EP1373661B1 - Dispositif d'actionnement d'un mat articule destine notamment a des pompes a beton - Google Patents

Dispositif d'actionnement d'un mat articule destine notamment a des pompes a beton Download PDF

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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
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German (de)
English (en)
Other versions
EP1373661A1 (fr
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/fr
Application granted granted Critical
Publication of EP1373661B1 publication Critical patent/EP1373661B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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.

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  • 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)
  • Control Of Non-Positive-Displacement Pumps (AREA)
  • Operation Control Of Excavators (AREA)
  • Reciprocating Pumps (AREA)

Claims (16)

  1. Dispositif d'actionnement d'un mât articulé (22) qui est articulé sur un support de mât (21), notamment d'un mât distributeur de béton, le support de mât (21) étant rotatif au moyen d'un ensemble d'entraínement pouvant être actionné de préférence hydrauliquement et le mât articulé (22) présentant au moins trois segments de mât (23 à 27), qui sont à pivotement limité par rapport au support de mât (21) ou à un segment de mât voisin, au moyen d'un ensemble d'entraínement respectif (34 à 38) pouvant être actionné de préférence hydrauliquement, autour d'axes d'articulation (28 à 32) parallèles entre eux et perpendiculaires à l'axe de rotation (13) du support de mât (21), avec un équipement de commande (62) pour le mouvement du mât à l'aide d'actionneurs (94) associés aux ensembles d'entraínement individuels et/ou à un ensemble d'alimentation (100) pour leur alimentation en énergie ou en liquide hydraulique sous pression, et avec un appareil (50) de commande à distance qui communique avec un étage d'entrée (60) de l'équipement de commande (62) et qui présente un organe (52, 54) de commande à distance pouvant être déplacé à la main en va-et-vient - en passant par une position zéro - dans au moins une direction principale de réglage respective et délivrant alors un signal de commande à distance, ainsi que d'organes supplémentaires (64, 66, 66') de commutation ou à touche délivrant un signal de commande à distance, sachant que l'équipement de commande (62) présente un premier montage électrique (80) assisté par ordinateur, qui peut recevoir par l'intermédiaire de l'étage d'entrée (60) les informations des signaux de commande à distance et qui est relié du côté de sortie à des entrées de commande (88, 90) des actionneurs (92, 94), caractérisé en ce que l'équipement de commande (62) présente un élément interrupteur (112, 112') qui, dans la position zéro de l'organe (52) de commande à distance au moins unique, interrompt la liaison vers les entrées de commande (90) des actionneurs (94) associés aux ensembles d'entraínement et/ou à l'ensemble d'alimentation (100) pour l'alimentation en énergie ou en liquide hydraulique sous pression, sachant que l'interruption peut être outrepassée à volonté par l'actionnement d'un organe supplémentaire (66) de commutation ou à touche.
  2. Dispositif selon la revendication 1, caractérisé en ce que le premier montage électrique (80) présente un régulateur de position assisté par ordinateur pour les axes d'articulation redondants (28 à 32) avec des transmetteurs associés de déplacement ou d'angle, et/ou un équipement d'amortissement assisté par ordinateur avec des capteurs de pression associés sur les ensembles d'entraínement hydrauliques (34 à 38).
  3. Dispositif selon la revendication 1 ou 2, caractérisé en ce que l'élément interrupteur (112, 112') peut être asservi au moyen d'un élément de temporisation (116, 116').
  4. Dispositif selon la revendication 3, caractérisé en ce que l'élément de temporisation est réalisé sous forme de relais de temporisation (116, 116').
  5. Dispositif selon la revendication 3 ou 4, caractérisé en ce que l'élément de temporisation présente une constante de temps inférieure à 3 secondes, de préférence de 0,2 à 1,5 secondes.
  6. Dispositif selon l'une des revendications 1 à 5, caractérisé en ce que l'organe (52, 54) de commande à distance au moins unique est réalisé sous forme de levier de commande disposé sur l'appareil (50) de commande à distance, et en ce que l'élément interrupteur réagit aux signaux de commande à distance déclenchés par au moins un contact de position zéro du levier de commande.
