EP1882795A2 - Grand manipulateur pourvu d'un amortisseur de vibrations - Google Patents

Grand manipulateur pourvu d'un amortisseur de vibrations Download PDF

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Publication number
EP1882795A2
EP1882795A2 EP07119143A EP07119143A EP1882795A2 EP 1882795 A2 EP1882795 A2 EP 1882795A2 EP 07119143 A EP07119143 A EP 07119143A EP 07119143 A EP07119143 A EP 07119143A EP 1882795 A2 EP1882795 A2 EP 1882795A2
Authority
EP
European Patent Office
Prior art keywords
mast
manipulator according
large manipulator
arms
arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07119143A
Other languages
German (de)
English (en)
Other versions
EP1882795A3 (fr
EP1882795B1 (fr
Inventor
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 Engineering GmbH
Original Assignee
Putzmeister AG
Putzmeister Concrete Pumps GmbH
Putzmeister Werk Maschinenfabrik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=7656934&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP1882795(A2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Putzmeister AG, Putzmeister Concrete Pumps GmbH, Putzmeister Werk Maschinenfabrik GmbH filed Critical Putzmeister AG
Priority to DE50115523.6T priority Critical patent/DE50115523C5/de
Publication of EP1882795A2 publication Critical patent/EP1882795A2/fr
Publication of EP1882795A3 publication Critical patent/EP1882795A3/fr
Application granted granted Critical
Publication of EP1882795B1 publication Critical patent/EP1882795B1/fr
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
    • 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
    • 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
    • E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms
    • 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
    • Y10T137/0318—Processes
    • 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
    • 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
    • Y10T74/00—Machine element or mechanism
    • Y10T74/20—Control lever and linkage systems
    • Y10T74/20012—Multiple controlled elements
    • Y10T74/20018—Transmission control

