EP1360386A1 - Dispositif d'actionnement d'un mat articule d'un manipulateur de grande taille et manipulateur de grande taille comportant un tel dispositif - Google Patents

Dispositif d'actionnement d'un mat articule d'un manipulateur de grande taille et manipulateur de grande taille comportant un tel dispositif

Info

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
Application number
EP02711798A
Other languages
German (de)
English (en)
Other versions
EP1360386B1 (fr
Inventor
Kurt Rau
Hartmut Benckert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Putzmeister Engineering GmbH
Original Assignee
Putzmeister AG
Putzmeister Werk Maschinenfabrik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=7674180&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1360386(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Putzmeister AG, Putzmeister Werk Maschinenfabrik GmbH filed Critical Putzmeister AG
Publication of EP1360386A1 publication Critical patent/EP1360386A1/fr
Application granted granted Critical
Publication of EP1360386B1 publication Critical patent/EP1360386B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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

L'invention concerne un dispositif de contrôle de sécurité d'un mât articulé (22) sur un manipulateur de grande taille. Selon l'invention, les bras de mât (23 à 27) peuvent pivoter respectivement les uns par rapport aux autres par l'intermédiaire d'un moteur d'entraînement (34 à 38), la position relative des bras de mât étant mesurée par rapport au bras de mât adjacent ou au support de mât (21) pour la régulation de position. Les valeurs de position mesurées (ei) des bras de mât sont employées pour la commande de sécurité des moteurs d'entraînement (34 à 38) ou de leurs éléments d'actionnement (80, 84) dans le cas d'un écart par rapport à des valeurs seuil de sécurité prédéfinies.
EP02711798.5A 2001-02-14 2002-01-11 Manipulateur de grande taille pour pompe à béton avec dispositif de contrôle muni d'une routine de sécurité, ainsi que procédé de contrôle de la sécurité d'un mât articulé d'un tel manipulateur de grande taille Expired - Lifetime EP1360386B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10107107 2001-02-14
DE10107107A DE10107107A1 (de) 2001-02-14 2001-02-14 Vorrichtung zur Betätigung eines Knickmasts eines Großmanipulators sowie Großmanipulator mit einer solchen Vorrichtung
PCT/EP2002/000202 WO2002064912A1 (fr) 2001-02-14 2002-01-11 Dispositif d'actionnement d'un mat articule d'un manipulateur de grande taille et manipulateur de grande taille comportant un tel dispositif

Publications (2)

Publication Number Publication Date
EP1360386A1 true EP1360386A1 (fr) 2003-11-12
EP1360386B1 EP1360386B1 (fr) 2014-07-02

Family

ID=7674180

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02711798.5A Expired - Lifetime EP1360386B1 (fr) 2001-02-14 2002-01-11 Manipulateur de grande taille pour pompe à béton avec dispositif de contrôle muni d'une routine de sécurité, ainsi que procédé de contrôle de la sécurité d'un mât articulé d'un tel manipulateur de grande taille

Country Status (7)

Country Link
US (1) US7657355B2 (fr)
EP (1) EP1360386B1 (fr)
JP (1) JP2004526081A (fr)
KR (1) KR20030096259A (fr)
CN (1) CN1524150A (fr)
DE (1) DE10107107A1 (fr)
WO (1) WO2002064912A1 (fr)

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Also Published As

Publication number Publication date
US7657355B2 (en) 2010-02-02
US20040076503A1 (en) 2004-04-22
CN1524150A (zh) 2004-08-25
DE10107107A1 (de) 2002-08-29
WO2002064912A1 (fr) 2002-08-22
EP1360386B1 (fr) 2014-07-02
KR20030096259A (ko) 2003-12-24
JP2004526081A (ja) 2004-08-26

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