EP1360386B1 - 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 - Google Patents

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 Download PDF

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Publication number
EP1360386B1
EP1360386B1 EP02711798.5A EP02711798A EP1360386B1 EP 1360386 B1 EP1360386 B1 EP 1360386B1 EP 02711798 A EP02711798 A EP 02711798A EP 1360386 B1 EP1360386 B1 EP 1360386B1
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EP
European Patent Office
Prior art keywords
boom
safety
large manipulator
switched
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.)
Expired - Lifetime
Application number
EP02711798.5A
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German (de)
English (en)
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EP1360386A1 (fr
Inventor
Kurt Rau
Hartmut Benckert
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Putzmeister Engineering GmbH
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Putzmeister Engineering GmbH
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Publication date
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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 large manipulator for concrete pumps, arranged on a frame, rotatable about a vertical axis of rotation mast block, with a composite of at least two Mastarmen, a concrete distribution mast forming articulated mast, which mast arms to each horizontal, mutually parallel bending axes relative to the mast block or an adjacent Mastarm by means of a hydraulically actuated drive unit are limited pivotally, with a remotely controllable, a position controller comprehensive control device for the mast movement with the help of individual drive units associated actuators and with the individual mast arms, bending axes and / or drive units associated sensors for displacement or angle measurement for the Position control, wherein each drive unit has a double-acting hydraulic cylinder, wherein the hydraulic cylinders act on each one the associated actuator forming Proportionalcicventil with pressure oil si nd and wherein the actuators of the drive units are fed via a common feed line with pressure oil.
  • Truck-mounted concrete pumps are usually operated by an operator who is responsible, via the remote control device, for both pump control and 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 site boundary conditions.
  • an actuator has already been proposed ( DE-A-4306127 ), in which the redundant buckling axes of the articulated mast in each rotational position of the mast support independently of its axis of rotation are controlled together with a single control operation of the remote control member.
  • the articulated mast leads one for the operator apparent stretching and shortening movement, the height of the mast top can be kept constant in addition.
  • the controller has a controllable via the remote control device, computer-assisted coordinate transformer for the drive units on the one main direction of the remote control device, the drive units of the buckling axes independent of the drive unit of the axis of rotation of the mastbuck under execution of a stretching and shortening movement of the articulated mast can be actuated at a predetermined height of the mast top.
  • the drive unit of the rotation axis of the mast block is independent of the drive units of the bending axes under execution of a rotary movement of the articulated mast actuated, while in a third main actuating direction, the drive units of the bending axes independent of the drive unit of the rotation axis under execution of a lifting and lowering the mast top are operable.
  • Basic requirement for such operation of the articulated mast is a position control, which includes, inter alia, a sensor associated with the individual boom arms, bending axes and / or drive units for path or angle measurement.
  • a sensor for determining a pressure drop at the end of the feed line and a sensor for monitoring a minimum hydraulic flow in the region of a relief valve are provided in the feed line of the hydraulic circuit of the truck-mounted concrete pump. Both sensors have a safety monitoring function. Your output data is transmitted via an evaluation part to the remote control device and displayed optically and / or acoustically on display elements. An immediate utilization of the output signals of the sensors in the hydraulic circuit, however, is not provided. The visual or audible indication should only give the operator an indication that the remote control should be operated faster or slower.
  • the invention has the object to improve the large manipulator of the type specified in that an independent of the operator safety monitoring of the buckling mast is possible.
