EP1373661B1 - Device for actuating an articulated mast, especially for concrete pumps - Google Patents

Device for actuating an articulated mast, especially for concrete pumps Download PDF

Info

Publication number
EP1373661B1
EP1373661B1 EP02706747A EP02706747A EP1373661B1 EP 1373661 B1 EP1373661 B1 EP 1373661B1 EP 02706747 A EP02706747 A EP 02706747A EP 02706747 A EP02706747 A EP 02706747A EP 1373661 B1 EP1373661 B1 EP 1373661B1
Authority
EP
European Patent Office
Prior art keywords
remote control
boom
mast
control device
control
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
EP02706747A
Other languages
German (de)
French (fr)
Other versions
EP1373661A1 (en
Inventor
Hartmut Benckert
Paul Von Bäumen
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 Concrete Pumps GmbH
Original Assignee
Putzmeister AG
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
Application filed by Putzmeister AG filed Critical Putzmeister AG
Publication of EP1373661A1 publication Critical patent/EP1373661A1/en
Application granted granted Critical
Publication of EP1373661B1 publication Critical patent/EP1373661B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • 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
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • 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
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/86389—Programmer or timer
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T137/00—Fluid handling
    • Y10T137/8593—Systems
    • Y10T137/8807—Articulated or swinging flow conduit

Definitions

  • the invention relates to a device for actuating a mast block articulated Knickmasts, in particular a concrete distributor mast, which Mast block with a preferably hydraulically actuated drive unit is rotatable and which articulated mast at least three mast segments having, which are perpendicular to the axis of rotation of the mast block, to each other parallel bending axes opposite the mast block or an adjacent one Mast segment by means of a preferably hydraulically actuated drive unit are limited pivotable, with a control device for the mast movement with the help of the individual drive units and / or associated with a feed unit for their energy or pressure oil supply Actuators, and one with an input stage of the control device communicating remote control device that has at least one hand in each case at least one main actuating direction through a zero position.
  • Such a device which discloses the preamble of claim 1, is out of DE-A-4 306 127 is known.
  • Truck-mounted concrete pumps are usually operated by an operator who via the remote control unit both for the pump control and for the Positioning of the end tube arranged at the tip of the articulated mast responsible for.
  • the operator has several rotatory ones Degrees of freedom of the articulated mast on the associated drive units under Movement of the articulated mast in the unstructured three-dimensional working space when observing the site boundary conditions to operate.
  • Around To facilitate handling in this regard has already become an actuator proposed (DE-A-4306127), in which the redundant Buckling axes of the buckling mast independent in each rotational position of the fattening trestle from its axis of rotation with a single adjustment of the remote control member be controlled together.
  • the articulated mast leads one for the operator vivid stretching and shortening movement, wherein the height of the mast top can be kept constant.
  • the controller via the remote control device controllable, computer aided coordinate transformer for the Drive units on.
  • Basic condition for such an operation of the Knickmasts is a position control, to the u.a. a the single fattening arms, Knickachsen and / or drive units associated with sensors for Path or angle measurement belongs. Because disturbances in technical systems this type, which is both mechanical and electronic and hydraulic Components include, are not completely excluded, it requires a security monitor that warns the operator and in the functional sequence lockingly intervenes.
  • the invention has the object, the well-known Device for actuating the buckling mast to improve that even with a computer-aided implementation of the remote control signals in motion sequences a safe, operator-controlled motion sequence of the buckling mast is ensured.
  • control device is a breaker element having, at zero position of the at least one remote control member the connection to the control inputs of the drive units and / or the feed unit for their energy or pressure oil supply interrupts associated actuators.
  • the remote control organs are expediently as control levers (joysticks) arranged on the remote control device trained, while the breaker element on the by zeroing contacts the control lever triggers remote control signals.
  • the measures according to the invention ensure that a kink mast movement only if it is deliberately triggered by the operator becomes.
  • the first circuit arrangement a computer-aided position controller for the redundant buckling axes with associated displacement or angle encoders and / or a computer-aided Damping device with associated pressure sensors on the hydraulic Working aggregates has.
  • Breaker element in case of controller errors to unwanted, safety-relevant articulated boom movements come.
  • the breaker element via a delay element is controllable.
  • the delay element can be used as a delay relay be educated.
  • the time constant of the delay element should be sent to the Following error of the control loop can be adjusted.
  • the time constant is appropriate less than 3 seconds and is preferably in a range of 0.2 to 1.5 Seconds.
  • the articulated mast In the pumping operation of a concrete pump, the articulated mast is often not moved.
  • the Remote control member for the articulated boom movement is therefore in zero position, so that the drive units via the breaker element except Operation are set.
  • the articulated mast of its construction after an elastically oscillatory system is that to natural vibrations Excitable, it may be due to the pulsating operation of the concrete pump and the resulting periodic acceleration and deceleration the crowded by the delivery line concrete column to an undesirable Vibrational excitation of the buckling mast come through, for example an active mast damping can be suppressed.
  • the active mast damping requires a relative movement of the mast segments, the Vibration excitation is opposite.
  • control device has a switching element which upon actuation of a predetermined Tastorgans the breaker element and / or its delay element bridged.
  • the operator can by Actively depressing the sensing organ to initiate an active mast damping.
  • the sensing element for the engine start with an additional closing contact for the bridging of the breaker element and thus the Mast damping to equip.
  • the actual closing contact is located while in the controller and is a feeler in the remote control device triggered by a corresponding remote control signal.
  • the first circuit arrangement a computer-assisted coordinate transformer on, in a first main operating direction of the remote control organs the drive units of the redundant buckling axes of Mast segments under execution of a stretching or shortening movement the buckling mast in accordance with a predetermined path-swing characteristic and in a second Hauptstellraum the drive unit of the mastbuck are actuated.
  • Control means connected to the input stage second circuitry has, on the output side with the control inputs of the Actuators is connected and doing each main direction of the remote control organs assigns one of the drive units.
  • a preferred embodiment The invention provides in this case that both circuit arrangements with each other Compatible output side slots for connecting one to Having the control inputs of the actuators leading wiring harness.
  • the articulated mast either conventional actuation of the individual mast segments to actuate each one main operating direction of the remote control organs (second circuit arrangement) or via an intelligent computer-aided Electronics (first circuit arrangement).
  • Both circuit arrangements have a common input stage, for example, a Radio receiver for the reception of the remote control unit Remote control signals.
  • the input stage can be connected via a data bus, in particular a CAN bus for transmitting the digitized remote control signals be connected to the first circuit arrangement.
  • the drive units as double-acting hydraulic cylinders or are designed as hydraulic motors, that the feed unit as a feed valve for the common pressure oil supply to the drive units is formed by means of the control device an electromagnetic actuator is actuated, and that the breaker element as arranged in the supply line of the actuator, preferably formed switchable contact via the delay element is.
  • the feed valve is part of a remote control device controllable alternating operating valve for the optional control the mast movement or a landing gear support.
  • the control device in this case expediently has a breaker element which, upon switching the changeover valve on chassis support preferably via the delay element, the connection to the control inputs of the the drive units for the mast movement and / or a feed unit interrupts associated with their energy and pressure oil supply actuators.
  • the control device also expediently has a breaker element, at the zero position of the at least one remote control device or at control the mast movement the connection to control inputs of the Drive units for the chassis support and / or a feed unit for their energy or pressure oil supply associated actuators interrupts.
  • the actuating device according to the invention is advantageously in a Truck-mounted concrete pump with articulated mast and electronic control of the mast movement used.
  • the remote control devices are preferred as a control lever in a radio remote control device educated. Basically it is possible, also at the Tip of the buckling mast arranged end hose as a remote control member use, where the over the deflection of the end hose, for example via a tilt transmitter triggered remote control signals in a coordinate encoder the first circuit arrangement in instructions for the articulated boom movement can be implemented.
  • a remote control signal donating Switch or Tastorgane, and in particular the mast damping triggering feeler can do this at one with the end hose be arranged remote control device connected.
  • the truck-mounted concrete pump 10 comprises a transport vehicle 11, e.g. when Two-cylinder piston pump trained thick matter pump 12 and a order a vehicle-fixed vertical axis 13 rotatable concrete distributor mast 14 as a carrier for a concrete delivery line 16.
  • a transport vehicle 11 e.g. when Two-cylinder piston pump trained thick matter pump 12 and a order a vehicle-fixed vertical axis 13 rotatable concrete distributor mast 14 as a carrier for a concrete delivery line 16.
  • About the concrete delivery line 16 is liquid concrete, in a hopper 17 during concreting continuously is removed to one of the location of the vehicle 11 arranged concreting 18 promoted.
  • 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 mast segments 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 buckling angles ⁇ 1 to ⁇ 5 (FIG. 2) of the buckling joints formed by the bending axes 28 to 32 and their arrangement with respect to one another are coordinated so that the buckling mast 22 with the space-saving transport configuration shown in FIG Vehicle 11 can be stored.
  • drive units 34 to 38 which are assigned to the articulated axes 28 to 32 individually, 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 the mast movement by means of a wireless remote control device 50, through which the mast tip 33 with the end hose 43 on the is led away to be concreted area.
  • the end hose 43 has a typical length of 3 to 4 m and can because of its articulated suspension in the area of the mast top 33 and due to its inherent flexibility with its exit end from a hose man in a favorable position be held to the concreting 18.
  • the vehicle is by means of one of front and rear support legs 40,42 existing chassis support at the location of the vehicle below Lifting the wheels on the floor 44 can be supported.
  • the support legs 40,42 are by means not shown hydraulic drive units from the in Fig. 1st shown transport position in the support position shown in Fig. 2 on Vehicle retractable.
  • the operator also uses the remote control device 50, also for the control of mast movement and pump operation is determined.
  • the remote control device 50 includes two in the embodiment shown formed as a control lever remote control members 52,54, in three main operating directions switched back and forth under delivery of remote control signals can be.
  • the remote control signals are transmitted over a radio link 56 to the vehicle-fixed radio receiver 58 transmitted in the input stage 60 a control device 62 is integrated.
  • the remote control device 50 includes a number of other switching elements 64,66,66 ', when actuated by the Radio link 56 transmit further radio signals to the radio receiver 58 become.
  • a first switching element 64 is as a selector switch for optional Release of the support legs (line 74) and the mast movement (line 76) formed with a neutral center position, on the remote control signals of the Switch 68 in the input stage 60 of the control device 62 responds.
  • the control device 62 comprises in the illustrated embodiment a first circuit arrangement 80 and a second circuit arrangement 82 are independently suitable, in the radio receiver 58th incoming and pending in the input stage 60 in the form of electrical signals Remote control signals to be linked so that, as needed, the drive units the chassis support 40,42 and the distribution boom 14th and the concrete pump are electrically controlled.
  • the two circuit arrangements 80,82 have compatible slots for this purpose 84.84 ', on which optionally with a matching plug provided Wiring harness 86, to the control inputs of the actuators for the drive units leads, is pluggable. Slots 84, 84 'are shown in FIG. 3 shown in simplified form.
  • the second circuit 82 includes a logic circuit 104, in which the converted in the input stage into electrical signals Remote control signals implemented by galvanic means in output signals which are transmitted via the slot 84 'on the wiring harness 86.
  • Remote control signals implemented by galvanic means in output signals which are transmitted via the slot 84 'on the wiring harness 86.
  • the logic circuit 104 at the mast release triggered via the selector switch 68 via the control lever 52,54 Remote control signals individually to the main operating directions of the control lever associated drive units 19,34 to 38 of the distribution mast implemented.
  • the single-axis operation has the advantage that the individual Mast segments individually in any, only by their swivel range limited location can be brought.
  • Each axis of the folding mast and the mastbuck is assigned a main direction of the remote control organs, so that especially in the presence of more than three pole segments the operation becomes confusing. The operator must always both the Actuated axles as well as the end hose keep an eye out for the risk Unkoritroll striving in the end hose and
  • the Circuitry 80 has a computerized logic circuit for this purpose 106, with which the over a data bus 108 of the input stage 60 transmitted remote control signals with a predetermined Algorithm linked together and in this form on the slot 84 are output for controlling the actuators.
  • the logic circuit 106 includes i.a. a computer-assisted coordinate transformer, the u.a. the properties described in DE-A-4306127 having.
  • the coordinate transformer are in a first Main position of the remote control member 52 generated remote control signals Drive units 34 to 38 of the redundant buckling axes 28 to 32 of the Mast segments 23 to 27 under execution of a stretching or shortening movement the buckling mast in accordance with a predetermined path-swing characteristic and in a second Hauptstellraum the drive unit 19 of the mast block 21 driven.
  • the drive units 34 to 38 of the bending axes 28 to 32 are independent under execution of a lifting and lowering movement of the mast top 33rd actuated. This includes that the path-swing characteristic in the coordinate transformer in accordance with at the individual mast segments attacking load-dependent bending and torsional moments is modified.
  • the logic circuit 106 may additionally be used for mast damping. This requires an additional Control taking into account measured vibration parameters.
  • a relay contact 112 'associated with the relay 112 in the circuit 80 is a relay contact 112 'associated with the relay 112 in the circuit 80.
  • the Relay 112 can once via a contact in the sensing element 66 in the remote control unit via the changeover switch 70, the line 72 and the diode path 114 are controlled in the control device 62.
  • the switch 66 In this case, the function of an approval key comes about, via which the relay contact 112 'is closed.
  • the consent relay 112 arranged over a closing contact 116 'of the delay relay 116, the behind the zeroing contact 78 via the coming of the input stage 60 Mast enable line 76 can be controlled.
  • the delay relay 116 drops with an adjustable time constant of 0.2 to 3 s when the selector switch 68 switched from the mast release towards Stützbeinokgabe or if the contact 78 in the case of zeroing the remote control device 52 is opened. Due to the approval relay 112 is a mast operation therefore only possible if the selector switch 68 for mast release is connected to the line 76 and the relevant for the mast actuation Remote control member 52 at least in a main direction from the zero position moved out. The delay in the fall of the relay 116 is set that the mast control is not interrupted abruptly and one before completed control process in the logic circuit 106 completed is. With unmoved articulated mast, for example during a Pumping operation, by pressing the consent button 66 of the relay contact 112 'are brought into its closed position. This makes it possible via the logic circuit 106 an active vibration damping trigger.
  • a relay contact 122 ' In the outlet leg 120 for the support leg release in the shuttle valve 98 is also a relay contact 122 ', which is a relay 122 heard.
  • the relay 122 is the coming of the input stage 60 Support leg release line 74 activated when the selector switch 64.68 gets into his support leg release position. In this case, over the Output line 120, the actuator 92 driven and the feed valve 98 the drive units of the support legs 40,42 pressurized oil.
  • the relays 112 and 122 each have another positively driven contact 112 ", 122" in the activation line to the emergency stop relay 124.
  • This Measure serves insofar as safety, as in a snagging the Contacts 112 ', 122' the emergency stop relay 124 with its contacts 124 ', 124 " can not be activated anymore. It should be noted that at each Commissioning the controller 62 first the emergency off 124th must be activated so that the feed valves 98,100 of Schools can be charged with voltage. This is it to a reset function, at the same time for the acoustic acknowledgment Horn is pressed.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Reciprocating Pumps (AREA)
  • Control Of Non-Positive-Displacement Pumps (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention relates to a device for monitoring the safety of an articulated mast ( 22 ), especially of a concrete distribution mast, whose mast segments ( 23 to 27 ) are controlled via a remote control ( 50 ) and a control device ( 62 ) that is responsive to the remote control signals using a computer-assisted circuit arrangement ( 80 ). Safety monitoring is made possible by the provision of an interrupter element ( 112, 112 ') in the control device ( 62 ) which disrupts, via a delay member ( 116 ), the connection to the control inputs of the actuators ( 92, 94 ) associated drive units and/or the feed units ( 98, 100 ) for the purpose of power or pressured oil feed once the remote control elements ( 52 ) of the remote control device ( 50 ) are in the off-position.

