EP1537282B1 - Grossmanipulator mit einem Knickmast und einer Regeleinrichtung zur Aussteuerung des Knickmastes - Google Patents

Grossmanipulator mit einem Knickmast und einer Regeleinrichtung zur Aussteuerung des Knickmastes Download PDF

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Publication number
EP1537282B1
EP1537282B1 EP03790779A EP03790779A EP1537282B1 EP 1537282 B1 EP1537282 B1 EP 1537282B1 EP 03790779 A EP03790779 A EP 03790779A EP 03790779 A EP03790779 A EP 03790779A EP 1537282 B1 EP1537282 B1 EP 1537282B1
Authority
EP
European Patent Office
Prior art keywords
mast
articulation
angle
large manipulator
manipulator according
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
EP03790779A
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German (de)
English (en)
French (fr)
Other versions
EP1537282A1 (de
Inventor
Hartmut Benckert
Kurt Rau
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 EP1537282A1 publication Critical patent/EP1537282A1/de
Application granted granted Critical
Publication of EP1537282B1 publication Critical patent/EP1537282B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution

Definitions

  • the invention relates to a large manipulator with a articulated mast, which is articulated to a rotatable about a vertical axis on a frame mast bracket and which has at least three mast arms which are limited by each horizontal, mutually parallel bending axes relative to the mast block or an adjacent mast arm by means of a respective drive unit are pivotable and form a mast top at the free end of the last mast arm, with a control device for controlling the drive units for the mast movement, the one on a preferably fixed in a frame-fixed coordinate system reference variable for the mast top or arranged on this end hose and on by means of angle sensors
  • the mast arms certain angle measured responsive coordinate transformer for implementation in kink-axis related motion signals for the drive units in accordance with a predetermined path / swing characteristic has.
  • Large manipulators of this type are used, for example, in stationary and truck-mounted concrete pumps. Such large manipulators are operated by an operator who is responsible via a remote control device for both the pump control and for the positioning of a arranged at the top of the articulated end hose. For this purpose, the operator has to actuate several rotational degrees of freedom of the articulated mast via the associated drive units while moving the articulated mast in the non-structured three-dimensional work space while observing the site boundary conditions.
  • the single-axis actuation has the advantage that the individual boom arms can be brought individually into any, limited only by their pivoting position.
  • Each axis of the articulated mast or the mastbuck is a main direction of the Fem interviewedorgane of Assigned remote control device, so that in the presence of three or more boom arms, the operation becomes confusing.
  • the operator must always keep an eye on both the actuated axles and the end hose in order to avoid the risk of uncontrolled movements on the end hose and thus endangering the site personnel.
  • the drive units of the bending axes are independent of the drive unit of the rotation axis under execution of a lifting and lowering movement of the mast tip actuated.
  • the drive units of the redundant bending axes of the articulated mast can each be actuated in accordance with a travel / swivel characteristic. This includes modifying the swing / swing characteristic in the coordinate transformer under the influence of load-dependent bending and torsional moments acting on the individual mast arms.
  • angle sensors for determining the kink angles are provided on the mast arms.
  • Each angle encoder only measures the bending angle between two mast arms of a bending axis. This type of angle measurement is stable because the system is relatively stiff in the axis area and because the angle encoders specify the actual kink angle quite accurately.
  • the axis-related measured value is independent of the measured values on the other axes. This provides a relatively simple mathematical mapping between the kink angles on the one hand and the instantaneous position of the end hose on the other.
  • the buckling-related angle measurement is also independent of the deflection of the individual mast arms due to the attacking load moments.
  • the deflection must also be considered mathematically. For this, first of all, the mass of the individual arms and, in particular, the filling of the associated arms. Distributor pipes are determined with concrete. The deflection then purely mathematically enters the coordinate transformation. This is considered disadvantageous.
  • the angle-axis-related angle measurements do not contain any information components about the state of vibration itself, so that there is dynamic decoupling with respect to the angle measurements.
  • the relatively stable axis angles therefore allow disturbance variable feedback using additional information about the vibrational state in the individual axes, e.g. the dynamic pressure curve in the associated actuating cylinder.
  • For an effective vibration damping is possible (see DE-A-10046546).
  • the present invention seeks to further develop the known large manipulators so that information about the Deflection of the mast arms and the dynamics of the system can be detected metrologically and used in control technology.
  • a first variant of the invention provides that geodesic angle sensors are preferably arranged rigidly on the mast arms, preferably at a distance from the bending axes, for determining earth-fixed angle measurement values assigned to the individual mast arms. Also, a non-horizontal orientation of the mastbuck and this supporting frame in the coordinate transformation It is advantageous if, in addition, a geodetic angle sensor arranged on the mast block and / or at least one arranged on the frame is provided for measuring a ground-constant measured value associated with the mast block and / or the frame.
  • a preferred embodiment of the invention provides that the geodesic angle sensors are designed as responsive to the gravity of the earth inclination angle sensor.
  • the coordinate transformer has a software routine for converting earth-fixed mastarm-related angle measured values into bending angles.