  • the control device has a safety routine for controlling a feed valve arranged in the common feed line and the actuators in dependence on the output signal of the respective sensor, that the safety routine comprises an evaluation part which is responsive to the ON state of the feed valve responds and that the safety routine includes a further evaluation part, which responds to the presence or absence of driving specifications of the mast arms about their buck axes via the remote control.
  • the safety routine expediently has at least one further evaluation part for emitting an acoustic or visual warning signal, which indicates to the operator that an error has occurred.
  • the feed valve can have an additional function.
  • it may be formed within the system as a shuttle valve for selectively feeding the Mastarmventile and Stützbeinventilen.
  • pressure sensors can be arranged on the bottom and rod-side ends of the drive units designed as hydraulic cylinders, wherein the safety routine can comprise an evaluation part responsive to the output data of the pressure sensors.
  • the measures according to the invention can also be defined procedurally in that for the safety monitoring of a kink mast in the large manipulator according to the invention, in which the mast arms of the kink mast are pivotable relative to one another by means of a respective drive unit and the relative position of the mast arms with respect to the mast block or an adjacent mast arm for the Position control is continuously measured, the position measured values of the boom arms are used in accordance with a deviation from predetermined safety limits for the safety control of the actuators. In particular, a warning signal can be triggered when the safety limits are exceeded. If the drive units for the mast arms are controlled hydraulically by means of pressure oil, it has proved to be particularly advantageous that, in the event of a deviation from the predetermined safety limits, the pressure oil feed of the drive units is switched off or on.
  • the pressure oil feed and thus also the position control are switched on when the angular velocity is not equal to zero and does not exceed a predetermined deviation limit value.
  • the term "stationary operation" is understood to mean the pumping operation without movement of the articulated mast.
  • the low angular velocity indicates as evaluation criterion on a small leak in the hydraulic system or on an actuator or drive unit with a small defect out, whereby in an emergency operation nor a controlled return of the articulated mast in a safe transport position with the aid of the position control is possible.
  • the pressure oil supply and thus also the position control remains switched off. The operator then has to secure the articulated mast on site or recover it for transport.
  • a similar case occurs when the speed of the control deviation exceeds a preset limit during driving.
  • the pressure oil supply and thus also the position control is switched off when the pressure oil supply is switched on.
  • 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 distributor boom 14 rotatable about a vehicle-fixed vertical axis 13 as a carrier for a concrete delivery line 16. Via the concrete delivery line 16, liquid concrete is continuously introduced into a charging container 17 during concreting is conveyed to a location remote from the location of the vehicle 11 concreting 18.
  • the distribution boom 14 consists of a by means of a hydraulic rotary drive 19 about the vertical axis 13 rotatable mast bracket 21 and a pivotable on this articulated mast 22, the variable range r and height difference h between the vehicle 11 and the concreting 18 is continuously adjustable.
  • the articulated mast 22 consists in the illustrated embodiment of five pivotally interconnected boom arms 23 to 27, which are parallel to each other and at right angles to the vertical axis 13 of the mast bracket 21 extending axes 28 to 32 pivotally.
  • the bending angles ⁇ 1 to ⁇ 5 ( Fig. 2 ) of the articulated joints formed by the bending axes 28 to 32 and their arrangement to each other are coordinated so that the distribution boom 14 with the off Fig.
  • a multiple folding corresponding space-saving transport configuration on the vehicle 11 can be stored.
  • the articulated boom 22 is deployable at different distances r and / or height differences h between the concreting location 18 and the vehicle location ( Fig. 2 ).
  • the operator controls by means of a wireless remote control device 50, the mast movement through which the mast tip 33 is passed with the end hose 43 over the area to be concreted.
  • the end hose 43 has a typical length of 3 to 4 m and, because of its hinged suspension in the area of the mast top 33 and due to its inherent flexibility with its outlet end held by a hose man in a favorable position for concreting 18.