Definitions

  • the invention relates to a large manipulator, in particular for concrete pumps, arranged on a frame, preferably rotatable about a vertical axis fulcrum, with a composite of at least three mast arms, preferably designed as Betonverteilermast articulated mast, which mast arms to each horizontal, mutually parallel buckling axes in pairs opposite the adjacent Mastbock or boom by means of a respective drive unit are limited pivotally, with a preferably remote-controlled control device for the mast movement by means of the individual drive units associated actuators, and means for damping mechanical vibrations in the articulated mast.
  • a large manipulator in particular for concrete pumps, arranged on a frame, preferably rotatable about a vertical axis fulcrum, with a composite of at least three mast arms, preferably designed as Betonverteilermast articulated mast, which mast arms to each horizontal, mutually parallel buckling axes in pairs opposite the adjacent Mastbock or boom by means of a respective drive unit are limited pivotally, with a
  • the articulated mast of a large manipulator of this type is by its construction an elastically oscillatory system that can be excited to natural oscillations.
  • a resonant excitation of such vibrations can cause the mast tip to vibrate with amplitudes of one meter and more.
  • Vibration excitation is possible, for example, by the pulsating operation of a concrete pump and by the resulting periodic acceleration and deceleration of the concrete column forced through the delivery line. As a result, the concrete can no longer be evenly distributed and the worker carrying the end hose is endangered.
  • the present invention seeks to provide precautions and procedures, which with simple means a mast damping with drift compensation is possible.
  • the inclination or distance sensor is advantageously arranged on the end arm of the articulated mast, while the setpoint memory can be acted upon via a control routine with the digital output signal of the inclination or distance sensor.
  • the control routine ensures that the instantaneous inclination value or ground clearance of the end arm is stored in the setpoint memory when a working position of the articulated mast is reached.
  • the time-dependent pressure difference between the bottom and rod side of the hydraulic cylinder is determined as a measured variable and processed in the evaluation unit to form the dynamic damping signal.
  • the dynamic portion of the time-dependent pressure difference is expediently filtered out above a defined limit frequency and phase-shifted and / or amplified for the formation of the attenuation signal.
  • the cutoff frequency is preferably set in the range of 0.2 to 10 Hz in accordance with the mechanical natural frequency of the respective mast arm. In any case, the cutoff frequency of the high pass filter should be chosen to be slightly lower than the natural frequency of the relevant boom arm.
  • each drive unit has a double-acting hydraulic cylinder, wherein the hydraulic cylinder can be acted upon by pressure oil via a respective proportional change-over valve forming the associated actuator.
  • at least one of the hydraulic cylinders per pressure transducer is arranged on the rod-side and bottom-side end, which are connected to the evaluation unit via a comparator or differential element.
  • the evaluation unit comprises a high-pass filter, which may be digital or analog.
  • the cutoff frequencies of the high-pass filters belonging to each mast arm can be adjusted separately in accordance with the natural frequencies of the respective mast arms. Typical cut-off frequencies of the high-pass filters are 0.2 to 10 Hz.
  • a preferred embodiment of the invention provides that the high-pass filter is formed by a low-pass filter whose input is connected via a differential element on the output thereof. To avoid overshoots, each high-pass filter forms an aperiodic transition function. Furthermore, each high-pass filter is advantageously followed by an evaluation and safety circuit or routine, which on the input side can additionally be acted upon by the output signals of the two pressure transducers of the associated hydraulic cylinders.
  • a preferred embodiment of the invention provides that the control device has a microcontroller with a coordinate transmitter for driving the actuators, the input side via a bus system and a remote control device with driving data for the mast movement can be acted upon, that each actuator additionally forming a damping unit transformer is assigned, the input side can be acted upon by the measured variables associated with the respective arm and the output side connected to the actuator.
  • the articulated mast is controlled by the pump driver on the basis of the driving data predetermined by the remote control device, while the mast damping takes place automatically during the movement process and in the working position of the articulated mast.
  • the damping units are coupled into the control circuits of the individual drive units.
  • each mast arm is associated with an independent damping unit.
  • Suitable pressure sensors are, for example, membrane sensors or piezosensors, to which, in the presence of a microcontroller, a transducer with an analogue-to-digital converter is assigned. It is important that the pressure sensors have sufficient dynamics.
  • the truck-mounted concrete pump 10 comprises a transport vehicle 11, a z. B. formed as a two-cylinder piston pump pulsating sludge pump 12 and a vehicle-mounted vertical axis 13 rotatable distribution boom 14 as a support for a concrete delivery line 16 via the delivery line 16 is liquid concrete, which is continuously introduced into a hopper 12 during concreting, to one of the 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 of five pivotally interconnected mast 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 articulated joints formed by the joint axes 28 to 32 and their arrangement with respect to one another are coordinated with one another such that the distribution boom 14 with the space-saving transport configuration shown in FIG Vehicle 11 can be stored.
  • the mast leader controls z. B. by means of a radio remote control 50, the mast movements 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, because of its hinged 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 the favorable position to the concreting site 18.
  • the drive unit 19 for the mast block 21 is designed as a hydraulic rotary drive, which is controlled by the actuator 66.
  • the individual drive units 19, 34 to 36 can also be controlled directly via the operating elements 60 and the associated actuators 66 to 76.
  • the articulated mast 22 together with the transport vehicle 11 is a vibratory system which can be excited during operation by the pulsating working thick matter pump 12 to forced oscillations.
  • the vibrations can lead to deflections of the mast tip 33 and of the end hose 43 hanging thereon, with amplitudes of one meter and frequencies of between 0.5 and a few Hz.
  • the microcontroller 52 additionally contains a number of software-supported damping units 82, which are connected to the pilot control input of one of the actuators 68 to 76, respectively. On the input side, the damping units 82 are acted upon by a time-dependent measured variable derived from the mechanical vibrations of the respective boom arm 23 to 27.
  • the measurement signal ⁇ p (t) is fed to a digital high-pass filter 90, 92 in a predetermined time cycle.
  • the high-pass filter is formed by a digital low-pass filter 90 with a downstream comparator 92, to which latter the input signal of the low-pass filter 90 is additionally connected.
  • a drift movement of the buckling mast 22 occurs due to structural tolerances. This is the case in particular in the working position of the articulated mast during the pumping action.
  • the drift can be monitored and compensated.
  • a solid-angle sensor 94 designed for example as a tilt sensor or a distance sensor and a set value memory 96 are provided for this purpose on the last boom arm 27.
  • the instantaneous angular position or the ground clearance of the mast tip 33 can be stored in the setpoint memory 96.
  • a drift can be detected in the further course of time and, by controlling at least one of the actuators 68 to 76, e.g. be compensated via the coordinate encoder 64.
  • the invention relates to a large manipulator in particular of concrete pumps.
  • the large manipulator has a composed of at least three mast arms 23 to 27, preferably designed as a concrete distributor mast articulated boom 22, the mast arms are limited to each horizontal, mutually parallel bending axes 28 to 32 by means of a respective drive unit 34 to 38 pivotally limited.
  • a control device 50, 62, 52 are provided for the mast movement with the aid of the individual drive units associated actuators and means for damping mechanical vibrations in the articulated mast.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Manipulator (AREA)
  • Buildings Adapted To Withstand Abnormal External Influences (AREA)
  • Surgical Instruments (AREA)
  • Vibration Dampers (AREA)
  • Fluid-Damping Devices (AREA)
EP07119143A 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations Expired - Lifetime EP1882795B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE50115523.6T DE50115523C5 (de) 2000-09-19 2001-07-04 Großmanipulator mit Schwingungsdämpfer