Description

Die Erfindung betrifft eine Vorrichtung zur Betätigung eines an einem Mastbock angelenkten Knickmasts, insbesondere eines Betonverteilermasts, welcher Mastbock mit einem vorzugsweise hydraulisch betätigbaren Antriebsaggregat verdrehbar ist und welcher Knickmast mindestens drei Mastsegmente aufweist, die um zur Drehachse des Mastbocks senkrechte, zueinander parallele Knickachsen gegenüber dem Mastbock oder einem benachbarten Mastsegment mittels je eines vorzugsweise hydraulisch betätigbaren Antriebsaggregat begrenzt verschwenkbar sind, mit einer Steuereinrichtung für die Mastbewegung mit Hilfe von den einzelnen Antriebsaggregaten und/oder einem Speiseaggregat für deren Energie- oder Druckölzufuhr zugeordneten Stellgliedern, und mit einem mit einer Eingangsstufe der Steuereinrichtung kommunizierenden Fernsteuergerät, das mindestens ein von Hand in jeweils mindestens einer Hauptstellrichtung durch eine Nullstellung hindurch hin- und herverstellbares und dabei ein Fernsteuersignal abgebendes Fernsteuerorgan sowie weitere ein Fernsteuersignal abgebende Schaltorgane aufweist, wobei die Steuereinrichtung eine über die Eingangsstufe mit den Informationen der Fernsteuersignale beaufschlagbare rechnergestützte erste Schaltungsanordnung aufweist, die ausgangsseitig mit Steuereingängen der Stellglieder verbunden ist.The invention relates to a device for actuating a mast block articulated Knickmasts, in particular a concrete distributor mast, which Mast block with a preferably hydraulically actuated drive unit is rotatable and which articulated mast at least three mast segments having, which are perpendicular to the axis of rotation of the mast block, to each other parallel bending axes opposite the mast block or an adjacent one Mast segment by means of a preferably hydraulically actuated drive unit are limited pivotable, with a control device for the mast movement with the help of the individual drive units and / or associated with a feed unit for their energy or pressure oil supply Actuators, and one with an input stage of the control device communicating remote control device that has at least one hand in each case at least one main actuating direction through a zero position. and manufacturable while a remote control signal donating remote control body and further having a remote control signal donating switching elements, wherein the control means via the input stage with the information the remote control signals acted upon computerized first Has circuit arrangement, the output side with control inputs of Actuators is connected.

Eine solche Vorrichtung, die den Oberbegriff des Anspruchs 1 offenbart, ist aus DE-A-4 306 127 bekannt.Such a device, which discloses the preamble of claim 1, is out of DE-A-4 306 127 is known.

