EP1937913A1 - Mat operationnel destine notamment a des manipulateurs de grandes dimensions et a des pompes a beton mobiles - Google Patents

Mat operationnel destine notamment a des manipulateurs de grandes dimensions et a des pompes a beton mobiles

Info

Publication number
EP1937913A1
EP1937913A1 EP06806319A EP06806319A EP1937913A1 EP 1937913 A1 EP1937913 A1 EP 1937913A1 EP 06806319 A EP06806319 A EP 06806319A EP 06806319 A EP06806319 A EP 06806319A EP 1937913 A1 EP1937913 A1 EP 1937913A1
Authority
EP
European Patent Office
Prior art keywords
mast
angle
arm
work
pressure
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.)
Withdrawn
Application number
EP06806319A
Other languages
German (de)
English (en)
Inventor
Stephan Gelies
Jürgen BRAUN
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
Application filed by Putzmeister Concrete Pumps GmbH filed Critical Putzmeister Concrete Pumps GmbH
Publication of EP1937913A1 publication Critical patent/EP1937913A1/fr
Withdrawn legal-status Critical Current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
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • 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
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • 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
    • 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 work pole of the type specified in the preamble of claims 1 and 2.
  • Known working masts of this type consist essentially of a rotatable about a vertical axis on a frame rotary head, a first about a horizontal bending axis relative to the rotary head limited by a drive unit pivotable boom and at least one relative to an adjacent boom arm by means of an associated drive unit along a shear axis longitudinally displaceable and / or another mast arm pivotable about a horizontal bending axis.
  • a preferably remote-controllable control device is provided which has the individual drive units associated with actuators.
  • at least one sensor for displacement or angle measurement is provided, which is associated with at least one of the mast arms, the shear or bending axes, the vertical axis and / or the drive units.
  • pressure or force sensors are arranged at the bottom and / or rod end of at least one of the drive units designed as a hydraulic cylinder.
  • the output data of the at least one sensor for displacement or angle measurement and the pressure and force sensors are evaluated in an evaluation unit of a safety routine in the course of a mast movement.
  • Truck-mounted concrete pumps are usually operated by an operator who, via a remote control device, is responsible for both the pump control and the positioning of the end hose located at the top of the articulated mast. 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.
  • an actuator has already been proposed (DE-A 43 06 127), in which the redundant bending axes of the articulated mast are controlled in each rotational position of the mast independently of the axis of rotation with a single control operation of the remote control body together.
  • a basic prerequisite for such an actuation of the articulated mast is a position control, which includes, inter alia, a sensor for path or angle measurement assigned to the individual boom arms, articulated axles and / or drive assemblies. Since failures in technical systems of this type, which include both mechanical, as well as electronic and hydraulic components, can not be completely ruled out, it requires a security monitoring, which warns the operator and intervenes in the functional sequence.
  • Safety devices of this type have already been used in connection with the position control within the articulated mast (DE-A 101 07 107), for example, the on state of the feed valve, the presence or absence of Fahrvor bin via the remote control, the occurrence of away or angle-related excessive control deviations or Increased speeds of such deviations and respond to excessive angular velocities.
  • the aim of the present invention is to extend the safety monitoring to a monitoring of the limit loads in terms of strength and stability.
  • This problem occurs, for example, with articulated masts on, the mast arms are folded in the folded state in the manner of an overhead roll folder.
  • overhead roller folders have the advantage that unfolding of the mast pack is relatively easy and quick.
  • the mast pack resting on the chassis in the driving state with its first mast arm can be lifted around the bending axis A in the first quadrant and then pivoted into the working area after the second quadrant.
  • unfolding occur here, however, problems, mainly because of the fact that the first boom arm is operated by a hydraulic cylinder whose cylinder are articulated on the mast arm and the piston rod to a bell crank of the turret.
  • a limit switch which ensures that the boom arm 2 is vertical in the extreme case.
  • the vertical position is switched, for example, via a trained as a mercury switch tilt switch.