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10046546A DE10046546A1 (de) 2000-09-19 2000-09-19 Großmanipulator mit Schwingungsdämpfer
EP01945335A EP1319110B8 (fr) 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP01945335A Division EP1319110B8 (fr) 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations
EP01945335.6 Division 2001-07-04

Publications (3)

Publication Number Publication Date
EP1882795A2 true EP1882795A2 (fr) 2008-01-30
EP1882795A3 EP1882795A3 (fr) 2009-04-22
EP1882795B1 EP1882795B1 (fr) 2010-06-16

Family

ID=7656934

Family Applications (2)

Application Number Title Priority Date Filing Date
EP07119143A Expired - Lifetime EP1882795B1 (fr) 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations
EP01945335A Expired - Lifetime EP1319110B8 (fr) 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP01945335A Expired - Lifetime EP1319110B8 (fr) 2000-09-19 2001-07-04 Grand manipulateur pourvu d'un amortisseur de vibrations

Country Status (8)

Country Link
US (1) US6883532B2 (fr)
EP (2) EP1882795B1 (fr)
JP (1) JP4580617B2 (fr)
KR (1) KR100800798B1 (fr)
AT (2) ATE390530T1 (fr)
DE (4) DE10046546A1 (fr)
ES (2) ES2344612T3 (fr)
WO (1) WO2002025036A1 (fr)

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US9719530B2 (en) 2013-04-09 2017-08-01 Ttcontrol Gmbh Electrohydraulic control circuit
US10106994B2 (en) 2013-04-09 2018-10-23 Ttcontrol Gmbh Control system and method for controlling the orientation of a segment of a manipulator

