of pressure oil, it has proven to be particularly advantageous that the pressure oil supply of the drive units is switched off or on in the event of a deviation from the specified safety limit values.
- Fig. 1 is a side view of a truck-mounted concrete pump with a folded mast
- FIG. 2 shows the truck-mounted concrete pump according to FIG. 1 with an articulated mast in the working position
- FIG. 3 shows a diagram of a device for actuating the articulated mast with safety monitoring
- Fig. 4 is a flowchart of an axis-related safety routine.
- the truck-mounted concrete pump 10 comprises a transport vehicle 11, a thick matter pump 12 designed, for example, as a two-cylinder piston pump, and a concrete placing boom 14 which can be rotated about a vehicle-mounted vertical axis 13 as a carrier for a concrete delivery line 16. Liquid concrete that flows into a feed container 17 during concreting is transferred via the concrete delivery line 16 is continuously introduced, is conveyed to a concreting point 18 which is arranged away from the location of the vehicle 11.
- the placing boom 14 consists of a mast bracket 21 which can be rotated about the vertical axis 13 by means of a hydraulic rotary drive 19 and an articulated mast 22 which can be pivoted thereon and which can be continuously adjusted to a variable range r and height difference h between the vehicle 11 and the concreting point 18.
- the articulated mast 22 consists of five articulated mast arms 23 to 27 which can be pivoted about axes 28 to 32 running parallel to one another and at right angles to the vertical axis 13 of the mast bracket 21.
- the operator controls the mast movement by means of a wireless remote control device 50, through which the mast tip 33 with the end hose 43 is guided over the area to be concreted.
- the end hose 43 has a typical length of 3 to 4 m and, due to its articulated suspension in the area of the mast tip 33 and because of its inherent flexibility, can be held by a hose man in a favorable position with respect to the concreting point 18 with its outlet end.
- the remote control device 50 contains a remote control element 60 which is designed as a control lever and which can be adjusted back and forth in three main setting directions by emitting control signals 64.
- the control signals are transmitted via a radio link 68 to the vehicle-mounted radio receiver 70, which is connected on the output side to a microcontroller 74 via a bus system 72, for example a CAN bus.
- the microcontroller 74 contains software modules 76, 77, via which the control signals 64 received by the remote control device 50 are interpreted, transformed and converted into actuation signals for the drive units 34 to 36 via a position controller 92 and a downstream signal generator 94.
- the actuation of the drive units 34 to 36 takes place via the actuators 80 to 84 designed as proportional changeover valves, which are connected with their output lines 86, 87 on the bottom and rod side to the drive units 34 to 38 designed as double-acting hydraulic cylinders.
- the drive unit 19 for the mast bracket 21 is designed as a hydraulic rotary drive, which is controlled via the actuator 85.
- Downstream of the interpolator routine 76 is a software module designed as a coordinate transformer 77, the main task of which is to transform the incoming control signals interpreted as cylinder coordinates ⁇ , r, h into angle signals ⁇ , Ei at the rotary and articulated axes 13, 28 to 13 at predetermined time intervals 32, wherein the drive units of the redundant articulated axes 28 to 32 of the articulated mast 22 can each be actuated in accordance with a predetermined travel-swivel characteristic.
- Each articulation axis 28 to 32 is controlled by software within the coordinate transformer 77 in such a way that the articulation joints move harmoniously with one another as a function of distance and time.
- the control of the redundant degrees of freedom of the articulated joints is thus carried out according to a pre-programmed strategy, with which the self-collisions with neighboring mast arms 23 to 27 in the movement sequence can also be excluded.
- correction data stored in files can also be used to compensate for a load-dependent deformation.
- the angle changes calculated in this way in the coordinate transformer 77 are compared in the position controller 92 with the actual values determined via the angle transmitter 96 and converted into actuation signals U ⁇ for the drive units 19, 34 to 38 via the signal transmitter 94.
- the individual drive units 19, 34 to 36 can also be operated directly via the control elements 60 and the associated actuators 66 to 76 can be controlled.
