EP2186968B1 - Large scale manipulator - Google Patents

Abstract

The manipulator has a mast support (10) rotatable around a vertical axis and arranged in a drive frame (10). A bending mast (20) is formed of mast arms (1-5), which are pivotable around a bending axis. A pendulum element (50) hanging downward from a mast stop, and a control unit is arranged in a control device. Two inclination transmitters (53) are arranged in a housing and are angled against each other around an axis parallel to an end tubular axis under an angle of 90 degrees. The housing has a marking indicating orientation of one of the transmitters within the housing.

Description

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 Mastarmen articulated mast, which mast arms to each horizontal, parallel to each other Bending axes relative to the mast gantry or an adjacent mast arm by means of a further drive unit limited pivotally, with one of the mast top of the last mast arm hanging down pendulum element, 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 actuation computer-assisted coordinate encoder, wherein the mast top the spatial Movements of 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 girder even when stretched horizontal position of the kink. 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.

In a trained as a truck concrete pump large manipulator with a remote control device, it is already known ( EP-0 715 673 B2 ), that the operator deflects the pendulum element designed as end hose by hand on the concrete insertion point and that the mast top automatically there follows. For this purpose, a signal transmission path is provided with which the mast tip can be moved by the operator with computer assistance via an adjustment path predetermined by the end hose. The actuator is designed as detachable and / or height-adjustable arranged direction-sensitive tilt sensor on the movable end hose. The directional sensitivity of the tilt sensor is realized there by the use of a two-axis tilt sensor. 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.

Proceeding from this, 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.

To solve this problem, the feature combinations specified in claims 1 and 13 are proposed. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims.

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 drive signals for the drive units of the rotary and bending axes responds. With these measures it is achieved that it does not depend on a necessary in the use of inclinometers sliding and rotationally fixed fixation of the control device on the shuttle. In addition, 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.

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 ,

For reasons of reliability, 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. In addition, it is ensured that the mast tip is tracked only at a predetermined minimum deflection of the pendulum element, for example, ± 50 cm. To adjust the height of the mast top, a hand-operated height adjustment element can additionally be provided on the pendulum element.

According to a further preferred embodiment of the invention, in which a further actuator for actuating a flow regulator of the concrete pump is provided, 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. With this measure, it is achieved that an operation of the flow regulator by the operator is possible without this decreases his hands from the pendulum element designed as a final hose. Advantageously, 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. The radio link expediently has an RFID transponder (RFID = Radio Frequency Identification) as a triggering device and a RFID end-reading fixed RFID reader, wherein the at least one RFID transponder transmits an identity and basic data packet via the RFID reader to the remote control during each transmission , This ensures that only an authorized operator who has the RFID transponder (RFID tag) can operate the concrete pump via the remote control. Suitably, 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. With these measures it is achieved that 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. In order to avoid incorrect operation by unauthorized operators, it is further proposed according to the invention that 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 the Endschslauch a Betonverteilermost having, preferably mobile concrete pump with a housing and at least one arranged in the housing on the deflection of the Endschlanches ausprechenden actuator.

According to the invention, the actuator of the remote control device is designed as an end hose fixed, 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.

According to an advantageous embodiment of the invention, in which a further actuator for actuating a flow regulator is provided, the further actuator is in the housing and communicates on the input side advantageously without contact with an external actuator. With this measure it is achieved that an operation of the flow regulator by the operator is possible without that his hands from the shuttle or end hose decreases. Advantageously, 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. 1 a und b

eine Seitenansicht und eine Draufsicht einer Autobeton- pumpe mit auseinandergeklapptem Knickmast;

Fig. 2

einen Ausschnitt aus einem Endschlauch mit Sensorgürtel zur Veranschaulichung des Abstandsbereichs für die Betä- tigung der Stellglieder für die Fördermengeneinstellung;

Fig. 3

eine schaubildliche Darstellung eines Hochbaus mit Scha- lung und stationärer Betonpumpe als Beispiel für eine Sta- tionäranwendung der, erfindungsgemäßen Femsteuerein- richtung;

Fig. 4

eine schematische Darstellung des Bewegungsablaufs beim Betonieren unter Verwendung der erfindungsgemä- ßen Fernsteuereinrichtung zur Veranschaulichung der Posi- tionsänderungen der Mastspitze und des Endschlauchs;

Fig. 5

eine Darstellung der erdfesten, gestellfesten und end- schlauchfesten Koordinatensysteme einer fahrbaren Be- tonpumpe zur Veranschaulichung der bei der Verwendung von Inertialsensoren durchzuführenden Koordinatentrans- formationen.

In the following the invention will be explained in more detail with reference to the embodiments schematically illustrated in the drawing. Show it

Fig. 1 a and b

a side view and a plan view of a truck-mounted concrete pump with unfolded articulated mast;

Fig. 2

a section of a end tube with sensor belt to illustrate the distance range for the actuation of the actuators for the flow rate adjustment;

Fig. 3

a perspective view of a building construction with formwork and stationary concrete pump as an example of a stationary use of the invention, Femsteuerein- device;

Fig. 4

a schematic representation of the movement sequence during concreting using the remote control device according to the invention for illustrating the position changes of the mast top and the end hose;

Fig. 5

a representation of the earth-resistant, fixed to the frame and end-tube fixed coordinate systems of a mobile concrete pump to illustrate the to be performed in the use of inertial coordinate transformations.