Autobetonpumpen werden üblicherweise durch einen Bediener betätigt, der über das Fernsteuergerät sowohl für die Pumpensteuerung als auch für die Positionierung des an der Spitze des Knickmasts angeordneten Endschlauchs verantwortlich ist. Der Bediener hat dazu mehrere rotatorische Freiheitsgrade des Knickmasts über die zugehörigen Antriebsaggregate unter Bewegung des Knickmasts im nicht strukturierten dreidimensionalen Arbeitsraum bei Beachtung der Baustellenrandbedingungen zu betätigen. Um die Handhabung in dieser Hinsicht zu erleichtern, wurde bereits eine Betätigungsvorrichtung vorgeschlagen (DE-A-4306127), bei der die redundanten Knickachsen des Knickmasts in jeder Drehlage des Mastbocks unabhängig von dessen Drehachse mit einem einzigen Stellvorgang des Fernsteuerorgans gemeinsam angesteuert werden. Dabei führt der Knickmast eine für den Bediener anschauliche Streck- und Verkürzungsbewegung aus, wobei die Höhe der Mastspitze zusätzlich konstant gehalten werden kann. Um dies zu ermöglichen, weist dort die Steuereinrichtung einen über das Fernsteuerorgan ansteuerbaren, rechnerunterstützten Koordinatentransformator für die Antriebsaggregate auf. Grundvoraussetzung für eine solche Betätigung des Knickmasts ist eine Lageregelung, zu der u.a. eine den einzelnen Mastarmen, Knickachsen und/oder Antriebsaggregaten zugeordnete Sensorik zur Weg- oder Winkelmessung gehört. Da Störungen in technischen Systemen dieser Art, die sowohl mechanische als auch elektronische und hydraulische Komponenten umfassen, nicht vollständig auszuschließen sind, bedarf es einer Sicherheitsüberwachung, die den Bediener warnt und in den Funktionsablauf sichernd eingreift.Truck-mounted concrete pumps are usually operated by an operator who via the remote control unit both for the pump control and for the Positioning of the end tube arranged at the tip of the articulated mast responsible for. The operator has several rotatory ones Degrees of freedom of the articulated mast on the associated drive units under Movement of the articulated mast in the unstructured three-dimensional working space when observing the site boundary conditions to operate. Around To facilitate handling in this regard has already become an actuator proposed (DE-A-4306127), in which the redundant Buckling axes of the buckling mast independent in each rotational position of the fattening trestle from its axis of rotation with a single adjustment of the remote control member be controlled together. The articulated mast leads one for the operator vivid stretching and shortening movement, wherein the height of the mast top can be kept constant. To this to allow, there has the controller via the remote control device controllable, computer aided coordinate transformer for the Drive units on. Basic condition for such an operation of the Knickmasts is a position control, to the u.a. a the single fattening arms, Knickachsen and / or drive units associated with sensors for Path or angle measurement belongs. Because disturbances in technical systems this type, which is both mechanical and electronic and hydraulic Components include, are not completely excluded, it requires a security monitor that warns the operator and in the functional sequence lockingly intervenes.

Ausgehend hiervon liegt der Erfindung die Aufgabe zugrunde, die bekannte Vorrichtung zur Betätigung des Knickmasts dahingehend zu verbessern, daß auch bei einer rechnergestützten Umsetzung der Fernsteuersignale in Bewegungsabläufe ein sicherer, vom Bediener kontrollierbarer Bewegungsablauf des Knickmasts gewährleistet ist.Proceeding from this, the invention has the object, the well-known Device for actuating the buckling mast to improve that even with a computer-aided implementation of the remote control signals in motion sequences a safe, operator-controlled motion sequence of the buckling mast is ensured.

Zur Lösung dieser Aufgabe wird die im Anspruch 1 angegebene Merkmalskombination vorgeschlagen. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen.To solve this problem, the feature combination specified in claim 1 proposed. Advantageous embodiments and developments The invention will become apparent from the dependent claims.

Der erfindungsgemäßen Lösung liegt die Erkenntnis zugrunde, daß bei Handhabungssystemen mit teilautomatisch oder automatisch betätigten Komponenten Vorkehrungen getroffen werden müssen, die verhindern, daß fehlerhafte Automatikabläufe auftreten können. Um dies zu erreichen, wird gemäß der Erfindung vorgeschlagen, daß die Steuereinrichtung ein Unterbrecherelement aufweist, das bei Nullstellung des mindestens einen Fernsteuerorgans die Verbindung zu den Steuereingängen, der den Antriebsaggregaten und/oder dem Speiseaggregat für deren Energie- oder Druckölzufuhr zugeordneten Stellgliedern unterbricht. Die Fernsteuerorgane sind zweckmäßig als am Fernsteuergerät angeordnete Steuerhebel (Joysticks) ausgebildet, während das Unterbrecherelement auf die durch Nullstellungskontakte der Steuerhebel ausgelösten Fernsteuersignale anspricht. Wenn sich die Nullstellung der Fernsteuerorgane auch bei deren Loslassen einstellt, sorgen die erfindungsgemäßen Maßnahmen dafür, daß eine Knickmastbewegung nur dann erfolgt, wenn diese bewußt vom Bediener ausgelöst wird. Dies gilt sowohl für den Fall, daß die erste Schaltungsanordnung einen rechnerunterstützten Lageregler für die redundanten Knickachsen mit zugehörigen Weg- oder Winkelgebern und/oder eine rechnergestützte Dämpfungseinrichtung mit zugehörigen Druckaufnehmern an den hydraulischen Arbeitsaggregaten aufweist. In beiden Fällen könnte es ohne das erfindungsgemäße Unterbrecherelement bei Reglerfehlern zu unerwünschten, sicherheitsrelevanten Knickmastbewegungen kommen. Da bei jeder elektronischen Regelung Verzögerungen im Sinne von Schleppfehlern auftreten, ist es von Vorteil, wenn das Unterbrecherelement über ein Verzögerungsglied ansteuerbar ist. Das Verzögerungsglied kann dabei als Verzögerungsrelais ausgebildet sein. Die Zeitkonstante des Verzögerungsglieds sollte an den Schleppabstand des Regelkreises angepaßt werden. Im Falle der Lageregelung und Dämpfung der Mastsegmente ist die Zeitkonstante zweckmäßig kleiner 3 Sekunden und liegt vorzugsweise in einem Bereich von 0,2 bis 1,5 Sekunden.The solution of the invention is based on the finding that at Handling systems with semi-automatic or automatically operated Components must be taken precautions that prevent faulty automatic sequences can occur. To achieve this, will proposed according to the invention that the control device is a breaker element having, at zero position of the at least one remote control member the connection to the control inputs of the drive units and / or the feed unit for their energy or pressure oil supply interrupts associated actuators. The remote control organs are expediently as control levers (joysticks) arranged on the remote control device trained, while the breaker element on the by zeroing contacts the control lever triggers remote control signals. If the zeroing of the remote control organs also occurs when they are released, the measures according to the invention ensure that a kink mast movement only if it is deliberately triggered by the operator becomes. This applies both in the case that the first circuit arrangement a computer-aided position controller for the redundant buckling axes with associated displacement or angle encoders and / or a computer-aided Damping device with associated pressure sensors on the hydraulic Working aggregates has. In both cases it could be without the invention Breaker element in case of controller errors to unwanted, safety-relevant articulated boom movements come. As with every electronic Control delays in the sense of lag errors occur is it is advantageous if the breaker element via a delay element is controllable. The delay element can be used as a delay relay be educated. The time constant of the delay element should be sent to the Following error of the control loop can be adjusted. In the case of the position control and attenuation of the mast segments, the time constant is appropriate less than 3 seconds and is preferably in a range of 0.2 to 1.5 Seconds.

Im Pumpbetrieb einer Betonpumpe wird der Knickmast oft nicht bewegt. Das Fernsteuerorgan für die Knickmastbewegung befindet sich daher in Nullstellung, so daß die Antriebsaggregate über das Unterbrecherelement außer Betrieb gesetzt sind. Da andererseits der Knickmast seiner Konstruktion nach ein elastisch schwingungsfähiges System ist, das zu Eigenschwingungen anregbar ist, kann es durch den pulsierenden Betrieb der Betonpume und die hieraus resultierende periodische Beschleunigung und Verzögerung der durch die Förderleitung gedrängten Betonsäule zu einer unerwünschten Schwingungsanregung des Knickmasts kommen, die beispielsweise durch eine aktive Mastbedämpfung unterdrückt werden kann. Die aktive Mastbedämpfung erfordert eine Relativbewegung der Mastsegmente, die der Schwingungsanregung entgegengerichtet ist. Um trotz Nullstellung der Fernsteuerorgane eine aktive Schwingungsbedämpfung zu ermöglichen, wird gemäß einer bevorzugten Ausgestaltung der Erfindung vorgeschlagen, daß die Steuereinrichtung ein Schaltelement aufweist, das bei Betätigung eines vorgegebenen Tastorgans das Unterbrecherelement und/oder dessen Verzögerungsglied überbrückt. Mit dieser Maßnahme kann der Bediener durch Betätigen des Tastorgans bewußt eine aktive Mastbedämpfung einleiten.In the pumping operation of a concrete pump, the articulated mast is often not moved. The Remote control member for the articulated boom movement is therefore in zero position, so that the drive units via the breaker element except Operation are set. On the other hand, the articulated mast of its construction after an elastically oscillatory system is that to natural vibrations Excitable, it may be due to the pulsating operation of the concrete pump and the resulting periodic acceleration and deceleration the crowded by the delivery line concrete column to an undesirable Vibrational excitation of the buckling mast come through, for example an active mast damping can be suppressed. The active mast damping requires a relative movement of the mast segments, the Vibration excitation is opposite. In spite of zeroing of the remote control organs to enable active vibration damping is proposed according to a preferred embodiment of the invention that the control device has a switching element which upon actuation of a predetermined Tastorgans the breaker element and / or its delay element bridged. With this measure, the operator can by Actively depressing the sensing organ to initiate an active mast damping.