- a special feature of the arrangement shown in FIG. 3 is that the microcontroller 74 of the control device has an evaluation and safety routine 100 responsive to output data from the sensors 96 for controlling the actuators 80 to 84 designed as proportional changeover valves in accordance with specified safety criteria. The actuators are acted upon by a pump 102 and a feed line 104 with pressure oil.
- a feed valve 106 which can be switched off and which can be designed, for example, as a two-way operating valve, via which the support leg hydraulics of the truck-mounted concrete pump 10 are optionally also supplied.
- an emergency stop button 108 In the area of the feed valve 106 there is an emergency stop button 108, via which the operator can interrupt the supply of pressure oil via the feed line 104 in an emergency.
- the evaluation and safety routine 100 also acts on the feed valve 106 via the signal lines 110, 112.
- an acoustic or optical signal device 114 can be activated via the safety routine.
- the measurement data of the angle transmitter 96 which is also used in the position controller 92, is evaluated on the basis of defined safety criteria and converted into control signals for the feed valve 106, the warning signal transmitter 114 and the signal transmitter 94 for controlling the actuators 80 to 84.
- the safety monitoring in the evaluation and safety routine 100 is axis-related. This is explained by way of example using a flowchart for the monitoring logic of an articulation axis shown in FIG. 4.
- the safety routine 100 'according to FIG. 4 contains evaluation parts (safety criteria) for the following variables: Input variables (comparison variables)
- V ⁇ ( ⁇ (t) - ⁇ (t- ⁇ t)) / ⁇ t
- V.- ( ⁇ (t) - ⁇ (t- ⁇ t)) / ⁇ t
- V ⁇ g adjustable limit value for this
- Defect warning sensor / actuator RA internal control error cell (control deviation limit for ⁇ g or V ⁇ g exceeded).
- the axis-related safety routine 100 ' is run through in real time at predetermined time intervals. In the main branch, the operating state of the feed valve SV, the state of the fault cell RA and the driving specifications F ⁇ are checked one after the other. If no impermissible deviation of the angular velocity V ⁇ and the control deviation ⁇ from the respective limit value is found in the main branch, the system can be controlled so that there is no error message (no reaction).
- the left branch of the safety routine 100 ' is primarily run through in the stationary state, for example when concrete is being spread without moving the articulated mast.
- Corresponding safety routines are run in real time for all axes of the system.
- the invention relates to a device for the safety monitoring of an articulated mast 22 in a large manipulator, in which the mast arms 23 to 27 of the articulated mast 22 can be pivoted relative to one another by means of a drive unit 34 to 38, the relative position of the mast arms in is measured with respect to the respectively adjacent mast arm or mast bracket 21 for the position control.
- the measured position values ⁇ of the mast arms are used in accordance with a deviation from specified safety limit values for safety control of the drive units 34 to 38 or their actuators 80 to 84.
Landscapes
- 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)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10107107A DE10107107A1 (de) | 2001-02-14 | 2001-02-14 | Vorrichtung zur Betätigung eines Knickmasts eines Großmanipulators sowie Großmanipulator mit einer solchen Vorrichtung |
DE10107107 | 2001-02-14 | ||
PCT/EP2002/000202 WO2002064912A1 (de) | 2001-02-14 | 2002-01-11 | Vorrichtung zur betätigung des knickmasts eines grossmanipulators sowie grossmanipulator mit einer solchen vorrichtung |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1360386A1 true EP1360386A1 (de) | 2003-11-12 |