  • the remote control device 50 includes in the embodiment shown a control lever designed as a remote control member 60 which can be adjusted in three main operating directions back and forth under the delivery of 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 designed, for example, as a CAN bus.
  • the microcontroller 74 contains software modules 76, 77, via which the control signals 64 received from the remote control unit 50 are interpreted, transformed and converted via a position controller 92 and a downstream signal generator 94 into actuation signals for the drive units 34 to 36.
  • the drive unit 19 for the mast block 21 is designed as a hydraulic rotary drive, which is controlled via the actuator 85.
  • Subordinated to the interpolator routine 76 is a software module embodied as a coordinate transformer 77, the essential task of which is to transform the incoming control signals interpreted as cylinder coordinates ⁇ , r, h into predetermined time intervals into angle signals ⁇ , ⁇ i at the rotational and bending axes 13, 28 to 32, wherein the drive units of the redundant bending axes 28 to 32 of the articulated mast 22 are each actuatable in accordance with a predetermined path-swing characteristic.
  • Each articulation axis 28 to 32 is controlled in software within the coordinate transformer 77 in such a way that the articulated joints move in harmony with each other as a function of travel and time.
  • the control of the redundant degrees of freedom of the articulated joints thus takes place according to a preprogrammed strategy, with which the self-collisions with adjacent boom arms 23 to 27 can be excluded in the movement.
  • In order to increase the accuracy can also be resorted to stored in files correction data 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 by angle encoders 96 and converted via the signal generator 94 into actuation signals U ⁇ for the drive units 19, 34 to 38.
  • the individual drive units 19, 34 to 36 can also be controlled directly via the operator controls 60 and the associated actuators 80 to 85.
  • the microcontroller 74 of the control device has an evaluation and safety routine 100 which is responsive to output data of the sensors 96 for controlling the actuators 80 to 84 designed as proportional changeover valves in accordance with predefined safety criteria.
  • the actuators are acted upon by a pump 102 and a feed line 104 with pressure oil.
  • a turn-off feed valve 106 In the feed line 104 is a turn-off feed valve 106, which may be formed, for example, as an alternating operating valve, via which optionally also the support leg hydraulics of the truck-mounted concrete pump 10 is supplied.
  • an emergency stop button 108 In the area of the feed valve 106, over which the operator in an emergency, the pressure oil supply via the feed line 104 can be interrupted.
  • the evaluation and safety routine 100 also affects the evaluation and safety routine 100 via the signal lines 110,112 to the feed valve 106.
  • an acoustic or optical signal device 114 can be controlled in case of failure via the safety routine.
  • the measured values of the angle encoders 96 also utilized in the position controller 92 are evaluated on the basis of defined safety criteria and converted into control signals for the feed valve 106, the warning signal generator 114 and the signal generator 94 for controlling the actuators 80 to 84.
  • the safety monitoring in the evaluation and safety routine 100 is axis-related. This is exemplified by an in Fig. 4 illustrated flow chart for the monitoring logic of a bending axis.
  • the safety routine 100 'according to Fig. 4 contains evaluation parts (safety criteria) for the following variables:
  • the axis-related safety routine 100 is traversed in real time at predetermined time intervals.
  • the left branch of the safety routine 100 ' is mainly run through in the stationary state, for example when concrete is applied without moving the articulated mast.
  • the right-hand branch in the flowchart of the safety routine 100 ' shows the evaluation of safety criteria during driving operation (F ⁇ ⁇ 0).
  • the control value to the actuator in this case is first U ⁇ ⁇ 0.
  • Checks successively whether the control deviation ⁇ and the rate of change of the control deviation V ⁇ exceeds the respective threshold. If this is not the case, there is error-free normal operation (no reaction). If at least one of the limit values is exceeded, then the control value U ⁇ for the relevant actuator is set to zero and the control-internal fault cell RA 1 is set.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Manipulator (AREA)

