EP1882795A3 - Großmanipulator mit Schwingungsdämpfer - Google Patents

Großmanipulator mit Schwingungsdämpfer Download PDF

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Publication number
EP1882795A3
EP1882795A3 EP07119143A EP07119143A EP1882795A3 EP 1882795 A3 EP1882795 A3 EP 1882795A3 EP 07119143 A EP07119143 A EP 07119143A EP 07119143 A EP07119143 A EP 07119143A EP 1882795 A3 EP1882795 A3 EP 1882795A3
Authority
EP
European Patent Office
Prior art keywords
mast
coupled
vibration damper
drive units
mechanical oscillation
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
English (en)
French (fr)
Other versions
EP1882795B1 (de
EP1882795A2 (de
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 Concrete Pumps 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(A3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Putzmeister Concrete Pumps GmbH filed Critical Putzmeister Concrete Pumps GmbH
Priority to DE50115523.6T priority Critical patent/DE50115523C5/de
Publication of EP1882795A2 publication Critical patent/EP1882795A2/de
Publication of EP1882795A3 publication Critical patent/EP1882795A3/de
Application granted granted Critical
Publication of EP1882795B1 publication Critical patent/EP1882795B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

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

Abstract

Die Erfindung bezieht sich auf einen Großmanipulator insbesondere von Betonpumpen. Der Großmanipulator weist einen aus mindestens drei Mastarmen (23 bis 27) zusammengesetzten, vorzugsweise als Betonverteilermast ausgebildeten Knickmast (22) auf, dessen Mastarme um jeweils horizontale, zueinander parallele Knickachsen (28 bis 32) mittels je eines Antriebsaggregats (34 bis 38) begrenzt verschwenkbar sind. Weiter sind eine Steuereinrichtung (50,62,52) für die Mastbewegung mit Hilfe von den einzelnen Antriebsaggregaten zugeordneten Stellgliedern sowie Mittel zur Dämpfung von mechanischen Schwingungen im Knickmast vorgesehen. Um mit einfachen Mitteln eine Mastbedämpfung mit Driftkompensation zu erzielen, wird gemäß der Erfindung vorgeschlagen, dass bei in eine Arbeitsstellung ausgefahrenen Knickmast die Neigung oder der Bodenabstand des Endarms in vorgegebenen Zeitabständen gemessen und mit einem zuvor abgespeicherten Sollwert verglichen wird, und dass beim Auftreten einer Abweichung vom Sollwert der Knickmast durch Ansteuerung mindestens eines der die Antriebsaggregate ansteuernden Stellglieder (68 bis 76) nachgeführt wird.
EP07119143A 2000-09-19 2001-07-04 Großmanipulator mit Schwingungsdämpfer Expired - Lifetime EP1882795B1 (de)

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 (de) 2000-09-19 2001-07-04 Grossmanipulator mit schwingungsdämpfer

Related Parent Applications (2)

Application Number Title Priority Date Filing Date
EP01945335.6 Division 2001-07-04
EP01945335A Division EP1319110B8 (de) 2000-09-19 2001-07-04 Grossmanipulator mit schwingungsdämpfer

Publications (3)

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

Family

ID=7656934

Family Applications (2)

Application Number Title Priority Date Filing Date
EP01945335A Expired - Lifetime EP1319110B8 (de) 2000-09-19 2001-07-04 Grossmanipulator mit schwingungsdämpfer
EP07119143A Expired - Lifetime EP1882795B1 (de) 2000-09-19 2001-07-04 Großmanipulator mit Schwingungsdämpfer

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP01945335A Expired - Lifetime EP1319110B8 (de) 2000-09-19 2001-07-04 Grossmanipulator mit schwingungsdämpfer

Country Status (8)

Country Link
US (1) US6883532B2 (de)
EP (2) EP1319110B8 (de)
JP (1) JP4580617B2 (de)
KR (1) KR100800798B1 (de)
AT (2) ATE471416T1 (de)
DE (4) DE10046546A1 (de)
ES (2) ES2344612T3 (de)
WO (1) WO2002025036A1 (de)