EP1360386B1 EP1360386B1 (de) | 2014-07-02 |
Family
ID=7674180
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP02711798.5A Expired - Lifetime EP1360386B1 (de) | 2001-02-14 | 2002-01-11 | Grossmanipulator für Betonpumpen mit einer Steuereinrichtung mit einerSicherheitsroutine, sowie Verfahren zur Sicherheitsüberwachung eines Knickmastes eines solches Grossmanipulators |
Country Status (7)
Country | Link |
---|---|
US (1) | US7657355B2 (de) |
EP (1) | EP1360386B1 (de) |
JP (1) | JP2004526081A (de) |
KR (1) | KR20030096259A (de) |
CN (1) | CN1524150A (de) |
DE (1) | DE10107107A1 (de) |
WO (1) | WO2002064912A1 (de) |
Families Citing this family (39)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10240180A1 (de) * | 2002-08-27 | 2004-03-11 | Putzmeister Ag | Vorrichtung zur Betätigung eines Knickmasts |
DE102005035981A1 (de) | 2005-07-28 | 2007-02-01 | Putzmeister Ag | Hydraulische Schaltungsanordnung, insbesondere für den Antrieb von Betonverteilermasten |
EP1937913A1 (de) * | 2005-10-18 | 2008-07-02 | Putzmeister Concrete Pumps GmbH | Arbeitsmast, insbesondere für grossmanipulatoren und fahrbare betonpumpen |
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 |
US8029355B2 (en) * | 2006-12-19 | 2011-10-04 | Igt | Configurable gaming device with player selectable award profile |
CN100591880C (zh) | 2006-12-31 | 2010-02-24 | 三一重工股份有限公司 | 一种智能臂架控制装置 |
US8992306B2 (en) | 2007-07-30 | 2015-03-31 | Igt | Gaming system and method providing variable payback percentages |
NL2001758C2 (nl) * | 2008-07-04 | 2010-01-05 | Zwijnenberg Evert Hendrik Will | Hulpinrichting voor plaatsing tussen een trek- of duwkracht verschaffend eerste object en een tweede object waarop de trek- of duwkracht wordt uitgeoefend. |
CN101633168B (zh) * | 2009-07-28 | 2012-05-02 | 三一重工股份有限公司 | 一种大型工程机械手的控制方法及控制系统 |
CN101870110B (zh) * | 2010-07-01 | 2012-01-04 | 三一重工股份有限公司 | 一种机械铰接臂的控制方法及控制装置 |
CN102385391B (zh) * | 2011-07-14 | 2014-09-10 | 中联重科股份有限公司 | 机械臂的控制方法与控制装置以及工程机械 |
JP5926026B2 (ja) * | 2011-10-24 | 2016-05-25 | 極東開発工業株式会社 | コンクリートポンプ車 |
JP5816049B2 (ja) * | 2011-10-24 | 2015-11-17 | 極東開発工業株式会社 | コンクリートポンプ車 |
CN102535852B (zh) * | 2012-01-16 | 2014-04-16 | 三一重工股份有限公司 | 一种机械臂操控系统、方法及工程机械 |
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 |
CN103223668B (zh) * | 2013-04-03 | 2016-05-04 | 青岛赛琳特智能科技有限公司 | 石油管材搬运远程遥控机械手 |
AT514116A1 (de) * | 2013-04-09 | 2014-10-15 | Ttcontrol Gmbh | Regelsystem und Verfahren zum Steuern der Orientierung eines Segments eines Manipulators |
US20150059408A1 (en) * | 2013-09-05 | 2015-03-05 | Evgeny ABUSHAEV | Structure printer and methods thereof |
EP3041779B1 (de) * | 2013-09-06 | 2019-09-04 | Putzmeister Engineering GmbH | Arbeitsmaschine und verfahren zu deren betrieb |
US9204626B2 (en) * | 2013-10-23 | 2015-12-08 | Ms Gregson | Method and system for controlling an inclination of a boom carried by a vehicle |
EP2937745B1 (de) * | 2014-04-25 | 2016-10-05 | Sick Ag | Sicherheitssteuerung zum sicheren Betreiben einer technischen Anlage und Verfahren zum Betreiben der Sicherheitssteuerung |
DE102014009165B4 (de) * | 2014-06-25 | 2020-07-16 | Schwing Gmbh | Fahrbarer Großmanipulator |
EP3015625A1 (de) * | 2014-10-31 | 2016-05-04 | CIFA SpA | Verfahren und vorrichtung zum bewegen eines gelenkarms |
DE102015108473A1 (de) * | 2015-05-28 | 2016-12-01 | Schwing Gmbh | Großmanipulator mit schnell ein- und ausfaltbarem Knickmast |
WO2017063015A1 (de) * | 2015-10-16 | 2017-04-20 | Palfinger Ag | Anordnung aus einer steuerung und einem mobilen steuerungsmodul |
DE102016000531A1 (de) * | 2016-01-21 | 2017-07-27 | Putzmeister Engineering Gmbh | Mobiles Arbeitsgerät |
DE102016106352A1 (de) * | 2016-04-07 | 2017-10-12 | Schwing Gmbh | Fernsteuergerät für Großmanipulator mit Steuerhebel |