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DE10240180A1 (de) * 2002-08-27 2004-03-11 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts
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DE102007012575A1 (de) * 2007-03-13 2008-09-18 Putzmeister Concrete Pumps Gmbh Großmanipulator
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US8210770B2 (en) * 2008-07-18 2012-07-03 Cimline, Inc. Boom assembly for holding hose outputting liquefied paving material
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DE102009007311A1 (de) * 2009-02-03 2010-08-05 Putzmeister Concrete Pumps Gmbh Vorrichtung zur Verteilung von Beton mit einem Knickmast
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CN102493652B (zh) * 2011-12-08 2014-01-22 中联重科股份有限公司 混凝土泵送设备及其臂架振动半主动控制装置和控制方法
CN103243914B (zh) * 2012-02-02 2015-09-30 徐州徐工施维英机械有限公司 用于混凝土中心泵送系统的减振连接结构及混凝土泵车
CN102797787B (zh) * 2012-08-17 2013-11-20 中联重科股份有限公司 混凝土布料设备及其臂架振动抑制的方法、控制器和装置
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US9810242B2 (en) * 2013-05-31 2017-11-07 Eaton Corporation Hydraulic system and method for reducing boom bounce with counter-balance protection
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DE102013014626B4 (de) * 2013-09-04 2022-09-08 Schwing Gmbh Bestimmung der Position eines verlagerbaren Messpunktes an einer Maschine
US20150059408A1 (en) * 2013-09-05 2015-03-05 Evgeny ABUSHAEV Structure printer and methods thereof
CA2923757C (fr) * 2013-09-06 2023-09-19 Putzmeister Engineering Gmbh Pompe a beton automotrice et sa methode d'utilisation
DE102013018884A1 (de) 2013-11-12 2015-05-13 Schwing Gmbh Endschlauch für eine Rohrleitung zum Fördern von Dickstoffen
CN105940241B (zh) 2013-11-14 2018-11-20 伊顿公司 降低动臂振荡的控制策略
CN105849421B (zh) 2013-11-14 2019-01-15 伊顿公司 用于减少动臂跳动的先导控制机构
CN103696572B (zh) * 2013-12-12 2016-01-20 中联重科股份有限公司 布料杆系统和混凝土泵车
CN104018676B (zh) * 2014-03-04 2017-08-29 三一汽车制造有限公司 一种工程机械和臂架控制系统及方法
WO2016011193A1 (fr) 2014-07-15 2016-01-21 Eaton Corporation Procédés et appareil permettant une réduction de rebond de flèche et empêchant un mouvement non commandé dans des systèmes hydrauliques
DE102015102368A1 (de) * 2015-02-19 2016-08-25 Schwing Gmbh Positionsregelung Mastspitze
DE102015108473A1 (de) * 2015-05-28 2016-12-01 Schwing Gmbh Großmanipulator mit schnell ein- und ausfaltbarem Knickmast
DE102016106406A1 (de) * 2016-04-07 2017-10-12 Schwing Gmbh Kartesische Steuerung einer Mastspitze eines Großmanipulators
US10543817B2 (en) 2016-12-15 2020-01-28 Schwing America, Inc. Powered rear outrigger systems
CN111542703B (zh) 2017-04-28 2022-12-06 丹佛斯动力系统Ii技术有限公司 具有用于抑制机器中的质量感应振动的运动传感器的系统
DE112018001592T5 (de) * 2017-04-28 2020-01-02 Eaton Intelligent Power Limited Driftkompensationssystem für eine drift in bezug auf die dämpfung von masse-induzierten schwingungen in maschinen
EP3615814A4 (fr) * 2017-04-28 2021-01-27 Eaton Intelligent Power Limited Système d'amortissement de vibrations induites par la masse dans des machines ayant des bras ou des éléments allongés à commande hydraulique
DE102017118274A1 (de) * 2017-08-10 2019-02-14 Putzmeister Engineering Gmbh Großmanipulator und hydraulische Schaltungsanordnung für einen Großmanipulator
DE102018104491A1 (de) * 2018-02-27 2019-08-29 Putzmeister Engineering Gmbh Großmanipulator mit Schwingungsdämpfer
US10466719B2 (en) 2018-03-28 2019-11-05 Fhe Usa Llc Articulated fluid delivery system with remote-controlled spatial positioning
DE102018109789A1 (de) * 2018-04-24 2019-10-24 Putzmeister Engineering Gmbh Verfahren und System zur hydraulischen Steuerung eines Betonverteilermasts
WO2020006538A1 (fr) 2018-06-29 2020-01-02 Eaton Intelligent Power Limited Système et dispositif d'anticipation et de correction de transitions sur-centrales dans une machine hydraulique mobile
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CN105229312B (zh) * 2013-04-09 2018-06-15 Tt控制有限公司 电液控制流路
US10106994B2 (en) 2013-04-09 2018-10-23 Ttcontrol Gmbh Control system and method for controlling the orientation of a segment of a manipulator

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KR20030040465A (ko) 2003-05-22
ES2344612T3 (es) 2010-09-01
ES2301552T3 (es) 2008-07-01
US6883532B2 (en) 2005-04-26
WO2002025036A1 (fr) 2002-03-28
JP2004510077A (ja) 2004-04-02
EP1319110B8 (fr) 2008-07-09
ATE390530T1 (de) 2008-04-15
US20030196506A1 (en) 2003-10-23
EP1882795A3 (fr) 2009-04-22
EP1319110B1 (fr) 2008-03-26
DE50113790C5 (de) 2017-03-02
EP1882795B1 (fr) 2010-06-16
JP4580617B2 (ja) 2010-11-17
DE20122093U1 (de) 2004-03-25
ATE471416T1 (de) 2010-07-15
EP1319110A1 (fr) 2003-06-18
DE50115523C5 (de) 2016-11-03
KR100800798B1 (ko) 2008-02-04
DE10046546A1 (de) 2002-03-28
DE50115523D1 (de) 2010-07-29
DE50113790D1 (de) 2008-05-08

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