  • the upper mast arms are limited only by constructive limitations in their swivel range. Accordingly, the mast arm 3 with a pivoting range of 180 ° in the case of a vertical standing of the arm 2 will be aligned vertically.
  • the present invention seeks to provide a design principle, whereby the rigid limits canceled in the operation of a work mast and a more flexible handling and driving ability of the mast arms is guaranteed.
  • the safety device comprises a suitable sensor system for the continuous determination of position and force measured values within the working mast, as well as a Having a safety routine that sets the measured values under the criterion of compliance with specified limits for strength and / or stability of the system to each other.
  • the design of the pump with regard to the maximum achievable pump pressure plays a role. Since the limit values for strength and stability depend significantly on the instantaneous mast configuration and thus on the instantaneous position and angle measurement values of the individual mast arms, the limit values required for safety monitoring can be specified in analytical form or as tables by evaluating the kinematic conditions.
  • the safety routine comprises a data memory with an analytically or in a table form prescribed data field of pressure or force limits in response to at least one of the mast arms associated path or angle measurements
  • the evaluation unit has a comparator with Output data of the pressure or force sensors and the associated displacement or angle sensors or variables derived therefrom for performing a comparison with associated limit value data from the data field and for triggering a signal when the limit value is undershot or exceeded.
  • the displacement sensor is arranged on the associated, designed as a hydraulic cylinder drive unit of the mast arm.
  • the angle sensor is arranged in the region of the bending axis of the associated mast arm.
  • a further preferred embodiment of the invention provides that geodesic angle sensors are arranged on the mast arms for determining earth-fixed angle measured values assigned to the individual mast arms.
  • a further geodesic angle sensor can be provided on the turret and / or on the frame for measuring at least one earth-constant angle value associated with the turret or the frame.
  • the software routine expediently has a coordinate transformer for converting earth-fixed, arithmetic-related angle measurement values into buckling angles of the individual boom arms.
  • a further advantageous embodiment of the invention provides that at least one of the actuators responds to the signal triggered by the safety routine when limiting data is exceeded while a safety movement or a safety stop is being executed.
  • control device comprises a position controller, which responds to the path or angle measurements, for the mast movement.
  • control device comprises a vibration damper for the boom arms of the distributor boom which responds to the time-dependent path or angle measured values and / or to the pressure or force measured values.
  • the concrete distributor masts designed as buckling and / or telescopic masts these also include telescopic overhead masts for mobile conveyors.
  • Working masts in which at the end of the first boom arm, an existing from at least one further mast arm mast boom is pivotally mounted about a horizontal axis.
  • These include, in particular, designed as articulated boom concrete distribution booms.
  • Work masts in which at least one of a plurality of horizontal axes about each other pivotable mast arms composite mast boom is articulated at the end of the longitudinally movable mast arms.
  • Figure 1 is a side view of a truck-mounted concrete pump with a trained in the manner of an overhead roll folder work mast in the folded driving condition.
  • FIGS. 2a to d show a schematic of a folding strategy of an overhead
  • FIG. 3b shows a representation corresponding to FIG. 3a with dimensions for the determination of the internal moment equilibrium (subsystem 2);
  • Fig. 5 shows two diagrams relating to the limit moment in the joint
  • Fig. 6a an overhead roll folder in the operating state in one
  • FIG. 6b and c show the overhead roller shutter according to FIG. 6a in permissible operating positions according to the safety criteria according to the invention
  • Fig. 7 is a flowchart of the safety routine
  • Fig. 8 shows a detail of the mast arm 1 of a standard concrete distributor mast with maximum bending angle to the
  • FIG. 9 is a side view of a distribution boom of a truck-mounted concrete pump with telescopic boom arm 1;
  • FIG. 10 is a partial side view of a work mast with crane function
  • Fig. 11a and b is a side view of a conveyor for wet or dry fabrics with turret and telescopic
  • the truck-mounted concrete pump 10 shown in FIGS. 1, 2a to d and 6a to c comprises a multiaxial chassis 11 with a driver's cab 15, a slurry pump 12 and a work mast 14 rotatable about a vehicle-fixed vertical axis 13 as a carrier for a concrete delivery line (not shown).