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DE10101570B4 (de) 2001-01-15 2008-12-04 Schwing Gmbh Großmanipulator mit Schwingungsdämpfung
DE10116407A1 (de) * 2001-04-02 2002-10-17 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts insbesondere für Betonpumpen
DE10240180A1 (de) 2002-08-27 2004-03-11 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts
DE502004004847D1 (de) 2003-07-05 2007-10-18 Deere & Co Hydraulische Federung
DE10330344A1 (de) * 2003-07-05 2005-02-24 Deere & Company, Moline Hydraulische Federung
US7278262B2 (en) * 2005-06-03 2007-10-09 Board Of Control Of Michigan Technological University Control system for suppression of boom or arm oscillation
US7296404B2 (en) * 2005-12-12 2007-11-20 Husco International Inc. Apparatus for controlling deceleration of hydraulically powered equipment
ITMO20060202A1 (it) * 2006-06-21 2007-12-22 Galliano Bentivoglio Pistola per erogare combustibile liquido
CN1932215B (zh) * 2006-09-30 2010-08-11 三一重工股份有限公司 用于抑制混凝土泵车臂架振动的方法及装置
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
DE102007012575A1 (de) * 2007-03-13 2008-09-18 Putzmeister Concrete Pumps Gmbh Großmanipulator
US8458970B2 (en) 2008-06-13 2013-06-11 Tindall Corporation Base support for wind-driven power generators
US8210770B2 (en) * 2008-07-18 2012-07-03 Cimline, Inc. Boom assembly for holding hose outputting liquefied paving material
EP2151585B1 (de) * 2008-08-08 2011-05-25 HAWE Hydraulik SE Dämpfungsvorrichtung für einen Manipulator
DE102009007311A1 (de) * 2009-02-03 2010-08-05 Putzmeister Concrete Pumps Gmbh Vorrichtung zur Verteilung von Beton mit einem Knickmast
DE102009007310A1 (de) * 2009-02-03 2010-08-05 Putzmeister Concrete Pumps Gmbh Vorrichtung zur Verteilung von Beton mit einem Knickmast
IT1397794B1 (it) * 2010-01-26 2013-01-24 Cifa Spa Dispositivo per il controllo attivo delle vibrazioni di un braccio articolato per il pompaggio di calcestruzzo.
NO337712B1 (no) * 2010-03-24 2016-06-06 Nat Oilwell Varco Norway As Anordning og fremgangsmåte for å redusere dynamiske laster i kraner
CN102071809B (zh) * 2011-01-12 2012-07-25 中联重科股份有限公司 混凝土泵车以及混凝土泵车臂架的减振装置和方法
CN102211541B (zh) * 2011-05-23 2013-01-02 徐工集团工程机械股份有限公司建设机械分公司 一种中心泵系统弹性连接装置及混凝土泵车
US9651112B2 (en) * 2011-10-20 2017-05-16 Zoomlion Heavy Industry Science And Technology Co., Ltd. Vibration suppression method, controller, device of boom and pump truck
JP5816049B2 (ja) * 2011-10-24 2015-11-17 極東開発工業株式会社 コンクリートポンプ車
JP5926026B2 (ja) * 2011-10-24 2016-05-25 極東開発工業株式会社 コンクリートポンプ車
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
US20140103698A1 (en) * 2012-10-17 2014-04-17 Bo Feng Horizontally rotatable multi-knuckle boom
DE102012222345A1 (de) * 2012-12-05 2014-06-05 Smiths Heimann Gmbh Röntgenprüfanlage, insbesondere mobile Röntgenprüfanlage für großvolumige Güter
AT514116A1 (de) 2013-04-09 2014-10-15 Ttcontrol Gmbh Regelsystem und Verfahren zum Steuern der Orientierung eines Segments eines Manipulators
AT514115B1 (de) * 2013-04-09 2015-05-15 Ttcontrol Gmbh Elektrohydraulischer Steuerkreis
EP3004470B1 (de) * 2013-05-31 2018-03-14 Eaton Corporation Hydraulisches system und verfahren zur reduzierung von auslegerschwung mit gegengewichtschutz
US10036407B2 (en) * 2013-08-30 2018-07-31 Eaton Intelligent Power Limited Control method and system for using a pair of independent hydraulic metering valves to reduce boom oscillations
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
WO2015032845A1 (de) * 2013-09-06 2015-03-12 Putzmeister Engineering Gmbh Arbeitsmaschine und verfahren zu deren betrieb
DE102013018884A1 (de) 2013-11-12 2015-05-13 Schwing Gmbh Endschlauch für eine Rohrleitung zum Fördern von Dickstoffen
EP3069030B1 (de) 2013-11-14 2020-12-30 Eaton Intelligent Power Limited Vorsteuerungsmechanismus zur auslegeraufprallreduktion
EP3069043B1 (de) 2013-11-14 2019-02-27 Eaton Corporation Steuerungsstrategie zur reduzierung einer auslegerschwingung
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
US10323663B2 (en) 2014-07-15 2019-06-18 Eaton Intelligent Power Limited Methods and apparatus to enable boom bounce reduction and prevent un-commanded motion in hydraulic systems
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
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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
EP3615813A4 (de) 2017-04-28 2021-01-27 Eaton Intelligent Power Limited System mit bewegungssensoren zur dämpfung von masseninduzierten schwingungen in maschinen
WO2018200700A1 (en) * 2017-04-28 2018-11-01 Eaton Intelligent Power Limited System for damping mass-induced vibration in machines having hydraulically controlled booms or elongate members
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
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DE2947303A1 (de) * 1978-12-15 1980-07-03 Jan Ekman Steuerungsvorrichtung fuer hebesystem
JPH05230999A (ja) * 1992-02-24 1993-09-07 Ishikawajima Constr Mach Co ブーム付コンクリートポンプ車のブーム振動抑制制御装置
DE19520166A1 (de) * 1995-06-01 1995-11-23 Konrad Schauer Maststeuerung für nicht-schwingungsfreie Vielgelenkgeräte, insbesondere für vielgliedrige Betonpumpen-Verteilausleger
EP0715673A1 (de) * 1993-08-26 1996-06-12 Putzmeister Maschf Grossmanipulator, insbesondere für autobetonpumpen, sowie verfahren zu dessen handhabung
DE19503895A1 (de) * 1995-02-07 1996-08-08 Putzmeister Maschf Betonpumpe mit Verteilermast