CN105856211B (zh) * | 2016-05-10 | 2017-11-17 | 温州职业技术学院 | 带有液压控制系统和电路控制系统的圆柱坐标工业机械手 |
CN105835046B (zh) * | 2016-05-10 | 2018-03-06 | 温州职业技术学院 | 带有基于可编程处理器的电路控制系统的圆柱坐标工业机械手 |
CN105818146B (zh) * | 2016-05-10 | 2017-09-05 | 温州职业技术学院 | 带有电路控制系统的圆柱坐标工业机械手 |
DE102016123160A1 (de) * | 2016-11-30 | 2018-05-30 | Schwing Gmbh | Großmanipulator mit schnell ein- und ausfaltbarem Knickmast |
US10543817B2 (en) | 2016-12-15 | 2020-01-28 | Schwing America, Inc. | Powered rear outrigger systems |
US10466719B2 (en) | 2018-03-28 | 2019-11-05 | Fhe Usa Llc | Articulated fluid delivery system with remote-controlled spatial positioning |
DE102018109789A1 (de) * | 2018-04-24 | 2019-10-24 | Putzmeister Engineering Gmbh | Verfahren und System zur hydraulischen Steuerung eines Betonverteilermasts |
DE102018111120A1 (de) | 2018-05-09 | 2019-11-14 | J. Wagner Gmbh | Verfahren zum Betrieb einer Fördervorrichtung und Fördervorrichtung |
AT16885U1 (de) * | 2019-03-28 | 2020-11-15 | Palfinger Ag | Kran mit Kransteuerung |
CN113460898B (zh) * | 2020-03-30 | 2023-07-04 | 江苏徐工工程机械研究院有限公司 | 一种起重机功能安全力矩限制器系统 |
DE102022205169A1 (de) * | 2022-05-24 | 2023-11-30 | Putzmeister Engineering Gmbh | Verfahren und System zum Kontrollieren einer Gesamtbewegung eines Verteilermasts und Verfahren zum Verteilen von Bau- und/oder Dickstoff mittels einer Bau- und/oder Dickstoffpumpenvorrichtung aufweisend einen Verteilermast |
KR102623966B1 (ko) * | 2022-12-19 | 2024-01-10 | 한명석 | 콘크리트 펌프카용 붐유압실린더의 과부하방지 컨트롤시스템 |
Family Cites Families (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4722044A (en) * | 1985-03-19 | 1988-01-26 | Sundstrand Corporation | Boom control system |
GB2225127B (en) * | 1988-11-18 | 1993-03-31 | Kubota Ltd | Pivotal movement control device for boom-equipped working machine |
US5268591A (en) * | 1990-09-21 | 1993-12-07 | Kabushiki Kaisha Aichi Corporation | Upper power supply arrangement for mobile vehicular apparatus with aerial platform |
US5107954A (en) * | 1990-10-31 | 1992-04-28 | Aichi Sharyo Co. Ltd. | Control device for mobile vehicular apparatus with aerial platform |
JPH09328900A (ja) | 1991-08-02 | 1997-12-22 | Fusao Yano | 倣い運転装置を具備するコンクリ−トポンプ車における運転速度表示機構 |
JP3032645B2 (ja) | 1992-08-03 | 2000-04-17 | ダイハツ工業株式会社 | ディーゼル機関における白煙抑制装置 |
DE4306127C2 (de) | 1993-02-27 | 2002-08-08 | Putzmeister Ag | Großmanipulator, insbesondere für Autobetonpumpen |
JP3144962B2 (ja) | 1993-08-19 | 2001-03-12 | 新キャタピラー三菱株式会社 | 油圧アクチユエータ用のバルブ制御装置 |
DE4412643A1 (de) | 1993-08-26 | 1995-03-02 | Putzmeister Maschf | Großmanipulator, insbesondere für Autobetonpumpen, sowie Verfahren zu dessen Handhabung |
DE4330137A1 (de) | 1993-09-07 | 1995-03-09 | Putzmeister Maschf | Hydraulisches Druckversorgungs- und Steueraggregat für eine Autobetonpumpe |
US5472056A (en) * | 1993-09-08 | 1995-12-05 | Case Corporation | Control system for agricultural vehicle and calibration method for such control systems |
JPH07144884A (ja) | 1993-11-26 | 1995-06-06 | Komatsu Mec Corp | 移動式リーチタワークレーン |
DE19520166C2 (de) * | 1995-06-01 | 2000-03-23 | Konrad Schauer | Maststeuerung für nicht-schwingungsfreie Vielgelenkgeräte, insbesondere für vielgliedrige Betonpumpen-Verteilausleger |
JPH09256419A (ja) | 1996-03-18 | 1997-09-30 | Hitachi Constr Mach Co Ltd | 油圧式建設機械の制御装置 |
US6065565A (en) * | 1997-01-30 | 2000-05-23 | Jlg Industries, Inc. | Hybrid power system for a vehicle |
EP0866027B1 (de) * | 1997-03-21 | 2004-05-26 | Kabushiki Kaisha Toyota Jidoshokki | Hydraulisches Steuergerät für Flurförderzeuge |
GB2343173B (en) * | 1997-07-15 | 2002-01-09 | Komatsu Mfg Co Ltd | Bucket type excavator arm or boom |
US6202013B1 (en) * | 1998-01-15 | 2001-03-13 | Schwing America, Inc. | Articulated boom monitoring system |
JP3178407B2 (ja) * | 1998-03-18 | 2001-06-18 | 株式会社豊田自動織機製作所 | 産業車両における位置検出装置及び産業車両 |