  • Liquid concrete which is continuously introduced into a hopper 17 during concreting, is conveyed via the concrete delivery line to a concreting location remote from the location of the vehicle 11.
  • the work mast 14 consists of a by means of a hydraulic rotary drive about the vertical axis 13 rotatable rotary head 21 and a pivotable on this articulated mast 20, the variable range and height difference between the chassis 11 and the concreting is continuously adjustable.
  • the articulated mast 20 consists in the illustrated embodiments of four articulated mast arms 1 to 4, which are pivotable about parallel to each other and at right angles to the vertical axis 13 of the rotary head 21 extending buckling axes A to D.
  • the bending angles ⁇ i to ⁇ 4 (FIG.
  • the articulated mast 20 forms in the embodiments shown in the drawings an overhead roll folder, wherein the mast arm 1 in the folded state rests directly on the chassis 11 and the remaining mast arms 2 to 4 are rolled helically and in the rolled-up state forward on the cab 15th survive.
  • the articulated mast 20 is of its folded Transport position unfolded in its unfolded operating position (Fig. 2a to d).
  • the unfolding of the articulated mast 20 is only possible if the chassis 11 is supported on the substrate 30 with two front and two rearward extension legs 26, 28. In confined construction sites, a one-sided narrow support with the Ausstellbeinen 26,28 is possible, which requires additional safety precautions during the unfolding of the buckling mast 20 to avoid a risk of tipping.
  • the illustrated in the various embodiments, designed as overhead roll folder buckling masts 20 have the advantage that the deployment of the mast pack is relatively easy and quick.
  • the package can be lifted around axis A and swiveled from the first quadrant into the working area in the second quadrant. Since on the mast arm 1, the entire rest of the mast pack rests, is the known per se, in Fig. 2a to d deployment strategy shown to raise the boom arm 1 can. This is due primarily to the fact that the remaining arm package extends beyond the cab 15. When lifting must therefore first the arm package in the sense of Fig.
  • the vertical position is secured by a tilt switch.
  • the conventional limits shown in FIG. 2d with regard to the swivel angles ⁇ i and t 2 are perceived as an obstacle in certain concreting tasks. On the other hand, they do not fully exploit the possibilities of kinematics, but limit the swivel angle in places that are clear but not always practical.
  • the strength criterion relates primarily to the hydraulic cylinder 22 associated with the bending axis A, whose cylinder 32 is articulated in the region of the axis 34 on the boom arm 1, while the piston rod 36 is articulated in the region of the axle 38 on a deflection lever 50 of the rotary head 21.
  • the hydraulic system can only provide a certain lifting power.
  • at the fixing point of the piston rod 36 in the region of the piston 37 strength problems can occur.
  • F B and F s denote the forces on the bottom and the rod side
  • p B , p s the pressures on the bottom and the rod side
  • D B the cylinder diameter
  • D s the piston rod diameter
  • the cylinder force F Zyl must not exceed a maximum value F max, which takes into account that the welds are in the range of the piston and the buckling forces in the piston and in the cylinder are subject to a maximum load.
  • F max a maximum value
  • the exceeding of the limit force and a corresponding signal 57 are triggered.
  • the signal 57 for example, an actuation of the buckling mast can be interrupted.
  • FIG. 3a The kinematic elements necessary for the determination of the moment equilibrium are shown in FIG. 3a for an outer subsystem 1 with the elements turret 21, ArnrWArmwoven 1 and push rod 52 and for an inner subsystem 2 with the elements deflection lever 50, push rod 52 and hydraulic cylinder 22 shown.
  • F DS means the force acting on the push rod 52
  • G Am means the weight of the arm package, which acts in the center of gravity 46.
  • the distances a and b define the torque-determining distances from the bending axis A.
  • the plateau range between 10 ° and 50 ° is determined by the theoretically maximum permissible cylinder force F maii . Accordingly, a reduced compared to M max permissible load torque range M boundary is obtained in the plateau region - For Armcardwinkeln ⁇ i above 50 °, the cylinder force M Gren, theoretically limited by the permissible loading moment M max.
  • the curve 1 is given in tabular form as a data field for the limit value of the cylinder force F Oren , ( ⁇ - ⁇ ) and with a software routine (FIG. 7) with the
  • the safety device thus makes it possible to determine from the sensory measured values P s , P B , ⁇ ⁇ and the cylinder force F cyl derived therefrom by comparison with the limit values F Gren , (E 1 ) in FIG. 5 stored in a data memory in tabular form
  • limit value monitoring explained above is illustrated with reference to FIG. 7 in a flowchart of a safety routine.