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Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
DE2947303A1 (de) * 1978-12-15 1980-07-03 Jan Ekman Steuerungsvorrichtung fuer hebesystem
JPH05230999A (ja) * 1992-02-24 1993-09-07 Ishikawajima Constr Mach Co ブーム付コンクリートポンプ車のブーム振動抑制制御装置
EP0715673A1 (de) * 1993-08-26 1996-06-12 Putzmeister Maschf Grossmanipulator, insbesondere für autobetonpumpen, sowie verfahren zu dessen handhabung
DE19503895A1 (de) * 1995-02-07 1996-08-08 Putzmeister Maschf Betonpumpe mit Verteilermast
DE19520166A1 (de) * 1995-06-01 1995-11-23 Konrad Schauer Maststeuerung für nicht-schwingungsfreie Vielgelenkgeräte, insbesondere für vielgliedrige Betonpumpen-Verteilausleger

Also Published As

Publication number Publication date
KR20030040465A (ko) 2003-05-22
EP1882795B1 (de) 2010-06-16
DE10046546A1 (de) 2002-03-28
KR100800798B1 (ko) 2008-02-04
DE20122093U1 (de) 2004-03-25
DE50113790C5 (de) 2017-03-02
JP4580617B2 (ja) 2010-11-17
ATE471416T1 (de) 2010-07-15
ES2344612T3 (es) 2010-09-01
JP2004510077A (ja) 2004-04-02
EP1319110B1 (de) 2008-03-26
EP1882795A2 (de) 2008-01-30
DE50115523C5 (de) 2016-11-03
DE50115523D1 (de) 2010-07-29
EP1319110A1 (de) 2003-06-18
DE50113790D1 (de) 2008-05-08
US20030196506A1 (en) 2003-10-23
US6883532B2 (en) 2005-04-26
EP1319110B8 (de) 2008-07-09
ATE390530T1 (de) 2008-04-15
WO2002025036A1 (de) 2002-03-28
ES2301552T3 (es) 2008-07-01

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