  7. Dispositif selon l'une des revendications 1 à 6, caractérisé en ce que le premier montage électrique (80) présente un transformateur de coordonnées assisté par ordinateur au moyen duquel peuvent être actionnés, dans une première direction principale de réglage de l'organe (52) de commande à distance au moins unique, les ensembles d'entraínement (34 à 38) des axes d'articulation redondants (28 à 32) des segments de mât (23 à 27) en accomplissant un mouvement d'extension ou de rétraction du mât articulé (22) conformément à une caractéristique course/pivotement prédéfinie, et transformateur de coordonnées au moyen duquel peut être actionné, dans une deuxième direction principale de réglage, l'ensemble d'entraínement (19) du support de mât (21).
  8. Dispositif selon l'une des revendications 1 à 7, caractérisé en ce que l'équipement de commande (62) présente un deuxième montage électrique (82) qui est relié à l'étage d'entrée (60) et qui est relié du côté de sortie aux entrées de commande des actionneurs, un des ensembles d'entraínement (19, 34 à 38) étant alors associé à chaque direction principale de réglage des organes (52, 54) de commande à distance.
  9. Dispositif selon la revendication 8, caractérisé en ce que les deux montages électriques (80, 82) présentent du côté de sortie des emplacements de connecteurs (84, 84') mutuellement compatibles pour le raccordement d'un faisceau de câbles menant aux entrées de commande (88, 90) des actionneurs (92, 94).
  10. Dispositif selon la revendication 8 ou 9, caractérisé en ce que les deux montages électriques (80, 82) présentent un étage d'entrée commun (60).
  11. Dispositif selon la revendication 10, caractérisé en ce que l'étage d'entrée (60) présente un récepteur radio (58) pour la réception des signaux de commande à distance émis par l'appareil (50) de commande à distance.
  12. Dispositif selon l'une des revendications 1 à 11, caractérisé en ce que l'étage d'entrée (60) de l'équipement de commande (62) est relié au premier montage électrique (80) par l'intermédiaire d'un bus de données, réalisé de préférence sous forme de bus CAN, pour la transmission des données associées aux signaux de commande à distance.
  13. Dispositif selon l'une des revendications 1 à 12, caractérisé en ce que les ensembles d'entraínement (19, 34 à 38) sont réalisés sous forme de moteurs hydrauliques ou de cylindres hydrauliques à double action, en ce que l'ensemble d'alimentation (98, 100) est réalisé sous forme de soupape d'alimentation pour l'apport commun de liquide hydraulique sous pression aux ensembles d'entraínement, soupape qui peut être actionnée au moyen de l'équipement de commande (62) via un actionneur électromagnétique (92, 94), et en ce que l'élément interrupteur (112, 112', 122, 122') est réalisé sous forme de contact de commutation (112', 122') disposé dans la ligne d'entrée de l'actionneur (92, 94) et pouvant être asservi de préférence via l'élément de temporisation (116, 116').
  14. Dispositif selon la revendication 13, caractérisé en ce que la soupape d'alimentation (98, 100) fait partie d'un distributeur semi-duplex pouvant être asservi au moyen de l'appareil (50) de commande à distance et destiné à l'asservissement sélectif du mouvement du mât ou du soutien de châssis (40, 42).
  15. Dispositif selon la revendication 13, caractérisé en ce que l'équipement de commande (62) présente un élément interrupteur (98) qui, dans la position zéro de l'organe (52, 54) de commande à distance au moins unique ou lors de l'asservissement du mouvement du mât, interrompt la liaison vers les entrées de commande des actionneurs (92) associés aux ensembles d'entraínement pour le soutien de châssis (40, 42) et/ou à une soupape d'alimentation (98) pour leur alimentation en énergie ou en liquide hydraulique sous pression.
  16. Utilisation du dispositif selon l'une des revendications 1 à 15 dans une pompe à béton sur camion équipée d'un mât articulé et d'une commande électronique du mouvement du mât.
EP02706747A 2001-04-02 2002-02-22 Dispositif d'actionnement d'un mat articule destine notamment a des pompes a beton Expired - Lifetime EP1373661B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10116407A DE10116407A1 (de) 2001-04-02 2001-04-02 Vorrichtung zur Betätigung eines Knickmasts insbesondere für Betonpumpen
DE10116407 2001-04-02
PCT/EP2002/001877 WO2002079596A1 (fr) 2001-04-02 2002-02-22 Dispositif d'actionnement d'un mat articule destine notamment a des pompes a beton