Da das Fernsteuergerät ohnehin je ein Tastorgan für das Einschalten und Ausschalten des Antriebsmotors für die Hydraulikpumpen umfaßt, bietet es sich an, das Tastorgan für den Motorstart mit einem zusätzlichen Schließkontakt für die Überbrückung des Unterbrecherelements und damit die Mastbedämpfung zu bestücken. Der eigentliche Schließkontakt befindet sich dabei in der Steuereinrichtung und wird über ein Tastorgan im Fernsteuergerät durch ein entsprechendes Fernsteuersignal ausgelöst.Since the remote control device ever a feeler for switching on and It includes powering off the drive motor for the hydraulic pumps on, the sensing element for the engine start with an additional closing contact for the bridging of the breaker element and thus the Mast damping to equip. The actual closing contact is located while in the controller and is a feeler in the remote control device triggered by a corresponding remote control signal.

Gemäß einer weiteren bevorzugten Ausgestaltung der Erfindung weist die erste Schaltungsanordnung einen rechnerunterstützten Koordinatentransformator auf, über den in einer ersten Hauptstellrichtung eines der Fernsteuerorgane die Antriebsaggregate der redundanten Knickachsen der Mastsegmente unter Ausführung einer Streck- oder Verkürzungsbewegung des Knickmasts nach Maßgabe einer vorgegebenen Weg-Schwenk-Charakteristik und in einer zweiten Hauptstellrichtung das Antriebsaggregat des Mastbocks betätigbar sind.According to another preferred embodiment of the invention, the first circuit arrangement a computer-assisted coordinate transformer on, in a first main operating direction of the remote control organs the drive units of the redundant buckling axes of Mast segments under execution of a stretching or shortening movement the buckling mast in accordance with a predetermined path-swing characteristic and in a second Hauptstellrichtung the drive unit of the mastbuck are actuated.

Eine erhöhte Betriebszuverlässigkeit läßt sich dadurch erzielen, daß die Steuereinrichtung eine mit der Eingangsstufe verbundene zweite Schaltungsanordnung aufweist, die ausgangsseitig mit den Steuereingängen der Stellglieder verbunden ist und dabei jeder Hauptstellrichtung der Fernsteuerorgane eines der Antriebsaggregate zuordnet. Eine bevorzugte Ausgestaltung der Erfindung sieht hierbei vor, daß beide Schaltungsanordnungen miteinander kompatible ausgangsseitige Steckplätze für den Anschluß eines zu den Steuereingängen der Stellglieder führenden Kabelbaums aufweisen. Auf diese Weise ist es durch einfaches Umstecken des Kabelbaums möglich, den Knickmast entweder konventionell unter Betätigung der einzelnen Mastsegmente über jeweils eine Hauptstellrichtung der Fernsteuerorgane zu betätigen (zweite Schaltungsanordnung) oder über eine intelligente computergestützte Elektronik (erste Schaltungsanordnung). Beide Schaltungsanordnungen weisen eine gemeinsame Eingangsstufe auf, die beispielsweise einen Funkempfänger für den Empfang der vom Fernsteuergerät ausgesandten Fernsteuersignale aufweist. Die Eingangsstufe kann über einen Datenbus, insbesondere einen CAN-Bus zur Übertragung der digitalisierten Fernsteuersignale mit der ersten Schaltungsanordnung verbunden sein.An increased operational reliability can be achieved that the Control means connected to the input stage second circuitry has, on the output side with the control inputs of the Actuators is connected and doing each main direction of the remote control organs assigns one of the drive units. A preferred embodiment The invention provides in this case that both circuit arrangements with each other Compatible output side slots for connecting one to Having the control inputs of the actuators leading wiring harness. On this way it is possible by simply changing the harness, the articulated mast either conventional actuation of the individual mast segments to actuate each one main operating direction of the remote control organs (second circuit arrangement) or via an intelligent computer-aided Electronics (first circuit arrangement). Both circuit arrangements have a common input stage, for example, a Radio receiver for the reception of the remote control unit Remote control signals. The input stage can be connected via a data bus, in particular a CAN bus for transmitting the digitized remote control signals be connected to the first circuit arrangement.

Zur weiteren Erhöhung der Betriebssicherheit wird gemäß einer bevorzugten Ausgestaltung der Erfindung vorgeschlagen, daß die Antriebsaggregate als doppeltwirkende Hydrozylinder oder als Hydromotoren ausgebildet sind, daß das Speiseaggregat als Speiseventil für die gemeinsame Druckölzufuhr zu den Antriebsaggregaten ausgebildet ist, das über die Steuereinrichtung mittels eines elektromagnetischen Stellglieds betätigbar ist, und daß das Unterbrecherelement als in der Zuleitung des Stellglieds angeordneter, vorzugsweise über das Verzögerungsglied ansteuerbarer Schaltkontakt ausgebildet ist. To further increase the reliability is according to a preferred Embodiment of the invention proposed that the drive units as double-acting hydraulic cylinders or are designed as hydraulic motors, that the feed unit as a feed valve for the common pressure oil supply to the drive units is formed by means of the control device an electromagnetic actuator is actuated, and that the breaker element as arranged in the supply line of the actuator, preferably formed switchable contact via the delay element is.

Vorteilhafterweise ist das Speiseventil Bestandteil eines über das Fernsteuergerät ansteuerbaren Wechselbetriebsventils für die wahlweise Ansteuerung der Mastbewegung oder einer Fahrwerkabstützung. Die Steuereinrichtung weist dabei zweckmäßig ein Unterbrecherelement auf, das bei Umschaltung des Wechselbetriebsventils auf Fahrwerksabstützung vorzugsweise über das Verzögerungsglied die Verbindung zu den Steuereingängen der den Antriebsaggregaten für die Mastbewegung und/oder ein Speiseaggregat für deren Energie- und Druckölzufuhr zugeordneten Stellgliedern unterbricht. Die Steuereinrichtung weist ferner zweckmäßig ein Unterbrecherelement auf, das bei Nullstellung des mindestens einen Fernsteuerorgans oder bei Ansteuerung der Mastbewegung die Verbindung zu Steuereingängen der den Antriebsaggregaten für die Fahrwerkabstützung und/oder eines Speiseaggregats für deren Energie- oder Druckölzufuhr zugeordneten Stellgliedern unterbricht.Advantageously, the feed valve is part of a remote control device controllable alternating operating valve for the optional control the mast movement or a landing gear support. The control device in this case expediently has a breaker element which, upon switching the changeover valve on chassis support preferably via the delay element, the connection to the control inputs of the the drive units for the mast movement and / or a feed unit interrupts associated with their energy and pressure oil supply actuators. The control device also expediently has a breaker element, at the zero position of the at least one remote control device or at control the mast movement the connection to control inputs of the Drive units for the chassis support and / or a feed unit for their energy or pressure oil supply associated actuators interrupts.

Die erfindungsgemäße Betätigungsvorrichtung wird vorteilhafterweise in einer Autobetonpumpe mit Knickmast und elektronischer Steuerung der Mastbewegung verwendet.The actuating device according to the invention is advantageously in a Truck-mounted concrete pump with articulated mast and electronic control of the mast movement used.

Die Fernsteuerorgane sind bevorzugt als Steuerhebel in einem Funkfernsteuergerät ausgebildet. Grundsätzlich ist es möglich, auch einen an der Spitze des Knickmasts angeordneten Endschlauch als Fernsteuerorgan zu benutzen, wobei die über die Auslenkung des Endschlauchs beispielsweise über einen Neigungsgeber ausgelösten Fernsteuersignale in einem Koordinatengeber der ersten Schaltungsanordnung in Anweisungen für die Knickmastbewegung umsetzbar sind. Die weiteren, ein Fernsteuersignal abgebenden Schalt- oder Tastorgane, und dabei insbesondere das die Mastbedämpfung auslösende Tastorgan können dabei an einem mit dem Endschlauch verbundenen Fernsteuergerät angeordnet sein. The remote control devices are preferred as a control lever in a radio remote control device educated. Basically it is possible, also at the Tip of the buckling mast arranged end hose as a remote control member use, where the over the deflection of the end hose, for example via a tilt transmitter triggered remote control signals in a coordinate encoder the first circuit arrangement in instructions for the articulated boom movement can be implemented. The others, a remote control signal donating Switch or Tastorgane, and in particular the mast damping triggering feeler can do this at one with the end hose be arranged remote control device connected.

