EP2186968A1 - Manipulateur de grande capacité - Google Patents

Manipulateur de grande capacité Download PDF

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Publication number
EP2186968A1
EP2186968A1 EP20090166553 EP09166553A EP2186968A1 EP 2186968 A1 EP2186968 A1 EP 2186968A1 EP 20090166553 EP20090166553 EP 20090166553 EP 09166553 A EP09166553 A EP 09166553A EP 2186968 A1 EP2186968 A1 EP 2186968A1
Authority
EP
European Patent Office
Prior art keywords
mast
control device
remote control
actuator
large manipulator
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
EP20090166553
Other languages
German (de)
English (en)
Other versions
EP2186968B1 (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 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 EP2186968A1 publication Critical patent/EP2186968A1/fr
Application granted granted Critical
Publication of EP2186968B1 publication Critical patent/EP2186968B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66C13/04—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
    • B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
    • 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
    • B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
    • 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
    • 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
    • B66C13/44—Electrical transmitters
    • 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
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • 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
    • Y10T137/8158—With indicator, register, recorder, alarm or inspection means
    • Y10T137/8225—Position or extent of motion indicator
    • Y10T137/8275—Indicator element rigidly carried by the movable element whose position is indicated
    • 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
    • Y10T74/20207—Multiple controlling elements for single controlled element
    • Y10T74/20305—Robotic arm