Publications (2)

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

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Application Number Title Priority Date Filing Date
EP02706747A Expired - Lifetime EP1373661B1 (fr) 2001-04-02 2002-02-22 Dispositif d'actionnement d'un mat articule destine notamment a des pompes a beton

Country Status (9)

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

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WO2017174576A1 (fr) 2016-04-07 2017-10-12 Schwing Gmbh Unité de télécommande pour grand manipulateur à levier de commande

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US7989979B2 (en) * 2004-04-28 2011-08-02 The Will-Burt Company Pneumatically telescoping mast having DC operated controls
CN100591880C (zh) * 2006-12-31 2010-02-24 三一重工股份有限公司 一种智能臂架控制装置
US8322093B2 (en) 2008-06-13 2012-12-04 Tindall Corporation Base support for wind-driven power generators
DE102008047425A1 (de) * 2008-09-15 2010-04-15 Putzmeister Concrete Pumps Gmbh Mobile Arbeitsmaschine mit Fernsteuereinrichtung
KR101174576B1 (ko) 2010-10-18 2012-08-16 현대엠코 주식회사 콘크리트 압송 이상 대응 바이패스 밸브 구동 시스템
CA2909192C (fr) * 2012-05-25 2020-06-02 T&T Engineering Services, Inc. Systeme de transport et de mise en ƒuvre de conduite de branchement
CN102880145B (zh) * 2012-09-28 2016-02-03 三一汽车制造有限公司 支腿控制系统和工程机械
EP3041779B1 (fr) * 2013-09-06 2019-09-04 Putzmeister Engineering GmbH Machine de travail et procédé de fonctionnement
KR101720033B1 (ko) * 2015-12-09 2017-03-27 김용호 화물차용 리프트 게이트 장치
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 (zh) * 2018-10-10 2023-09-08 山东省建设高压容器有限公司 一种水泥余热锅炉安装用桅杆吊机控制系统
CN111452970A (zh) * 2020-04-08 2020-07-28 胡国斌 一种无人机投送高价值目标释放器及其控制方法

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DE4306127C2 (de) * 1993-02-27 2002-08-08 Putzmeister Ag Großmanipulator, insbesondere für Autobetonpumpen
DE4412643A1 (de) 1993-08-26 1995-03-02 Putzmeister Maschf Großmanipulator, insbesondere für Autobetonpumpen, sowie Verfahren zu dessen Handhabung
DE4330137A1 (de) 1993-09-07 1995-03-09 Putzmeister Maschf Hydraulisches Druckversorgungs- und Steueraggregat für eine Autobetonpumpe
EP0669462A1 (fr) * 1995-01-30 1995-08-30 Aliva Aktiengesellschaft Procédé de réglage de l'amplitude de la pulsation et pompe à béton
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WO2017174576A1 (fr) 2016-04-07 2017-10-12 Schwing Gmbh Unité de télécommande pour grand manipulateur à levier de commande
DE102016106352A1 (de) 2016-04-07 2017-10-12 Schwing Gmbh Fernsteuergerät für Großmanipulator mit Steuerhebel

Also Published As

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

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