Im folgenden wird die Erfindung anhand eines in der Zeichnung in schematischer Weise dargestellten Ausführungsbeispiels näher erläutert. Es zeigen

Fig. 1
eine Seitenansicht einer Autobetonpumpe mit zusammengelegtem Knickmast;
Fig. 2
die Autobetonpumpe nach Fig. 1 mit Knickmast in Arbeitsstellung;
Fig. 3
ein schematischer Stromlaufplan einer Vorrichtung zur Betätigung des Knickmasts und der Fahrwerkabstützung mit Sicherheitsschaltung.
In the following the invention will be explained in more detail with reference to an embodiment shown schematically in the drawing. Show it
Fig. 1
a side view of a truck-mounted concrete pump with collapsed articulated mast;
Fig. 2
the truck-mounted concrete pump of Figure 1 with articulated mast in working position.
Fig. 3
a schematic circuit diagram of a device for operating the articulated mast and the chassis support with safety circuit.

Die Autobetonpumpe 10 umfaßt ein Transportfahrzeug 11, eine z.B. als Zweizylinderkolbenpumpe ausgebildete Dickstoffpumpe 12 sowie einen um eine fahrzeugfeste Hochachse 13 drehbaren Betonverteilermast 14 als Träger für eine Betonförderleitung 16. Über die Betonförderleitung 16 wird Flüssigbeton, der in einen Aufgabebehälter 17 während des Betonierens fortlaufend eingebracht wird, zu einer von dem Standort des Fahrzeugs 11 entfernt angeordneten Betonierstelle 18 gefördert.The truck-mounted concrete pump 10 comprises a transport vehicle 11, e.g. when Two-cylinder piston pump trained thick matter pump 12 and a order a vehicle-fixed vertical axis 13 rotatable concrete distributor mast 14 as a carrier for a concrete delivery line 16. About the concrete delivery line 16 is liquid concrete, in a hopper 17 during concreting continuously is removed to one of the location of the vehicle 11 arranged concreting 18 promoted.

Der Verteilermast 14 besteht aus einem mittels eines hydraulischen Drehantriebs 19 um die Hochachse 13 drehbaren Mastbock 21 und einem an diesem schwenkbaren Knickmast 22, der auf variable Reichweite r und Höhendifferenz h zwischen dem Fahrzeug 11 und der Betonierstelle 18 kontinuierlich einstellbar ist. Der Knickmast 22 besteht bei dem dargestellten Ausführungsbeispiel aus fünf gelenkig miteinander verbundenen Mastsegmenten 23 bis 27, die um parallel zueinander und rechtwinklig zur Hochachse 13 des Mastbocks 21 verlaufende Achsen 28 bis 32 schwenkbar sind. Die Knickwinkel ε1 bis ε5 (Fig. 2) der durch die Knickachsen 28 bis 32 gebildeten Knickgelenke und deren Anordnung zueinander sind so aufeinander abgestimmt, daß der Knickmast 22 mit der aus Fig. 1 ersichtlichen, einer mehrfachen Faltung entsprechenden raumsparenden Transportkonfiguration auf dem Fahrzeug 11 ablegbar ist. Durch eine Aktivierung von Antriebsaggregaten 34 bis 38 die den Knickachsen 28 bis 32 einzeln zugeordnet sind, ist der Knickmast 22 in unterschiedlichen Distanzen r und/oder Höhendifferenzen h zwischen der Betonierstelle 18 und dem Fahrzeugstandort entfaltbar (Fig. 2).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 mast segments 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 buckling angles ε 1 to ε 5 (FIG. 2) of the buckling joints formed by the bending axes 28 to 32 and their arrangement with respect to one another are coordinated so that the buckling mast 22 with the space-saving transport configuration shown in FIG Vehicle 11 can be stored. By activating drive units 34 to 38 which are assigned to the articulated axes 28 to 32 individually, 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).

Der Bediener steuert mittels eines drahtlosen Fernsteuergeräts 50 die Mastbewegung, durch die die Mastspitze 33 mit dem Endschlauch 43 über den zu betonierenden Bereich hinweggeführt wird. Der Endschlauch 43 hat eine typische Länge von 3 bis 4 m und kann wegen seiner gelenkigen Aufhängung im Bereich der Mastspitze 33 und aufgrund seiner Eigenflexibilität mit seinem Austrittsende von einem Schlauchmann in einer günstigen Position zur Betonierstelle 18 gehalten werden.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 on the is led away to be concreted area. The end hose 43 has a typical length of 3 to 4 m and can because of its articulated suspension in the area of the mast top 33 and due to its inherent flexibility with its exit end from a hose man in a favorable position be held to the concreting 18.

Das Fahrzeug ist mittels einer aus vorderen und rückwärtigen Stützbeinen 40,42 bestehenden Fahrwerkabstützung am Standort des Fahrzeugs unter Abheben der Räder auf dem Boden 44 abstützbar. Die Stützbeine 40,42 sind mit Hilfe nicht dargestellter hydraulischer Antriebsaggregate aus der in Fig. 1 dargestellten Transportstellung in die in Fig. 2 gezeigte Abstützstellung am Fahrzeug ausfahrbar. Der Bediener verwendet dazu ebenfalls das Fernsteuergerät 50, das auch für die Steuerung der Mastbewegung und des Pumpenbetriebs bestimmt ist.The vehicle is by means of one of front and rear support legs 40,42 existing chassis support at the location of the vehicle below Lifting the wheels on the floor 44 can be supported. The support legs 40,42 are by means not shown hydraulic drive units from the in Fig. 1st shown transport position in the support position shown in Fig. 2 on Vehicle retractable. The operator also uses the remote control device 50, also for the control of mast movement and pump operation is determined.

Das Fernsteuergerät 50 enthält bei dem gezeigten Ausführungsbeispiel zwei als Steuerhebel ausgebildeten Fernsteuerorgane 52,54, die in drei Hauptstellrichtungen unter Abgabe von Fernsteuersignalen hin- und herverstellt werden können. Die Fernsteuersignale werden über eine Funkstrecke 56 zum fahrzeugfesten Funkempfänger 58 übertragen, der in der Eingangsstufe 60 einer Steuereinrichtung 62 integriert ist. Das Fernsteuergerät 50 enthält eine Reihe weiterer Schaltorgane 64,66,66', bei deren Betätigung über die Funkstrecke 56 weitere Funksignale zum Funkempfänger 58 übertragen werden. Ein erstes Schaltorgan 64 ist dabei als Wahlschalter zur wahlweisen Freigabe der Stützbeine (Leitung 74) und der Mastbewegung (Leitung 76) mit neutraler Mittelstellung ausgebildet, auf dessen Fernsteuersignale der Schalter 68 in der Eingangsstufe 60 der Steuereinrichtung 62 anspricht. Auf die Fernsteuersignale der Tastorgane 66,66' spricht der in der Eingangsstufe 60 befindliche Wechselschalter 70 an, über den bei Betätigen des Tastorgans 66 über die Leitung 72 der Motor für den Antrieb der Hydraulikpumpen gestartet wird. In der Nullstellung der Fernsteuerorgane 52,54 wird vom Fernsteuergerät jeweils ein Fernsteuersignal ausgelöst, das in der Eingangsstufe die Öffnung eines Nullstellungskontakts 78 in der Mastfreigabeleitung 76 auslösen.The remote control device 50 includes two in the embodiment shown formed as a control lever remote control members 52,54, in three main operating directions switched back and forth under delivery of remote control signals can be. The remote control signals are transmitted over a radio link 56 to the vehicle-fixed radio receiver 58 transmitted in the input stage 60 a control device 62 is integrated. The remote control device 50 includes a number of other switching elements 64,66,66 ', when actuated by the Radio link 56 transmit further radio signals to the radio receiver 58 become. A first switching element 64 is as a selector switch for optional Release of the support legs (line 74) and the mast movement (line 76) formed with a neutral center position, on the remote control signals of the Switch 68 in the input stage 60 of the control device 62 responds. On the remote control signals of the Tastorgane 66,66 'speaks in the input stage 60 located change switch 70, on the on actuation of the feeler 66 via the line 72, the motor for driving the hydraulic pumps is started. In the zero position of the remote control devices 52,54 is used by Remote control device each triggered a remote control signal, which in the input stage the opening of a zeroing contact 78 in the mast release line 76 trigger.