  • the coordinate transformer should have a software routine for converting the reference variable in the frame-fixed cylindrical coordinate system in accordance with a predetermined path / swivel characteristic of the articulated mast in guide bending angle.
  • a mathematical model is required, which causes a decoupling of the geodetic angle measurements in the individual mast arms.
  • a dynamic decoupling of the signals converted to the buckling-axis-related angular coordinates is carried out for this purpose.
  • a software routine responsive to dynamic angle measurements is divided into low-frequency components and high-frequency angle measured value components.
  • a group of buckling-related rule comparators is provided, which can be acted upon by the stationary or low-frequency components of the buckling angle as actual values and with the guide bending angles as setpoints and the output side are connected with buckling-related reference variable controllers for controlling the drive units of the respective buckling axes.
  • a group of buckling-related disturbance variables is provided, which can be acted upon by the buckling-axis-related high-frequency components of the dynamic angle measurement values and which are connected to the signal inputs of the associated drive units of the buckling axes to form a disturbance variable connection.
  • the disturbance variable regulators can be preceded by a software routine responding to the dynamic earth-fixed angle measurement values and the summary high-frequency component of the articulation angles for determining the high-frequency components of the individual articulation angles.
  • the decomposition of the dynamic angle measured values described above leads to different control signals of different categories being obtained and being evaluated in different control loops: a reference variable controller which influences the guide behavior predefined by the operator and a disturbance variable controller which influences the oscillation behavior.
  • the two controller groups are supplied with the actual value signal components from this decomposition.
  • the setpoint values of the reference variable controller are generated from the incoming data of, for example, a joystick, ie from the specifications of the operator, with additional consideration of a preset off-axis characteristic, while the distributed disturbance variables are regulated to zero via the disturbance controller for the purpose of vibration damping.
  • the leadership behavior according to the invention additionally comprises the static deformation of the mast arms and the Aufstellne Trent the substructure.
  • a second alternative solution is that a satellite-supported GPS module (Global Positioning System) for determining fixed earth measured values assigned to the individual boom arms is rigidly arranged on the boom arms, wherein the coordinate transformer can be acted upon by the position measurement values of the GPS modules.
  • a GPS module arranged on the gantry and, if appropriate, at least one GPS module arranged on the gantry are also provided for determining earth-fixed position measurement values assigned to the gantry and / or the gantry.
  • the earth-fixed mastarm-related position measured values are advantageously converted into bending angles with the aid of a software routine of the coordinate transformer.
  • the coordinate transformer additionally has a software routine for converting the reference variable in accordance with a predetermined path / swivel characteristic of the articulated mast into frame-fixed guide bending angles.
  • the position measurement values also contain dynamic position information with a sufficiently high frequency
  • a software routine responding to dynamic position measurement values is provided for dividing it into low-frequency and high-frequency position measured value components.
  • a group of rule comparators is provided, which can be acted upon with the stationary or low-frequency components of the bending angle as actual values and the researcherssknickwinkeln as setpoints and the output side are connected to a kink axis related reference variable controller for controlling the drive units of the respective bending axes.
  • the reference variable regulators ensure that the specifications of an operator, for example, with the help of a joystick in the desired shortening or stretching movement of the articulated mast is implemented.
  • a group of buckling-related disturbance controllers can additionally be provided, which with the buckling-axis-related high-frequency components of the dynamic Winkelmesswer angle measured values can be acted upon and connected to the signal inputs of the associated drive units of the buckling axes to form a disturbance variable circuit.
  • the disturbance variable regulators are suitably preceded by a software routine responsive to the dynamic earth-fixed position measurement values and the summary high-frequency component of the articulation angles for determining the buckling-related high-frequency components of the articulation angles.
  • the truck-mounted concrete pump 10 includes a chassis 11, an example designed as a two-cylinder piston pump thick matter pump 12 and a concrete distributor boom 14 as a support for a concrete conveyor line 16 on the concrete conveyor line 16 is liquid concrete, which is continuously introduced into a hopper 17 during concreting, to a Location of the vehicle 11 removed 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, which is continuously adjustable to variable range and height difference between the vehicle 11 and the concreting 18.
  • the articulated mast 22 consists in the illustrated embodiment five pivotally interconnected boom arms 23 to 27, which are parallel to each other and at right angles to the vertical axis 13 of the mast bracket 21 extending axes 28 to 32 pivotally.
  • the buckling angles ⁇ 1 to ⁇ 5 (FIG. 2) of the buckling joints formed by the bending axes 28 to 32 and their arrangement with one another are coordinated with one another such that the placing boom with the space-saving transport configuration on the vehicle corresponding to multiple folding as shown in FIG 11 can be stored.
  • drive units 34 to 38 which are individually assigned to the articulated axes 28 to 32, the articulated boom 22 can be unfolded at different distances r and / or height differences h between the concreting location 18 and the vehicle location (FIG. 2).