US6158949A (en) * | 1998-04-29 | 2000-12-12 | Caterpillar Inc. | Boom assembly of a work machine |
SG82672A1 (en) * | 1999-02-04 | 2001-08-21 | Snorkel International Inc | Aerial work platform boom having ground and platform controls linked by a controller area network |
US6234254B1 (en) * | 1999-03-29 | 2001-05-22 | Caterpillar Inc. | Apparatus and method for controlling the efficiency of the work cycle associated with an earthworking machine |
US6263595B1 (en) * | 1999-04-26 | 2001-07-24 | Apache Technologies, Inc. | Laser receiver and angle sensor mounted on an excavator |
JP2000343381A (ja) * | 1999-06-09 | 2000-12-12 | Toshiba Mach Co Ltd | 空圧工具の運転監視方法 |
US6293099B1 (en) * | 1999-06-28 | 2001-09-25 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Hydraulic circuit for forklift |
JP3622142B2 (ja) * | 1999-08-04 | 2005-02-23 | 新キャタピラー三菱株式会社 | 作業機械の作業腕制御装置 |
US6443196B1 (en) * | 1999-10-04 | 2002-09-03 | Tigercat Industries Inc. | Hydraulic circuits for tree-harvesting knuckle booms |
US6312209B1 (en) * | 2000-05-15 | 2001-11-06 | Charles A. Duell | Hydraulic system and method of operating same |
US6459976B1 (en) * | 2000-05-23 | 2002-10-01 | Caterpillar Inc. | Method and system for controlling steady-state speed of hydraulic cylinders in an electrohydraulic system |
US6582177B1 (en) * | 2000-08-15 | 2003-06-24 | Westendorf Manufacturing Co., Inc. | Front end loader, tractor, and method for attaching a front end loader |
US6434864B1 (en) * | 2000-09-22 | 2002-08-20 | Grigoriy Epshteyn | Frontal loader |
US6549837B2 (en) * | 2001-05-09 | 2003-04-15 | Caterpillar Inc | Automatic tracking control for work machines |
US6947819B2 (en) * | 2002-11-13 | 2005-09-20 | Caterpillar Inc | Swivel joint for a work machine |
-
2001
- 2001-02-14 DE DE10107107A patent/DE10107107A1/de not_active Withdrawn
-
2002
- 2002-01-11 WO PCT/EP2002/000202 patent/WO2002064912A1/de active Application Filing
- 2002-01-11 KR KR10-2003-7010639A patent/KR20030096259A/ko not_active Application Discontinuation
- 2002-01-11 US US10/466,671 patent/US7657355B2/en not_active Expired - Fee Related
- 2002-01-11 JP JP2002564214A patent/JP2004526081A/ja active Pending
- 2002-01-11 EP EP02711798.5A patent/EP1360386B1/de not_active Expired - Lifetime
- 2002-01-11 CN CNA028043316A patent/CN1524150A/zh active Pending
Non-Patent Citations (1)
Title |
---|
See references of WO02064912A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2002064912A1 (de) | 2002-08-22 |
EP1360386B1 (de) | 2014-07-02 |
CN1524150A (zh) | 2004-08-25 |
US20040076503A1 (en) | 2004-04-22 |
JP2004526081A (ja) | 2004-08-26 |
KR20030096259A (ko) | 2003-12-24 |
US7657355B2 (en) | 2010-02-02 |
DE10107107A1 (de) | 2002-08-29 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP1360386A1 (de) | Vorrichtung zur betätigung des knickmasts eines grossmanipulators sowie grossmanipulator mit einer solchen vorrichtung | |
EP0686224B2 (de) | Grossmanipulator, insbesondere für autobetonpumpen | |
EP2186968B1 (de) | Großmanipulator | |
WO2004020765A1 (de) | Vorrichtung zur betätigung eines knickmasts | |
EP2708489B1 (de) | Fahrzeug-Hebebühne | |
DE20122093U1 (de) | Großmanipulator mit Schwingungsdämpfer | |
WO2002044499A1 (de) | Vorrichtung zur betätigung des knickmasts eines grossmanipulators | |
DE102015108473A1 (de) | Großmanipulator mit schnell ein- und ausfaltbarem Knickmast | |
DE102016106616B4 (de) | Elektrohydraulischer Steuerkreis für einen Großmanipulator | |
DE102008017961A1 (de) | Betonpumpe mit einer Steuereinheit für die Verteilermastbewegung und einer Regeleinheit für die Fördermengenregelung | |
DE102009039022A1 (de) | Handhabungsgerät für Bohrgestänge, insbesondere so genannter Pipehandler oder so genannter Topdrive mit Pipehandler, und Betriebsverfahren dafür | |