Die Steuereinrichtung 62 umfaßt bei dem gezeigten Ausführungsbeispiel eine erste Schaltungsanordnung 80 und eine zweite Schaltungsanordnung 82 die unabhängig voneinander geeignet sind, die im Funkempfänger 58 ankommenden und in der Eingangsstufe 60 in Form elektrischer Signale anstehenden Fernsteuersignale so zu verknüpfen, daß je nach Bedarf die Antriebsaggregate der Fahrwerksabstützung 40,42 und des Verteilermasts 14 sowie der Betonpumpe elektrisch angesteuert werden. Die beiden Schaltungsanordnungen 80,82 weisen zu diesem Zweck kompatible Steckplätze 84,84' auf, auf die wahlweise der mit einem passenden Stecker versehene Kabelbaum 86, der zu den Steuereingängen der Stellglieder für die Antriebsaggregate führt, aufsteckbar ist. Die Steckplätze 84,84' sind in Fig. 3 vereinfacht dargestellt. Sie zeigen lediglich die Steckkontakte 88,90 für die Ansteuerung des Stellglieds 92 für die Stützbeinfreigabe und des Stellglieds 94 für die Mastfreigabe mit dem zugehörigen Massekontakt 96. Über die Stellglieder 92,94 werden die Speiseventile 98,100 für die gemeinsame Druckölzufuhr zu den Antriebsaggregaten der Stützbeine 40,42 bzw. der Mastsegmente 23 bis 27 und des Drehwerks 19 elektromagnetisch geöffnet und geschlossen. Die Speiseventile 98,100 sind eingangsseitig an die Druckleitung einer Hydraulikpumpe angeschlossen und sind Bestandteil eines Wechselbetriebsventils. Weiter sind in Fig. 3 die Vielfachkontakte 102 für die Ansteuerung der Stellglieder der Antriebsaggregate 19,34 bis 38 für die Mastbewegung angedeutet.The control device 62 comprises in the illustrated embodiment a first circuit arrangement 80 and a second circuit arrangement 82 are independently suitable, in the radio receiver 58th incoming and pending in the input stage 60 in the form of electrical signals Remote control signals to be linked so that, as needed, the drive units the chassis support 40,42 and the distribution boom 14th and the concrete pump are electrically controlled. The two circuit arrangements 80,82 have compatible slots for this purpose 84.84 ', on which optionally with a matching plug provided Wiring harness 86, to the control inputs of the actuators for the drive units leads, is pluggable. Slots 84, 84 'are shown in FIG. 3 shown in simplified form. They show only the plug contacts 88,90 for the Control of the actuator 92 for the support leg release and the actuator 94 for the mast release with the associated ground contact 96. About the Actuators 92,94 are the feed valves 98,100 for the common Pressure oil supply to the drive units of the support legs 40,42 and the Mast segments 23 to 27 and the slewing gear 19 electromagnetically open and closed. The feed valves 98,100 are on the input side to the Pressure line connected to a hydraulic pump and are part of a Alternating operation valve. Next, in Fig. 3, the multiple contacts 102 for the control of the actuators of the drive units 19,34 to 38 for the Mast movement indicated.

Die zweite Schaltungsanordnung 82 enthält eine Verknüpfungsschaltung 104, in der die in der Eingangsstufe in elektrische Signale umgesetzten Fernsteuersignale auf galvanischem Wege in Ausgangssignale umgesetzt werden, die über den Steckplatz 84' auf den Kabelbaum 86 übertragen werden. Insbesondere werden in der Verknüpfungsschaltung 104 die bei Mastfreigabe über den Wahlschalter 68 über die Steuerhebel 52,54 ausgelösten Fernsteuersignale individuell auf die den Hauptstellrichtungen der Steuerhebel zugeordneten Antriebsaggregate 19,34 bis 38 des Verteilermasts umgesetzt. Die Einzelachsenbetätigung hat zwar den Vorteil, daß die einzelnen Mastsegmente individuell in jede beliebige, nur durch ihren Schwenkbereich begrenzte Lage gebracht werden können. Jeder Achse des Knickmasts und des Mastbocks ist dabei eine Hauptstellrichtung der Fernsteuerorgane zugeordnet, so daß vor allem bei Vorhandensein von mehr als drei Mastsegmenten die Betätigung unübersichtlich wird. Der Bediener muß stets sowohl die betätigten Achsen als auch den Endschlauch im Auge behalten, um das Risiko von unkoritrollierten Bewegungen im Endschlauch und damit eine Gefährdung des Baustellenpersonals zu vermeiden.The second circuit 82 includes a logic circuit 104, in which the converted in the input stage into electrical signals Remote control signals implemented by galvanic means in output signals which are transmitted via the slot 84 'on the wiring harness 86. In particular, in the logic circuit 104 at the mast release triggered via the selector switch 68 via the control lever 52,54 Remote control signals individually to the main operating directions of the control lever associated drive units 19,34 to 38 of the distribution mast implemented. Although the single-axis operation has the advantage that the individual Mast segments individually in any, only by their swivel range limited location can be brought. Each axis of the folding mast and the mastbuck is assigned a main direction of the remote control organs, so that especially in the presence of more than three pole segments the operation becomes confusing. The operator must always both the Actuated axles as well as the end hose keep an eye out for the risk Unkoritrollierten movements in the end hose and thus a hazard to avoid the construction site staff.

Mit der Schaltungsanordnung 80 ist es möglich, die Handhabungen bei der Bewegung des Knickmasts in dieser Hinsicht wesentlich zu erleichtern. Die Schaltungsanordnung 80 weist zu diesem Zweck eine rechnergestützte Verknüpfungsschaltung 106 auf, mit welcher die über einen Datenbus 108 von der Eingangsstufe 60 übertragenen Fernsteuersignale mit einem vorgegebenen Algorithmus miteinander verknüpft und in dieser Form auf den Steckplatz 84 zur Ansteuerung der Stellglieder ausgegeben werden. Die Verknüpfungsschaltung 106 umfaßt u.a. einen rechnerunterstützten Koordinatentransformator, der u.a. die in der DE-A-4306127 beschriebenen Eigenschaften aufweist. Über den Koordinatentransformator werden die in einer ersten Hauptstellung des Fernsteuerorgans 52 erzeugten Fernsteuersignale die Antriebsaggregate 34 bis 38 der redundanten Knickachsen 28 bis 32 der Mastsegmente 23 bis 27 unter Ausführung einer Streck- oder Verkürzungsbewegung des Knickmasts nach Maßgabe einer vorgegebenen Weg-Schwenk-Charakteristik und in einer zweiten Hauptstellrichtung das Antriebsaggregat 19 des Mastbocks 21 angesteuert. In einer dritten Hauptstellrichtung sind die Antriebsaggregate 34 bis 38 der Knickachsen 28 bis 32 unabhängig unter Ausführung einer Hub- und Senkbewegung der Mastspitze 33 betätigbar. Dazu gehört, daß die Weg-Schwenk-Charakteristik im Koordinatentransformator nach Maßgabe von an den einzelnen Mastsegmenten angreifenden lastabhängigen Biege- und Torsionsmomenten modifiziert wird. Da diese Verknüpfung nur im Rahmen einer Lageregelung zu genauen Ergebnissen führt, sind an den einzelnen Achsen der Knicksegmente zusätzlich Weg- oder Winkelmessungen erforderlich, die in der Verknüpfungsschaltung 106 ausgewertet werden. Die Verknüpfungsschaltung 106 kann zusätzlich zur Mastbedämpfung eingesetzt werden. Dazu bedarf es einer zusätzlichen Regelung unter Berücksichtigung gemessener Schwingungsparameter.With the circuit arrangement 80, it is possible to handle the manipulations in the Movement of the buckling mast in this regard significantly easier. The Circuitry 80 has a computerized logic circuit for this purpose 106, with which the over a data bus 108 of the input stage 60 transmitted remote control signals with a predetermined Algorithm linked together and in this form on the slot 84 are output for controlling the actuators. The logic circuit 106 includes i.a. a computer-assisted coordinate transformer, the u.a. the properties described in DE-A-4306127 having. About the coordinate transformer are in a first Main position of the remote control member 52 generated remote control signals Drive units 34 to 38 of the redundant buckling axes 28 to 32 of the Mast segments 23 to 27 under execution of a stretching or shortening movement the buckling mast in accordance with a predetermined path-swing characteristic and in a second Hauptstellrichtung the drive unit 19 of the mast block 21 driven. In a third main direction the drive units 34 to 38 of the bending axes 28 to 32 are independent under execution of a lifting and lowering movement of the mast top 33rd actuated. This includes that the path-swing characteristic in the coordinate transformer in accordance with at the individual mast segments attacking load-dependent bending and torsional moments is modified. Since this link only within the scope of a position control to accurate results leads, are in addition to the individual axes of the buckling segments Path or angle measurements required in the logic circuit 106 are evaluated. The logic circuit 106 may additionally be used for mast damping. This requires an additional Control taking into account measured vibration parameters.

Die zum Teil automatisch ablaufenden Regelvorgänge in der Verknüpfungsschaltung 106 sind bei einem Manipulator insofern problematisch, als Störungen in der Elektronik oder im Meßsystem zu unkontrollierten Bewegungsabläufen führen könnten. Mit den folgenden Sicherheitsvorkehrungen soll dieses Problem gelöst werden:The partly automatic control processes in the logic circuit 106 are problematic in a manipulator insofar as disorders in electronics or in the measuring system to uncontrolled movements could lead. With the following safety precautions this problem can be solved:

In der zum Mastkontakt 90 des Wechselbetriebsventils 98,100 auf dem Steckplatz 84 führenden Ausgangsleitung 110 befindet sich ein Relaiskontakt 112', der zu dem Relais 112 in der Schaltungsanordnung 80 gehört. Das Relais 112 kann einmal über einen Kontakt im Tastorgan 66 im Fernsteuergerät über den Wechselschalter 70, die Leitung 72 und die Diodenstrecke 114 in der Steuereinrichtung 62 angesteuert werden. Dem Schalter 66 kommt dabei die Funktion einer Zustimmungstaste zu, über die der Relaiskontakt 112' geschlossen wird. Außerdem ist das Zustimmungsrelais 112 über einen Schließkontakt 116' des Verzögerungsrelais 116 angeordnet, das hinter dem Nullstellungskontakt 78 über die von der Eingangsstufe 60 kommende Mastfreigabeleitung 76 ansteuerbar ist. Das Verzögerungsrelais 116 fällt mit einer einstellbaren Zeitkonstante von 0,2 bis 3 s ab, wenn der Wahlschalter 68 von der Mastfreigabe in Richtung Stützbeinfreigabe umgeschaltet wird oder wenn der Kontakt 78 im Falle der Nullstellung des Fernsteuerorgans 52 geöffnet wird. Aufgrund des Zustimmungsrelais 112 ist eine Mastbetätigung daher nur möglich, wenn der Wahlschalter 68 zur Mastfreigabe auf die Leitung 76 geschaltet ist und das für die Mastbetätigung relevante Fernsteuerorgan 52 zumindest in einer Hauptrichtung aus der Nullstellung herausbewegt ist. Die Verzögerung beim Abfallen des Relais 116 ist so eingestellt, daß die Mastbetätigung nicht abrupt unterbrochen wird und ein zuvor stattgefundener Regelvorgang in der Verknüpfungsschaltung 106 abgeschlossen ist. Bei unbewegtem Knickmast, beispielsweise während eines Pumpvorgangs, kann durch Betätigung der Zustimmungstaste 66 der Relaiskontakt 112' in seine Schließstellung gebracht werden. Damit ist es möglich, über die Verknüpfungsschaltung 106 eine aktive Schwingungsdämpfung auszulösen.In the mast contact 90 of the changeover valve 98,100 on the Slot 84 leading output line 110 is a relay contact 112 'associated with the relay 112 in the circuit 80. The Relay 112 can once via a contact in the sensing element 66 in the remote control unit via the changeover switch 70, the line 72 and the diode path 114 are controlled in the control device 62. The switch 66 In this case, the function of an approval key comes about, via which the relay contact 112 'is closed. In addition, the consent relay 112 arranged over a closing contact 116 'of the delay relay 116, the behind the zeroing contact 78 via the coming of the input stage 60 Mast enable line 76 can be controlled. The delay relay 116 drops with an adjustable time constant of 0.2 to 3 s when the selector switch 68 switched from the mast release towards Stützbeinfreigabe or if the contact 78 in the case of zeroing the remote control device 52 is opened. Due to the approval relay 112 is a mast operation therefore only possible if the selector switch 68 for mast release is connected to the line 76 and the relevant for the mast actuation Remote control member 52 at least in a main direction from the zero position moved out. The delay in the fall of the relay 116 is set that the mast control is not interrupted abruptly and one before completed control process in the logic circuit 106 completed is. With unmoved articulated mast, for example during a Pumping operation, by pressing the consent button 66 of the relay contact 112 'are brought into its closed position. This makes it possible via the logic circuit 106 an active vibration damping trigger.

In der Ausgangsleitung 120 für die Stützbeinfreigabe im Wechselbetriebsventil 98 befindet sich ebenfalls ein Relaiskontakt 122', der zu einem Relais 122 gehört. Das Relais 122 wird über die von der Eingangsstufe 60 kommende Stützbeinfreigabeleitung 74 angesteuert, wenn der Wahlschalter 64,68 in seine Stützbeinfreigabestellung gelangt. In diesem Fall wird über die Ausgangsleitung 120 das Stellglied 92 angesteuert und über das Speiseventil 98 die Antriebsaggregate der Stützbeine 40,42 mit Drucköl beaufschlagt.In the outlet leg 120 for the support leg release in the shuttle valve 98 is also a relay contact 122 ', which is a relay 122 heard. The relay 122 is the coming of the input stage 60 Support leg release line 74 activated when the selector switch 64.68 gets into his support leg release position. In this case, over the Output line 120, the actuator 92 driven and the feed valve 98 the drive units of the support legs 40,42 pressurized oil.

Die Relais 112 und 122 haben jeweils einen weiteren zwangsgeführten Kontakt 112",122" in der Aktivierungsleitung zu dem Notaus-Relais 124. Diese Maßnahme dient insofern der Sicherheit, als bei einem Hängenbleiben der Kontakte 112',122' das Notaus-Relais 124 mit seinen Kontakten 124',124" nicht mehr aktiviert werden kann. Dabei ist zu berücksichtigen, daß bei jeder Inbetriebnahme der Steuereinrichtung 62 zunächst die Notausschaltung 124 aktiviert werden muß, damit die Speiseventile 98,100 des Wechselbetriebsventils mit Spannung beaufschlagt werden können. Hierbei handelt es sich um eine Reset-Funktion, bei der für die akustische Quittierung zugleich die Hupe betätigt wird.The relays 112 and 122 each have another positively driven contact 112 ", 122" in the activation line to the emergency stop relay 124. This Measure serves insofar as safety, as in a snagging the Contacts 112 ', 122' the emergency stop relay 124 with its contacts 124 ', 124 " can not be activated anymore. It should be noted that at each Commissioning the controller 62 first the emergency off 124th must be activated so that the feed valves 98,100 of Wechselbetriebsventils can be charged with voltage. This is it to a reset function, at the same time for the acoustic acknowledgment Horn is pressed.

Claims (16)

  1. Device for operating an articulated boom (22) linked to a boom block (21), in particular a concrete placement boom, which boom block (21) is rotatable via a preferably hydraulic actuated drive assembly, and which articulated boom (22) includes at least three boom segments (23 through 27), which are each respectively limitedly pivotable relative to the boom block (21) or an adjacent boom segment about articulation axes (28 through 32), which axes are parallel to each other and perpendicular to the axis of rotation (13) of the boom block (21), by means of respectively one preferably hydraulic actuated drive assembly (34 through 38), with a control device (62) for movement of the boom with the aid of individual drive assemblies and/or a supply assembly (100) for supplying energy or hydraulic pressure to associated actuating elements (94), and with a remote control device (50) communicating with an input stage (60) of the control device (62), which includes at least one remote control element (52, 54) moveable back and forth by hand through a zero position in respectively at least one main adjustment direction and thereby generating a remote control signal, as well as additional remote control signal emitting switch elements (64, 66, 66'), wherein the control device (62) includes a computer assisted first circuit arrangement (80) receiving information from the remote control signal via the input stage (60), which is connected on the output side with control inputs (88, 90) of the actuating elements (92, 94), thereby characterized, that the control device (62) includes an interruption element (112, 112') which, when the at least one remote control element (52) is in the zero position, interrupts the connection to the control inputs (90) of the actuators associated with the drive assembly and/or the supply unit (100) for providing the energy or hydraulic pressure to the associated control elements (94), wherein the interruption can be selectively bypassed by operation of a supplemental switch or key element (66).
  2. Device according to Claim 1, thereby characterized, that the first circuit arrangement (80) includes a computer assisted position controller for the redundant articulated axes (28 through 32) with associated path or angle providers and/or a computer assisted damping device with associated pressure probes on the hydraulic drive assemblies (34 through 38).
  3. Device according to Claim 1 or 2, thereby characterized, that the interruption element (112, 112') is under the control of the delay element (116, 116').
  4. Device according to Claim 3, thereby characterized, that the delay element is a delay relay (116, 116').
  5. Device according to Claim 3 or 4, thereby characterized, that the delay element exhibits a time constant smaller than 3 seconds, preferably between 0.2 and 1.5 seconds.
  6. Device according to one of Claims 1 through 5, thereby characterized, that the at least one remote control element (52, 54) is a control lever provided on the remote control device (50), and that the interruption element is responsive to the remote control signal generated by the at least one zero position contact of the control lever.
  7. Device according to one of Claims 1 through 6, thereby characterized, that the first circuit arrangement (80) includes a computer assisted coordinate transformer, via which in a first main adjustment direction of the at least one remote control element (52) the drive assemblies (34 through 38) of the redundant articulated axes (28 through 32) of the boom segments (23 through 27) carry out of an extension or retraction movement of the articulated boom (22) depending upon the value of a predetermined path tilt characteristic and in a second main adjustment direction the drive assembly (19) of the boom block (21) is operable.
  8. Device according to one of Claims 1 through 7, thereby characterized, that the control device (62) includes a second circuit arrangement (82) connected with the input stage (60), which on the output side is connected with the control inputs of the control elements and thereby each main positioning direction of the remote control element (52, 54) is associated with one of the drive assemblies (19, 34 through 38).
  9. Device according to Claim 8, thereby characterized, that both circuit arrangements (80, 82) exhibit, on the output side, connector receptacles (84, 84') compatible with each other for connecting a wiring harness leading to the control inputs (88, 90) of the control elements (92, 94).
  10. Device according to Claim 8 or 9, thereby characterized, that the two circuit arrangements (80, 82) exhibit a common input stage (60).
  11. Device according to Claim 10, thereby characterized, that the input stage (60) includes a radio receiver (58) for reception of the remote control signal transmitted by the remote control device (50).
  12. Device according to one of Claims 1 through 11, thereby characterized, that the input stage (60) of the control device (62) is connected with the first circuit arrangement (80) via a preferably CAN-bus data bus for transmission of the data associated with the remote control signal.
  13. Device according to one of Claims 1 through 12, thereby characterized, that the drive assemblies (19, 34 through 38) include a reciprocating hydraulic cylinder or hydraulic motor, that the supply assembly (98, 100) is a supply valve for the common hydraulic pressure fluid supply to the drive assemblies, that via the control device (62) is operable via an electro-magnetic actuating element (92, 94) and that the interruption element (112, 112', 122, 122') is a switch contact (112', 122') provided in the supply line of the actuating element (92, 94), preferably controllable via the delay element (116).
  14. Device according to Claim 13, thereby characterized, that the supply valve (98, 100) is a component of the simplex drive valve controllable via the control device (50) for the selective driving of the boom movement or driving the vehicle supporting struts (40, 42).
  15. Device according to Claim 13, thereby characterized, that the control device (62) includes an interruption element (98), which in the case of the zero positioning of the at least one remote control element (52, 54) or in the case of driving of the boom movement interrupts the connection to the control inputs of the actuating elements (92) associated with the drive assemblies and/or a supply valve (98) for supplying the energy or hydraulic pressure for supporting the vehicle chassis (40, 42).
  16. Use of the device according to one of Claims 1 through 15 in a mobile concrete pump with articulated boom and electronic control of boom movement.
EP02706747A 2001-04-02 2002-02-22 Device for actuating an articulated mast, especially for concrete pumps Expired - Lifetime EP1373661B1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10116407A DE10116407A1 (en) 2001-04-02 2001-04-02 Device for actuating an articulated mast, in particular for concrete pumps
DE10116407 2001-04-02
PCT/EP2002/001877 WO2002079596A1 (en) 2001-04-02 2002-02-22 Device for actuating an articulated mast, especially for concrete pumps