  • a further improvement in this regard is achieved by including corresponding limit value tables for further boom arms, in particular the boom arm 2, and corresponding sensors in the area of these boom arms in the safety device.
  • the rotational position of the articulated mast 20 can be added about the vertical axis 13, which leads to better utilization of the working range of the articulated mast, especially in the border region of the one-sided narrow support.
  • FIGS. 6a to 6c specific expansions of the swiveling range of the boom arms 1 and 2 in the direction of the arrows 70, 72 (FIG. 6a) are indicated as simple examples, which, taking into account the limit value monitoring described above in comparison to the conventional dashed lines (FIG 6b, c) indicated limit angles can be achieved.
  • the sensors provided for the measurement of the pressure and angle values according to the invention also find their application in the computer-controlled actuation of the multi-arm articulated masts 20 with the aid of only one control lever of a remote control (cf., inter alia, DE 101 07 107 A1) and in the vibration damping of articulated masts (cf. DE 100 46 546 A1).
  • the sensor system installed in the system thus has multiple benefits in the various areas of system control and monitoring.
  • FIG. 8 shows a section of a standard concrete distributor mast whose angle of rotation ⁇ i about the bending axis A of the mast arm 1 relative to the rotary head 21 is less than 90 °.
  • the kinematic elements necessary for the determination of the moment equilibrium are shown in FIG. 8 on the basis of FIG. 3a and on the reference numerals given there. For the moment equilibrium, the following relationship follows:
  • the exemplary embodiment shown in FIG. 9 is a truck-mounted concrete pump 10 with a concrete distributor boom whose boom arm 1 can be pivoted about the pivot axis A of the rotary head 21 by a pivot angle ⁇ i.
  • the mast arm 1 consists of several, mutually telescoping mast segments 1a to 1f, at the end of which a buckling mast boom with several other mast arms 2,3,4,5 connects.
  • a concrete pump which also acts as a crane for lifting a load.
  • a deflection roller 80 there is arranged at the distance b from the bending axis A of the mast arm 1 a deflection roller 80, via which a cable 82 is guided with a receiving member 84 for a movable load.
  • a force sensor 86 for determining the weight G Las t is arranged on the cable 82, whose output is connected to the evaluation part of a safety routine.
  • the moment equilibrium is calculated around the bending axis A of the boom arm 1 as follows:
  • FIGS. 11a and b The exemplary embodiment shown in FIGS. 11a and b is a mobile belt conveyor 90 with a work mast 14 hinged to a turret 21 with mast arms 1a to 1d which can be telescoped relative to one another.
  • the work mast 14 is pivotable about the bending axis A by an angle ⁇ i with the aid of a drive unit designed as a hydraulic cylinder 22.
  • an allowable arm configuration of the work mast 14 can be determined for all variants, which corresponds to the safety criterion according to equation (6).
  • the invention relates to a work mast, in particular for large manipulators and concrete pumps.
  • the work mast 14 has a rotatable about a vertical axis 13 on a frame 11 rotary head 21, one about a horizontal bending axis A opposite the rotary head 21 by means of a drive unit 22 limited pivotable first mast arm 1 and at least one relative to an adjacent mast arm by means of an associated drive unit 23 to 25 along a push axis longitudinally displaceable and / or about a horizontal buckling axis B 1 C 1 D pivotable further mast arm 2.3 , 4 on.
  • a preferably remotely controllable control device for the mast movement is provided by means of actuators associated with the individual drive units. As actuators are mainly control valves into consideration, over which the drive unit designed as a hydraulic cylinder 22 to 25 are controlled.
  • a sensor 54 is arranged for path or angle measurement.
  • the control device has a safety routine responding to output data of the sensors.
  • pressure or force sensors 42, 44 are also arranged, while the safety routine comprises an evaluation part 56 which responds to the output data of the pressure or force sensors.
  • the safety routine comprises a data memory for recording an analytically or in a table form given data field of pressure or force limits depending on at least one of the mast arms associated path or angle measurements.
  • the evaluation unit 56 has a comparator with the output data of the pressure or force sensors 42,44 or the associated displacement or angle sensors 54 or derived variables for performing a comparison with associated threshold data from the data field and for triggering a signal at bottom or Exceeding the limit data is applied.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Jib Cranes (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Component Parts Of Construction Machinery (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