Claims (9)

  1. Manipulateur de grande taille pour pompes à béton (10), comprenant un support de mât (21) pouvant tourner autour d'un axe de rotation vertical, disposé sur un châssis, un mât articulé (22) constitué d'au moins deux bras de mât (23 à 27), formant un mât de distribution de béton (14), lesquels bras de mât (23 à 27) peuvent pivoter de manière limitée autour d'axes d'articulation horizontaux respectifs, parallèles l'un à l'autre (28 à 32) par rapport au support de mât (21) ou à un bras de mât adjacent, au moyen d'un groupe d'entraînement respectif (34 à 38) à commande hydraulique, un dispositif de commande (50, 74) à commande à distance, comprenant un dispositif de réglage de position (92), pour le mouvement du mât à l'aide d'organes de réglage (80 à 84) associés aux groupes d'entraînement individuels (34 à 38) et des capteurs (96) associés aux bras de mât individuels, aux axes d'articulation et/ou aux groupes d'entraînement pour la mesure de la distance ou de l'angle pour le réglage de position (92), chaque groupe d'entraînement (34 à 38) présentant un cylindre hydraulique à double effet, les cylindres hydrauliques pouvant être sollicités avec de l'huile sous pression par le biais d'une soupape d'échange proportionnelle respective formant l'organe de réglage associé (80 à 84), et les organes de réglage (80 à 84) des groupes d'entraînement (34 à 38) étant alimentés en huile sous pression par le biais d'une conduite d'alimentation commune (104), caractérisé en ce que le dispositif de commande présente un sous-programme de sécurité (100, 100') pour la commande d'une soupape d'alimentation (106) disposée dans la conduite d'alimentation commune (104) et des organes de réglage (80 à 84) en fonction du signal de sortie du capteur respectif (96), en ce que le sous-programme de sécurité (100, 100') comprend une partie d'analyse qui réagit à l'état d'enclenchement (SV) de la soupape d'alimentation (106), et en ce que le sous-programme de sécurité (100') comprend une partie d'analyse supplémentaire qui réagit à la présence ou à l'absence de données préalables de conduite (Fε) des bras de mât autour de leurs axes d'articulation par le biais de la commande à distance (60).
  2. Manipulateur de grande taille selon la revendication 1, caractérisé en ce que le sous-programme de sécurité (100') présente au moins une partie d'analyse supplémentaire pour délivrer un signal d'avertissement acoustique ou optique (114).
  3. Manipulateur de grande taille selon la revendication 1 ou 2, caractérisé en ce que la soupape d'alimentation (106) est réalisée en tant que soupape à fonctionnement alterné pour l'alimentation sélective des soupapes d'échange proportionnelles associées aux bras de mât et de soupapes de jambe d'appui.
  4. Manipulateur de grande taille selon l'une quelconque des revendications 1 à 3, caractérisé en ce que le sous-programme de sécurité (100') comprend une partie d'analyse supplémentaire qui réagit à des écarts de réglage associés à la distance ou à l'angle (Δε), qui sont supérieurs à des valeurs limites prédéfinies (Δεg).
  5. Manipulateur de grande taille selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le sous-programme de sécurité (100') comprend une partie d'analyse supplémentaire qui réagit à la vitesse d'écarts de réglage associés à la distance ou à l'angle (VΔε), qui sont supérieurs à des valeurs limites prédéfinies (VΔεg).
  6. Manipulateur de grande taille selon l'une quelconque des revendications 1 à 5, caractérisé en ce que le sous-programme de sécurité (100') comprend une partie d'analyse supplémentaire qui réagit à des vitesses angulaires (Vε) qui sont supérieures à des valeurs limites prédéfinies (Vεg).
  7. Manipulateur de grande taille selon l'une quelconque des revendications 1 à 6, caractérisé en ce qu'à l'extrémité du côté du sol et du côté de la tige des groupes d'entraînement réalisés sous forme de cylindres hydrauliques (34 à 38) sont disposés des capteurs de pression et en ce que le sous-programme de sécurité comprend une partie d'analyse supplémentaire réagissant aux données de sortie des capteurs de pression.
  8. Procédé de contrôle de sécurité d'un mât articulé d'un manipulateur de grande taille selon l'une quelconque des revendications 1 à 7, dans lequel le mât articulé (22) présente au moins deux bras de mât (23 à 27) qui peuvent pivoter de manière limitée autour d'axes d'articulation horizontaux respectifs, parallèles l'un à l'autre (28 à 32) par rapport à un support de mât (21) ou à un bras de mât adjacent, au moyen d'un groupe d'entraînement respectif à commande hydraulique, la position relative des bras de mât par rapport au support de mât adjacent ou bras de mât étant mesurée constamment en vue d'un réglage de position, caractérisé en ce que les valeurs de mesure de position (εi(t)) des bras de mât (23 à 27) sont utilisées en fonction d'un écart de valeurs limites de sécurité prédéfinies pour la commande de sécurité des groupes d'entraînement (34 à 38) de telle sorte que dans le cas d'un écart des valeurs limites de sécurité, l'alimentation en huile sous pression aux groupes d'entraînement soit assurée ou coupée,
    - où, pendant un fonctionnement de la pompe à béton sans déplacement du mât articulé dans lequel l'alimentation en huile sous pression aux groupes d'entraînement est coupée, l'alimentation en huile sous pression et le réglage de position sont assurés si la vitesse angulaire (Vε) d'un bras de mât autour de son axe d'articulation est différente de zéro et ne dépasse pas une valeur limite prédéfinie (Vεg)
    - et où dans le cas d'une alimentation en huile sous pression enclenchée, l'alimentation en huile sous pression et le réglage de position sont coupés lorsque la vitesse angulaire (Vε) dépasse une valeur limite prédéfinie (Vεg).
  9. Procédé selon la revendication 8, caractérisé en ce que dans le cas du dépassement de valeurs limites de sécurité, un signal d'avertissement est déclenché.
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 EP1360386A1 (fr) 2003-11-12
EP1360386B1 true EP1360386B1 (fr) 2014-07-02

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ID=7674180

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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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Publication number Publication date
DE10107107A1 (de) 2002-08-29
EP1360386A1 (fr) 2003-11-12
US20040076503A1 (en) 2004-04-22
CN1524150A (zh) 2004-08-25
WO2002064912A1 (fr) 2002-08-22
JP2004526081A (ja) 2004-08-26
US7657355B2 (en) 2010-02-02
KR20030096259A (ko) 2003-12-24

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