Definitions

  • the invention relates to a large manipulator, in particular a truck-mounted concrete pump, with a arranged on a frame, in particular on a chassis, about a substantially vertical axis of rotation by means of a drive unit rotatable mast block, a composite of at least two mast arms articulated mast, which mast arms to each horizontal, parallel to each other Bending axes relative to the mast block or an adjacent mast arm by means of a further drive unit limited pivotally, with one of the mast top of the last Mastarms down hanging endelelement, arranged in a control device actuator and responsive to output signals of the actuator, the drive units of the kink and rotary axes in accordance with a by means of the actuator relative to the instantaneous position of the mast top indicating adjusting actuating computer-assisted coordinate encoder, wherein the mast top the spatial B ewegache the actuator is trackable.
  • Large manipulators of this type are implements such as truck-mounted concrete pumps, mixer pumps, spraying robots and the like to understand that can be used with suitable support with full 360 ° swivel range of the mast block even in the extended horizontal position of the articulated mast.
  • the operator is responsible for the control of the large manipulator and the positioning of the arranged on the last arm of the articulated mast, preferably designed as a tail hose shuttle.
  • the tilt sensor has evaluation electronics for outputting an adjustment path signal dependent on the measured inclination direction and a speed signal for the movement of the mast tip which is dependent on the measured inclination angle.
  • the inclinometer is located in a relation to the mast tip torsionally secured to the end hose housing. Due to these measures, it is possible to move the mast tip in a direction corresponding to the deflection direction when deflecting the end hose at a speed dependent on the deflection or inclination angle.
  • the present invention seeks to improve the large manipulator with its fixed to the shuttle control device to the effect that the positioning of the control device on the shuttle is facilitated and simplified.
  • An advantageous embodiment of the invention provides that the articulated mast of trained as a truck concrete pump large manipulator is designed as a concrete distributor, and that on the mast arms, a concrete delivery line is guided, which opens at its end in one of the mast tip down hanging, the pendulum element forming end hose ,
  • a preferred variant of the invention provides that the control device has a first pendulum element-fixed three-dimensional inertial sensor as an actuator and a second, frame-fixed three-dimensional inertial sensor as a reference for the determination of the momentary frame fixed pendulum element coordinates, and that the coordinate encoder to the output from the two inertial sensors output data to form the Activation signals for the drive units of the rotary and bending axes responds.
  • the inertial sensors also allow a certain twisting of the end hose, which would lead to inaccuracies in the mast control when using tilt sensors.
  • the inertial sensors according to the invention advantageously have a number of degrees of freedom corresponding number of gravitational sensors or gyro units.
  • the drive units of the articulated mast and the mastbuck are activated via the coordinate encoder expediently while maintaining the height of the mast top in a predetermined horizontal plane.
  • This ensures that the mast tip follows the actuator on the pendulum element in such a way that it always remains at a certain height distance above the ground.
  • it is ensured that the mast tip is tracked only at a predetermined minimum deflection of the pendulum element, for example, ⁇ 50 cm.
  • a hand-operated height adjustment element can additionally be provided on the pendulum element.
  • the further actuator is in a pendulum element fixedly arranged housing and is over a signal path connected to the concrete pump, wherein it communicates advantageously on the input side without contact with an external actuator.
  • the further actuator for this purpose, two of a flow rate increase or reduction corresponding set inputs, which are contactlessly actuated via a radio link.
  • RFID Radio Frequency Identification
  • each control input is assigned a separate RFID read receiver, while the at least one RFID transponder can be integrated in a work glove.
  • a further preferred embodiment of the invention provides an additional radio remote control unit, which the operator carries with him and which includes a plurality of communication via a radio link with the mast drive and / or the pump drive control units, the control units of the radio remote control unit and the actuators in a hose end housing fixed over a switching element on the radio remote control unit can be activated.
  • the operator can optionally use the radio remote control device or the end hose-resistant remote control device for the mast actuation and the pumping operation.
  • the radio remote control device carries an RFID transponder (RFID tag), the content of which in the end hose fixed Housing arranged RFID reader (RFID reader) is readable and identifiable.
  • the invention further relates to a remote control device for fixing to a pendulum element of a large manipulator with a housing and at least one arranged in the housing actuator for the Crumanipulator facedung.
  • the actuator of the remote control device is designed as a pendulum element-resistant, three-dimensional inertial sensor. Furthermore, a second, frame-mounted, three-dimensional inertial sensor is provided as reference element for the determination of the instantaneous end hose coordinates which are fixed to the frame.
  • the inertial sensors according to the invention advantageously have a number of degrees of freedom corresponding number of gravitational sensors and / or gyro units.
  • the further actuator is in the housing and communicates on the input side advantageously without contact with an external actuator.
  • the further actuator for this purpose, two of a flow rate increase or reduction corresponding set inputs, which are contactlessly actuated via a radio link.
  • FIG. 1a, b and 5 schematically illustrated as a truck concrete pump trained large manipulator has a chassis 10, arranged in the vicinity of the front axle 12 and the cab 14 of the chassis 10 to a vertical axis of rotation 18 rotatable by 360 °, a crease mast 20 bearing mast block 16 and a not shown in the drawing , via the mast arms 1,2,3,4,5 of the articulated mast guided delivery line, which opens in the region of the mast tip 55 in a pendulum element forming end hose 50.
  • a remote control device which comprises a signal generator 53 and a vehicle-mounted central control system that communicates galvanically or wirelessly with the signal generator 53.
  • a remote control device For adjusting the mast tip 55 and arranged thereon, hanging down Endschlauchs 50 at least one communicating with the signal generator 53 actuator 52,54 is provided, which is actuated by the operator 51.
  • the remote control device comprises a first, arranged in a hose end housing 30 three-dimensional inertial sensor 53 as an actuator and a second, frame-fixed three-dimensional inertial sensor 57 as a reference member for the determination of the current frame fixed Endschlauchkoordinaten, in addition a computer-aided coordinate encoder is provided which responds to the output from the two inertial sensors 53 and 57 output data to form drive signals for the drive units of the rotational and bending axes of the buckling mast 20.
  • Inertial sensors 53, 57 have a number of degrees of freedom corresponding number of centrifugal units and / or gravitational sensors.
  • the interconverting orthogonal coordinate systems are in Fig.
  • a transformation matrix T ( ⁇ , ⁇ , ⁇ ) is required in each case, where ⁇ , ⁇ , ⁇ mean the Euler angles of the coordinate systems to be transformed.
  • the Cartesian coordinates are also in the frame-fixed cylindrical coordinates of the articulated mast (r, h, ⁇ ) converted, where r is the distance of the Endschlauchs from the axis of rotation 18 of the mast block 16, h, the height of the Endschlauchs above the ground 41 and ⁇ the angle of rotation of the articulated mast 20 about the axis of rotation 18.
  • the variables r and h are dependent variables, which are calculated from the given geometry and the measured angular positions of the mast arms within the kink mast.
  • an actuator 60+, 60- be accommodated for the operation of the feed pump.
  • the forwarding of the setting data of this actuator can also be done via the CAN bus or via a radio link.
  • actuation of the actuators 60+, 60- for the concrete pump takes place via a radio link using RFID transmitters 62, 64, which are arranged in the illustrated embodiment in the gloves 66 of the operator 51.
  • a detection area 68 can be set, within which a switching or control process can be triggered.
  • a further preferred embodiment of the invention provides that the operator 51 additionally carries a radio remote control device 80, for example on its belt, which has a plurality of control units communicating via a radio link with the mast drive and / or the pump drive (cf. Fig. 1a, b ).
  • the control units of the radio remote control unit 80 and the inertial sensors 53 in the end hose-fixed sensor belt can be activated optionally via a switching element from the radio remote control unit.
  • the radio remote control device 80 may additionally carry an RFID transponder whose content can be read out and identified via the RFID read receiver 44 arranged in the end tube-fixed sensor belt.
  • the operator 51 can control the concrete pump either from a greater distance with the remote control device 80 or when approaching the end hose 50 directly on this. The activation takes place via the RFID system.
  • the invention relates to a large manipulator, in particular truck concrete pump with a mounted on a frame, in particular on a chassis 10 about a substantially vertical axis of rotation 18 rotatable mast block 16, with a buckling mast 20 with a from the mast top of the kink mast after
  • the pendulum element fixed three-dimensional inertial sensor 53 as an actuator and a second, frame-fixed three-dimensional inertial sensor 57 as a reference member for the determination the current frame-fixed pendulum element coordinates, and wherein the coordinate encoder on the from the two inertial sensors 53,57 output data output to form drive signals for the drive units of the rotary and bending axes responds.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
EP20090166553 2007-03-13 2008-01-22 Manipulateur de grande capacité Not-in-force EP2186968B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007012575A DE102007012575A1 (de) 2007-03-13 2007-03-13 Großmanipulator
EP20080708080 EP2118404B1 (fr) 2007-03-13 2008-01-22 Manipulateur de grande capacité