EP3665342B1 (de) | Grossmanipulator und hydraulische schaltungsanordnung für einen grossmanipulator | |
DE2433437A1 (de) | Steuersystem fuer einen hydraulischen kran | |
WO2002079596A1 (de) | Vorrichtung zur betätigung eines knickmasts insbesondere für betonpumpen | |
WO2017178347A1 (de) | Elektrohydraulischer steuerkreis mit schrittmotor | |
DE10307993A1 (de) | Regelungs- bzw. Steuerungseinrichtung für thermische Kontraktion für Hydraulikzylinder | |
EP0747535A1 (de) | Vorrichtung und Verfahren zum Bewegen von Bauwerken | |
EP3231763B1 (de) | Elektrohydraulicher steuerkreis für einen grossmanipulator | |
WO2023232330A1 (de) | Mobile hydraulische arbeitsmaschine mit notstoppventilen und ein verfahren zur steuerung einer mobilen hydraulischen arbeitsmaschine | |
DE102017216300A1 (de) | Abrollkipper/Absetzkipper mit automatisiertem Bewegungsablauf des Hakenarmes/der Schwenkarme auf "Knopfdruck" |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20030617 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR |
|
AX | Request for extension of the european patent |
Extension state: AL LT LV MK RO SI |
|
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: PUTZMEISTER CONCRETE PUMPS GMBH |
|
17Q | First examination report despatched |
Effective date: 20080623 |
|
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: PUTZMEISTER ENGINEERING GMBH |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R079 Ref document number: 50215949 Country of ref document: DE Free format text: PREVIOUS MAIN CLASS: E04G0021040000 Ipc: B66C0013400000 |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
RIC1 | Information provided on ipc code assigned before grant |
Ipc: E04G 21/04 20060101ALI20140219BHEP Ipc: B66C 13/40 20060101AFI20140219BHEP |
|
INTG | Intention to grant announced |
Effective date: 20140317 |
|
GRAS | Grant fee paid |
Free format text: ORIGINAL CODE: EPIDOSNIGR3 |
|
GRAA | (expected) grant |
Free format text: ORIGINAL CODE: 0009210 |
|
AK | Designated contracting states |
Kind code of ref document: B1 Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LI LU MC NL PT SE TR |
|
REG | Reference to a national code |
Ref country code: GB Ref legal event code: FG4D Free format text: NOT ENGLISH |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: EP Ref country code: AT Ref legal event code: REF Ref document number: 675816 Country of ref document: AT Kind code of ref document: T Effective date: 20140715 |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: FG4D Free format text: LANGUAGE OF EP DOCUMENT: GERMAN |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R096 Ref document number: 50215949 Country of ref document: DE Effective date: 20140814 |
|
REG | Reference to a national code |
Ref country code: NL Ref legal event code: VDEP Effective date: 20140702 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: PT Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20141103 Ref country code: SE Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140702 Ref country code: ES Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140702 Ref country code: GR Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20141003 Ref country code: FI Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140702 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CY Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140702 Ref country code: NL Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140702 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R026 Ref document number: 50215949 Country of ref document: DE |
|
PLBI | Opposition filed |
Free format text: ORIGINAL CODE: 0009260 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: DK Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140702 |
|
26 | Opposition filed |
Opponent name: SCHWING GMBH Effective date: 20150402 |
|