L'invention concerne un mât opérationnel destiné notamment à des manipulateurs de grandes dimensions et à des pompes à béton. Le mât opérationnel (14) présente une tête rotative (21) montée sur un bâti (11) de manière à pouvoir pivoter autour d'un axe vertical (13), un premier bras de mât (1) pivotant de manière limitée autour d'un axe d'articulation (A) horizontal en face de la tête rotative (21) à l'aide d'un système d'entraînement (22) et au moins un autre bras de mât (2, 3, 4) qui, par rapport à un bras de mât adjacent, peut se déplacer longitudinalement le long d'un axe de poussée et/ou tourner autour d'un axe d'articulation (B, C, D) horizontal à l'aide d'un système d'entraînement (23 à 25). De plus, un dispositif de commande, de préférence, télécommandable assure le déplacement du mât à l'aide d'actionneurs associés aux différents systèmes d'entraînement. On utilise comme actionneurs surtout des soupapes de réglage qui permettent de commander les systèmes d'entraînement (22 à 25) réalisés sous la forme de vérins hydrauliques. Un capteur (54) destiné à la mesure de trajet ou d'angle est placé sur au moins un des bras de mât, des axes de poussée et/ou des axes d'articulation, de l'axe vertical (13) et/ou des systèmes d'entraînement (22 à 25). Le dispositif de commande présente une routine de sécurité réagissant aux données de sortie des capteurs. En outre, des capteurs de pression ou de force (42, 44) sont placés respectivement à l'extrémité côté plancher et côté tige d'au moins un système d'entraînement réalisé sous la forme d'un vérin hydraulique (22) tandis que la routine de sécurité comporte un élément d'évaluation (56) réagissant aux données de sortie des capteurs de pression ou de force. L'invention vise à permettre une meilleure utilisation de la cinématique lors du déplacement du mât articulé. A cet effet, la routine de sécurité comprend une mémoire de données destinée à l'enregistrement d'un champ de données prédéfini de manière analytique ou sous la forme de tableaux et contenant des valeurs limites de pression ou de force en fonction d'au moins une valeur de mesure de trajet ou d'angle associée aux bras de mât. L'unité d'évaluation (56) présente un comparateur qui est alimenté avec les données de sortie des capteurs de pression ou de force (42, 44) ou les capteurs de trajet ou d'angle (54) associés ou encore les grandeurs qui en sont dérivées, afin d'effectuer une comparaison avec les données valeurs limites associées issues du champ de données et de déclencher un signal lors du dépassement vers le bas ou vers le haut des données valeurs limites.
EP06806319A 2005-10-18 2006-10-17 Mat operationnel destine notamment a des manipulateurs de grandes dimensions et a des pompes a beton mobiles Withdrawn EP1937913A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005050134 2005-10-18
PCT/EP2006/009983 WO2007045426A1 (fr) 2005-10-18 2006-10-17 Mat operationnel destine notamment a des manipulateurs de grandes dimensions et a des pompes a beton mobiles

Publications (1)

Publication Number Publication Date
EP1937913A1 true EP1937913A1 (fr) 2008-07-02

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP06806319A Withdrawn EP1937913A1 (fr) 2005-10-18 2006-10-17 Mat operationnel destine notamment a des manipulateurs de grandes dimensions et a des pompes a beton mobiles

Country Status (7)

Country Link
US (1) US20080217279A1 (fr)
EP (1) EP1937913A1 (fr)
JP (1) JP2009511395A (fr)
KR (1) KR20080069599A (fr)
CN (1) CN101292072A (fr)
EA (1) EA013204B1 (fr)
WO (1) WO2007045426A1 (fr)

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EA013204B1 (ru) 2010-04-30
US20080217279A1 (en) 2008-09-11
WO2007045426A1 (fr) 2007-04-26
KR20080069599A (ko) 2008-07-28
EA200801112A1 (ru) 2008-08-29
CN101292072A (zh) 2008-10-22

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