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP08708080.0 Division 2008-01-22

Publications (2)

Publication Number Publication Date
EP2186968A1 true EP2186968A1 (fr) 2010-05-19
EP2186968B1 EP2186968B1 (fr) 2012-03-21

Family

ID=39301586

Family Applications (2)

Application Number Title Priority Date Filing Date
EP20090166553 Not-in-force EP2186968B1 (fr) 2007-03-13 2008-01-22 Manipulateur de grande capacité
EP20080708080 Not-in-force EP2118404B1 (fr) 2007-03-13 2008-01-22 Manipulateur de grande capacité

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP20080708080 Not-in-force EP2118404B1 (fr) 2007-03-13 2008-01-22 Manipulateur de grande capacité

Country Status (8)

Country Link
US (1) US8281811B2 (fr)
EP (2) EP2186968B1 (fr)
KR (1) KR101449077B1 (fr)
CN (1) CN101641485B (fr)
AT (2) ATE510978T1 (fr)
DE (1) DE102007012575A1 (fr)
ES (2) ES2364940T3 (fr)
WO (1) WO2008110397A1 (fr)

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CN101870110B (zh) * 2010-07-01 2012-01-04 三一重工股份有限公司 一种机械铰接臂的控制方法及控制装置
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CN102385391B (zh) * 2011-07-14 2014-09-10 中联重科股份有限公司 机械臂的控制方法与控制装置以及工程机械
CN102360222B (zh) * 2011-07-14 2014-03-26 中联重科股份有限公司 控制工程机械的机械臂的方法、装置和遥控器
CN102360221B (zh) * 2011-07-14 2013-09-18 中联重科股份有限公司 工程机械以及控制工程机械的机械臂的方法、装置和系统
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CN104748896B (zh) * 2013-12-27 2017-08-29 武汉科技大学 混凝土泵车布料软管状态的检测系统
CN104032959B (zh) * 2014-04-29 2017-01-18 三一汽车制造有限公司 一种工程机械和臂架控制系统
DE102014007071A1 (de) * 2014-05-15 2015-11-19 Schwing Gmbh Großmanipulator mit Knickmast und mit Mitteln zur Drehwinkelmessung
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AT520543B1 (de) * 2018-01-23 2019-05-15 Schwing Gmbh F Großmanipulator mit Endschlauchhalter
US10466719B2 (en) * 2018-03-28 2019-11-05 Fhe Usa Llc Articulated fluid delivery system with remote-controlled spatial positioning
DE102020112227A1 (de) * 2019-11-22 2021-05-27 Liebherr-Werk Biberach Gmbh Bau- und/oder Materialumschlagsmaschine
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EP2186968B1 (fr) 2012-03-21
ATE550503T1 (de) 2012-04-15
WO2008110397A1 (fr) 2008-09-18
US8281811B2 (en) 2012-10-09
ES2382591T3 (es) 2012-06-11
DE102007012575A1 (de) 2008-09-18
KR20090119756A (ko) 2009-11-19
EP2118404B1 (fr) 2011-05-25
KR101449077B1 (ko) 2014-10-08
EP2118404A1 (fr) 2009-11-18
ES2364940T3 (es) 2011-09-19
CN101641485B (zh) 2013-01-02
US20100139792A1 (en) 2010-06-10
CN101641485A (zh) 2010-02-03
ATE510978T1 (de) 2011-06-15

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