PLAX | Notice of opposition and request to file observation + time limit sent |
Free format text: ORIGINAL CODE: EPIDOSNOBS2 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R026 Ref document number: 50215949 Country of ref document: DE Effective date: 20150402 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: BE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20150131 |
|
REG | Reference to a national code |
Ref country code: CH Ref legal event code: PL |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: LU Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20150111 |
|
GBPC | Gb: european patent ceased through non-payment of renewal fee |
Effective date: 20150111 |
|
PLAF | Information modified related to communication of a notice of opposition and request to file observations + time limit |
Free format text: ORIGINAL CODE: EPIDOSCOBS2 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: MC Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT Effective date: 20140702 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: CH Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20150131 Ref country code: GB Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20150111 Ref country code: LI Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20150131 |
|
REG | Reference to a national code |
Ref country code: FR Ref legal event code: ST Effective date: 20150930 |
|
REG | Reference to a national code |
Ref country code: IE Ref legal event code: MM4A |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: FR Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20150202 |
|
PLBB | Reply of patent proprietor to notice(s) of opposition received |
Free format text: ORIGINAL CODE: EPIDOSNOBS3 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IE Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20150111 |
|
REG | Reference to a national code |
Ref country code: AT Ref legal event code: MM01 Ref document number: 675816 Country of ref document: AT Kind code of ref document: T Effective date: 20150111 |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: AT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20150111 |
|
PLCK | Communication despatched that opposition was rejected |
Free format text: ORIGINAL CODE: EPIDOSNREJ1 |
|
APBM | Appeal reference recorded |
Free format text: ORIGINAL CODE: EPIDOSNREFNO |
|
APBP | Date of receipt of notice of appeal recorded |
Free format text: ORIGINAL CODE: EPIDOSNNOA2O |
|
APAH | Appeal reference modified |
Free format text: ORIGINAL CODE: EPIDOSCREFNO |
|
APBQ | Date of receipt of statement of grounds of appeal recorded |
Free format text: ORIGINAL CODE: EPIDOSNNOA3O |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R100 Ref document number: 50215949 Country of ref document: DE |
|
APBU | Appeal procedure closed |
Free format text: ORIGINAL CODE: EPIDOSNNOA9O |
|
PLBN | Opposition rejected |
Free format text: ORIGINAL CODE: 0009273 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: OPPOSITION REJECTED |
|
27O | Opposition rejected |
Effective date: 20190718 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: IT Payment date: 20200127 Year of fee payment: 19 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: TR Payment date: 20200110 Year of fee payment: 19 |
|
PGFP | Annual fee paid to national office [announced via postgrant information from national office to epo] |
Ref country code: DE Payment date: 20210121 Year of fee payment: 20 |
|
REG | Reference to a national code |
Ref country code: DE Ref legal event code: R071 Ref document number: 50215949 Country of ref document: DE |
|
PG25 | Lapsed in a contracting state [announced via postgrant information from national office to epo] |
Ref country code: IT Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES Effective date: 20210111 |