  • the operator controls by means of a wireless remote control device 50, the mast movement through which the mast tip 33 is carried away with the Enschlauch 43 over the area to be concreted.
  • the end hose 43 has a typical length of 3 to 4 m and, because of its articulated suspension in the area of the mast top 33 and due to its inherent flexibility with its outlet end, can be held by a hose man in a favorable position to the concreting site 18.
  • a geodesic angle sensor 44 to 48 is rigidly arranged on each mast arm 23 to 27 for determining earth-fixed angle measurement values ⁇ v (see FIG. 3) assigned to the individual mast arms.
  • Another geodesic angle sensor 49 is located on the mast block 21. With this, the inclination of the vertical axis 13 relative to the vertical and thus the inclination of the chassis relative to the ground can be measured.
  • the angle sensors 44 to 48 replace the buckling-axis-related angle sensors provided in the conventional articulated mast controls.
  • the geodesic angle sensors 44 to 49 are expediently designed as responsive to the gravity of the earth inclination angle sensor.
  • the angle sensors are arranged on the mast arms 23 to 27 outside the bending axes 28 to 32, their measured values contain additional information about the deflection of the mast system and the dynamic vibration state. Furthermore, the measured values also contain information about the pitch and a deformation in the substructure, which can be separated via an additional measuring point 49 on the gantry or on the frame.
  • the remote control device 50 contains at least one remote control element 60 which is designed as a control lever and which can be moved back and forth in three main operating directions while outputting control signals 62.
  • the control signals 62 are transmitted via a radio link 64 to a vehicle-mounted radio receiver 66, which is connected on the output side via a trained example as a CAN bus bus 68 to a microcontroller 70.
  • the microcontroller 70 contains software modules 74, 76, 78, 80, via which the control signals 62 ( ⁇ , r, h) received from the remote control device 50 and the measurement signals 82 ( ⁇ ⁇ ) received by the geodesic angle sensors 44 to 48 are interpreted, transformed and transmitted a reference variable controller 84, a disturbance controller 86 and a downstream signal generator 88 in actuation signals ( ⁇ ⁇ ) for the Drive units 34 to 38 (actuators) of the bending axes 28 to 32 are implemented.
  • the deflection of the remote control member 60 in the respective direction is converted into a speed signal in an interpolation routine, not shown, wherein a limit file ensures that the speed of movement of the axes and their acceleration does not exceed a predetermined maximum value (see DE-A-10060077).
  • the software module 74 designated "transformation routine” has the task of transforming the incoming control signals (nominal values), which are interpreted as cylindrical coordinates ⁇ , r, h, into angular time signals ⁇ s , ⁇ s in predetermined time clocks ⁇ on the pivoting and bending axes 13, 28 to 32.
  • Each articulation axis 28 to 32 is controlled so software-wise within the transformation routine 74 by using a predetermined path-and-swing characteristic that the articulated joints move in harmony with one another in a way and time.
  • the control of the redundant degrees of freedom of the articulated joints thus takes place according to a preprogrammed strategy, with which the self-collisions with adjacent boom arms 23 to 27 can be excluded in the movement.
  • the geodesic angle sensors 44 to 48 measure the instantaneous earth-fixed angles ⁇ v in a predetermined time interval and transmit the measured values to the microcontroller 74 via the bus system 68.
  • the measured values ⁇ ⁇ in the software module 76 are converted into the actual buckling angle values ⁇ i ⁇ converted.
  • the time-dependent bending angles are then used in the "filter routine" designated software module 78 divided into low frequency (quasi-stationary) kink angle ⁇ i ⁇ N and in a higher frequency summary buckling angle signal ⁇ H.
  • the low-frequency axis-related kink angle actual values ⁇ i ⁇ N are in a rule comparator 90 with the setpoints ⁇ s ⁇ compared and used via the reference variable controller 84 and the signal generator 88 for controlling the leading to the drive units 34 to 38 valves.
  • the higher-frequency summary component ⁇ H is converted into higher-frequency buckling-related interference signals ⁇ ⁇ H using the earth-fixed mast-related angle measured values ⁇ ⁇ in a higher-frequency buckling-related interference signal ⁇ ⁇ H , which is fed to the signal generator 88 via a control comparator 92 and the disturbance variable controller 86 in the sense of disturbance variable connection while being set to zero.
  • the invention relates to a device for actuating a buckling mast in particular for large manipulators and concrete pumps.
  • the articulated mast 22 is articulated on a mast block 21 rotatable about a vertical axis 13. He has at least three mast arms 23 to 27 which are limited to each horizontal, mutually parallel bending axes 28 to 32 relative to the mast bracket 21 or an adjacent mast arm 23 to 27 by means of a respective drive unit 34 to 38 pivotally limited.
  • a control device for controlling the drive units for the mast movement is provided, the one to a predetermined command r and on by means of angle sensors 44 to 48 to the mast arms 23 to 27 certain angle measured values ⁇ ⁇ responsive coordinate transformer 74,76 for implementation in kink-axis related motion signals ⁇ ⁇ for the drive units 34 to 38 in accordance with a predetermined path / swing characteristic has.
  • geodesic angle sensors 44 to 48 are fixedly arranged on the mast arms 23 to 27 at a distance from the bending axes for determining earth-fixed angle measured values ⁇ ⁇ assigned to the individual mast arms 23 to 27.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Operation Control Of Excavators (AREA)
  • Earth Drilling (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Control Of Position Or Direction (AREA)
EP03790779A 2002-08-27 2003-06-30 Grossmanipulator mit einem Knickmast und einer Regeleinrichtung zur Aussteuerung des Knickmastes Expired - Lifetime EP1537282B1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10240180A DE10240180A1 (de) 2002-08-27 2002-08-27 Vorrichtung zur Betätigung eines Knickmasts
DE10240180 2002-08-27
PCT/EP2003/006925 WO2004020765A1 (de) 2002-08-27 2003-06-30 Vorrichtung zur betätigung eines knickmasts