Publications (2)

Publication Number Publication Date
EP1373661A1 EP1373661A1 (en) 2004-01-02
EP1373661B1 true EP1373661B1 (en) 2005-10-12

Family

ID=7680113

Family Applications (1)

Application Number Title Priority Date Filing Date
EP02706747A Expired - Lifetime EP1373661B1 (en) 2001-04-02 2002-02-22 Device for actuating an articulated mast, especially for concrete pumps

Country Status (9)

Country Link
US (1) US7011108B2 (en)
EP (1) EP1373661B1 (en)
JP (1) JP4288075B2 (en)
KR (1) KR100836351B1 (en)
CN (1) CN1228527C (en)
AT (1) ATE306598T1 (en)
DE (2) DE10116407A1 (en)
ES (1) ES2249557T3 (en)
WO (1) WO2002079596A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016106352A1 (en) 2016-04-07 2017-10-12 Schwing Gmbh Remote control device for large manipulator with control lever

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7989979B2 (en) * 2004-04-28 2011-08-02 The Will-Burt Company Pneumatically telescoping mast having DC operated controls
CN100591880C (en) * 2006-12-31 2010-02-24 三一重工股份有限公司 Intelligent cantilever crane control device
US8734705B2 (en) * 2008-06-13 2014-05-27 Tindall Corporation Method for fabrication of structures used in construction of tower base supports
DE102008047425A1 (en) * 2008-09-15 2010-04-15 Putzmeister Concrete Pumps Gmbh Mobile work machine with remote control device
KR101174576B1 (en) 2010-10-18 2012-08-16 현대엠코 주식회사 System for driving bypass valves in response to error of concrete high pressure pumping
MX355029B (en) * 2012-05-25 2018-03-28 Schlumberger Technology Bv Service line transport and deployment system.
CN102880145B (en) * 2012-09-28 2016-02-03 三一汽车制造有限公司 leg control system and engineering machinery
JP6438958B2 (en) * 2013-09-06 2018-12-19 プッツマイスター エンジニアリング ゲーエムベーハー Work machine and method of operating the work machine
KR101720033B1 (en) * 2015-12-09 2017-03-27 김용호 lift gate apparatus for truck
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
CN109052179B (en) * 2018-10-10 2023-09-08 山东省建设高压容器有限公司 Mast crane control system for installation of cement waste heat boiler
CN111452970A (en) * 2020-04-08 2020-07-28 胡国斌 Unmanned aerial vehicle delivery high-value target releaser and control method thereof

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2106756A (en) * 1981-09-09 1983-04-13 Carruthers And Company Limited Remote control system using a radio link
DE4306127C2 (en) * 1993-02-27 2002-08-08 Putzmeister Ag Large manipulator, especially for truck-mounted concrete pumps
DE4412643A1 (en) * 1993-08-26 1995-03-02 Putzmeister Maschf Large manipulator, in particular for truck-mounted concrete pumps, and method for handling it
DE4330137A1 (en) * 1993-09-07 1995-03-09 Putzmeister Maschf Hydraulic pressure supply and control unit for a truck-mounted concrete pump
EP0669462A1 (en) * 1995-01-30 1995-08-30 Aliva Aktiengesellschaft Method to adjust the pulse amplitude and concrete pump
DE19503895A1 (en) * 1995-02-07 1996-08-08 Putzmeister Maschf Mobile concrete pumping unit with segmented delivery arm
DE19520166C2 (en) * 1995-06-01 2000-03-23 Konrad Schauer Mast control for non-vibration-free multi-joint devices, especially for multi-unit concrete pump distribution booms
JP4120905B2 (en) * 1999-03-31 2008-07-16 石川島建機株式会社 Operation control device for boom-equipped concrete pump car
DE10046546A1 (en) * 2000-09-19 2002-03-28 Putzmeister Ag Heavy manipulator for concrete pumping, incorporates damping of mechanical oscillation of handling mast

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016106352A1 (en) 2016-04-07 2017-10-12 Schwing Gmbh Remote control device for large manipulator with control lever
WO2017174576A1 (en) 2016-04-07 2017-10-12 Schwing Gmbh Remote control device for a large manipulator having a control lever

Also Published As

Publication number Publication date
JP2004526084A (en) 2004-08-26
DE10116407A1 (en) 2002-10-17
US7011108B2 (en) 2006-03-14
US20040094212A1 (en) 2004-05-20
CN1492961A (en) 2004-04-28
KR20040004574A (en) 2004-01-13
ES2249557T3 (en) 2006-04-01
KR100836351B1 (en) 2008-06-09
CN1228527C (en) 2005-11-23
EP1373661A1 (en) 2004-01-02
DE50204528D1 (en) 2006-02-23
ATE306598T1 (en) 2005-10-15
WO2002079596A1 (en) 2002-10-10
JP4288075B2 (en) 2009-07-01

Similar Documents

Publication Publication Date Title
EP1373661B1 (en) Device for actuating an articulated mast, especially for concrete pumps
EP0715673B2 (en) Large manipulator, especially for self-propelled concrete pumps, and method for operating it
EP2186968B1 (en) Large scale manipulator
EP2323943B1 (en) Mobile working machine having a remote control device
EP1360386B1 (en) Large manipulator for concrete pumps with a control device with a safety routine, as well as method to monitor the safety of a foldable boom of such a large manipulator
DE3687935T2 (en) TREE CONTROL SYSTEM.
DE4306127C2 (en) Large manipulator, especially for truck-mounted concrete pumps
EP0113383B1 (en) Remote control for construction machines, especially for a concrete pump co-operating with a distribution arm
EP2139803B2 (en) Method for controlling a load-moving device and controller of a load-moving device
DE102016113359B4 (en) MOBILE CRANE
WO2004020765A1 (en) Device for actuating an articulated mast
DE102015108473A1 (en) Large manipulator with quick folding and unfolding articulated mast
DE102008028434A1 (en) Loading platform for use on transport vehicle, has control and/or operating unit comprising circuit, where control commands are interconnected only to motor drives only with positive signal of presence of safety criteria by circuit
EP3440288B1 (en) Large manipulator having remote control device
DE102016225309A1 (en) One-axis operating unit for safety-relevant applications
EP0747535A1 (en) Apparatus and method for moving buildings
WO2023280873A1 (en) Work machine
DE19529017A1 (en) Medical appts remote-control device - uses optical cable with transmission and reception conductors and operating element for varying transmission path between them.
DD288362A5 (en) DEVICE FOR COLLISION PROTECTION OF ROBUST MOVING WORKTOPS

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: 20030708

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

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

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: 20051012

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: 20051012

Ref country code: IE

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: 20051012

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

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20051116

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: 20060112

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: 20060112

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: 20060112

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: 20060222

REF Corresponds to:

Ref document number: 50204528

Country of ref document: DE

Date of ref document: 20060223

Kind code of ref document: P

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 NON-PAYMENT OF DUE FEES

Effective date: 20060228

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20060228

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20060228

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20060228

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20060228

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: 20060313

REG Reference to a national code

Ref country code: ES

Ref legal event code: FG2A

Ref document number: 2249557

Country of ref document: ES

Kind code of ref document: T3

NLV1 Nl: lapsed or annulled due to failure to fulfill the requirements of art. 29p and 29m of the patents act
REG Reference to a national code

Ref country code: IE

Ref legal event code: FD4D

ET Fr: translation filed
PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20060713

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

BERE Be: lapsed

Owner name: PUTZMEISTER A.G.

Effective date: 20060228

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: 20051012

REG Reference to a national code

Ref country code: FR

Ref legal event code: CJ

Ref country code: FR

Ref legal event code: CD

REG Reference to a national code

Ref country code: GB

Ref legal event code: 732E

Free format text: REGISTERED BETWEEN 20110113 AND 20110119

REG Reference to a national code

Ref country code: ES

Ref legal event code: PC2A

Owner name: PUTZMEISTER ENGINEERING GMBH

Effective date: 20110610

REG Reference to a national code

Ref country code: FR

Ref legal event code: TP

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20130301

Year of fee payment: 12

Ref country code: ES

Payment date: 20130218

Year of fee payment: 12

Ref country code: GB

Payment date: 20130218

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20140222

Year of fee payment: 13

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: TR

Payment date: 20140218

Year of fee payment: 13

Ref country code: IT

Payment date: 20140225

Year of fee payment: 13

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20140222

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20141031

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: 20140228

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140222

REG Reference to a national code

Ref country code: ES

Ref legal event code: FD2A

Effective date: 20150327

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20140223

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 50204528

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: 20150222

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150901

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20150222