Publications (2)

Publication Number Publication Date
EP1537282A1 EP1537282A1 (de) 2005-06-08
EP1537282B1 true EP1537282B1 (de) 2006-12-20

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EP03790779A Expired - Lifetime EP1537282B1 (de) 2002-08-27 2003-06-30 Grossmanipulator mit einem Knickmast und einer Regeleinrichtung zur Aussteuerung des Knickmastes

Country Status (10)

Country Link
US (1) US7729832B2 (es)
EP (1) EP1537282B1 (es)
JP (1) JP4630664B2 (es)
KR (1) KR101015010B1 (es)
CN (2) CN101328767B (es)
AT (1) ATE348929T1 (es)
AU (1) AU2003246643A1 (es)
DE (2) DE10240180A1 (es)
ES (1) ES2277141T3 (es)
WO (1) WO2004020765A1 (es)

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WO2015032864A1 (de) 2013-09-04 2015-03-12 Schwing Gmbh Bestimmung der position eines verlagerbaren messpunktes an einer maschine
WO2016131977A1 (de) 2015-02-19 2016-08-25 Schwing Gmbh Positionsregelung einer mastspitze
DE102015208577A1 (de) 2015-05-08 2016-11-10 Putzmeister Engineering Gmbh Verfahren zur Ansteuerung eines Knickmasts in einem Großmanipulator
DE102016106406A1 (de) * 2016-04-07 2017-10-12 Schwing Gmbh Kartesische Steuerung einer Mastspitze eines Großmanipulators
EP3705664B1 (de) 2019-03-07 2022-08-17 Liebherr-Mischtechnik GmbH Gelenkarm-steuerung einer betonpumpe

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DE102007008881A1 (de) 2007-02-21 2008-08-28 Putzmeister Concrete Pumps Gmbh Verfahren zum Aufstellen einer mobilen Arbeitsmaschine
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AT514116A1 (de) * 2013-04-09 2014-10-15 Ttcontrol Gmbh Regelsystem und Verfahren zum Steuern der Orientierung eines Segments eines Manipulators
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CN101328767B (zh) 2011-09-07
US7729832B2 (en) 2010-06-01
EP1537282A1 (de) 2005-06-08
CN101328767A (zh) 2008-12-24
ATE348929T1 (de) 2007-01-15
CN100410478C (zh) 2008-08-13
DE10240180A1 (de) 2004-03-11
KR101015010B1 (ko) 2011-02-16
ES2277141T3 (es) 2007-07-01
KR20050036978A (ko) 2005-04-20
JP4630664B2 (ja) 2011-02-09
WO2004020765A1 (de) 2004-03-11
DE50306060D1 (de) 2007-02-01
CN1678806A (zh) 2005-10-05
AU2003246643A1 (en) 2004-03-19
US20050278099A1 (en) 2005-12-15
JP2005536369A (ja) 2005-12-02

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