The in the 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 folding 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.

To actuate the drive units of the articulated mast 20, a remote control device is provided, which comprises a signal generator 53 and a vehicle-mounted central control system that communicates galvanically or wirelessly with the signal generator 53. 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.

• (X_gY_gZ_g) = erdfestes Koordinatensystem
• (X_fY_fZ_f) = fahrzeugfestes Koordinatensystem
• (X_eY_eZ_e) = endschlauchfestes Koordinatensystem

A peculiarity of in Fig. 5 illustrated embodiment of the invention is that 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. 5 indicated as follows:

• (X _g Y _g Z _g ) = Earth-fixed coordinate system
• (X _f Y _f Z _f ) = vehicle-fixed coordinate system
• (X _e Y _e Z _e ) = end hose-fixed coordinate system

For the conversion of the coordinate systems, a transformation matrix T (Ψ, θ, Φ) is required in each case, where Ψ, θ, Φ mean the Euler angles of the coordinate systems to be transformed.

In the computer-aided coordinate generator, the Cartesian coordinates are also in the frame-fixed cylindrical coordinates of the articulated mast (r, h, φ), where r is the distance of the end hose from the axis of rotation 18 of the mast 16, h the height of the end hose above the ground 41 and φ 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.

In the housing 30 of the sensor belt can also be 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. At the in Fig. 2 In the embodiment shown, 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. At the actuators, a detection area 68 can be set, within which a switching or control process can be triggered. When approaching the plus actuator 60+, the flow rate is increased, while when approaching the minus actuator 60- the flow rate is reduced. The operator 51 on the end hose 50 therefore does not have to take his hands off the hose in order to adjust the flow rate of the concrete pump.

With the measures according to the invention, it is possible, by simply moving the end hose 50, to distribute the concrete in the manner desired by the operator 51 in a placement point 70. How out Fig. 4 can be seen, fast movements of Endschlauches 50 in different directions in a pure distribution process only relatively small changes in position of the mast tip 55. This is because the mast movement responds only at a minimum deflection of the end tube 50. Continuously deflecting the end tube 50 in one direction or changing the direction slowly causes the mast 20 to follow in the desired direction. The latter is for example in the in FIG. 3 In the embodiment shown, the case in which a stationary concrete placing boom 20 is moved by moving the end hose 50 along various positions 72 of a placement point 70 (formwork). In repeated operations of this kind, the way can also be learned.

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. Thus, 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.

In summary, the following should be noted: 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 bracket 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.

Claims (20)

1. Large manipulator, particularly a concrete pump truck, having a mast base (16) that can be rotated about an essentially vertical axis of rotation (18), by means of a drive unit, and is disposed on a frame, particularly on a chassis (10), having an articulated mast (20) composed of at least two mast arms (1, 2, 3, 4, 5), which mast arms can be pivoted, in limited manner, relative to the mast base (16) or an adjacent mast arm, about horizontal articulation axes that are parallel to one another, in each instance, by means of another drive unit, in each instance, having a pendulum element (50) that hangs down from the mast tip (55), having a setting element (53) disposed on a control device, and having a computer-assisted coordinate sensor that responds to output signals of the setting element (53), and activates the drive units of the articulation and rotation axes of the articulated mast in accordance with an adjustment path that is displayed by means of the setting element (53), relative to the current position of the mast tip (55), whereby the mast tip (55) can follow the spatial movements of the pendulum element (50), characterized in that the remote control device has a first three-dimensional inertial sensor (53) disposed in the housing affixed to the pendulum element as a setting element, and a second three-dimensional inertial sensor (57) that is fixed in place on the frame as a reference element for determining the current frame-fixed pendulum element coordinates, and that the coordinate sensor responds to the output data issued by the two inertial sensors (53, 57), forming control signals for the drive units of the axes of rotation and articulation.
2. Large manipulator according to claim 1, characterized in that the articulated mast (20) is configured as a concrete distributor mast, and that a concrete feed line is guided by way of the mast arms (1, 2, 3, 4, 5), which feed line opens, at its end, into an end hose that hangs down from the mast tip (55) and forms the pendulum element (50).
3. Large manipulator according to claim 1 or 2, characterized in that the inertial sensors (53, 57) comprises a number of gyroscope units and/or gravitation sensors that corresponds to the number of degrees of freedom.
4. Large manipulator according to one of claims 1 to 3, having a feed amount regulator for the concrete pump that can be activated by means of at least one other setting element (60+, 60-), characterized in that the additional setting element (60+, 60-) is situated in the housing (30) disposed fixed in place on the end hose or on the sensor belt, and is connected with the concrete pump by way of a signal link, and on the input side, communicates, without contact, with an external activation organ (62, 64).
5. Large manipulator according to claim 4, characterized in that the additional setting element (60+, 60-) has at least two setting inputs that correspond to a feed amount increase or decrease, which can be activated without contact, by way of a radio link.
6. Large manipulator according to claim 5, characterized in that the radio link comprises at least one RFID transponder (62, 64) as the triggering organ, as well as an RFID reader (44) fixed in place on the pendulum element or end arm.
7. Large manipulator according to claim 6, characterized in that the at least one RFID transponder (62, 64) transmits an identity and base data packet to the remote control device, by way of the RFID reader (44), during every transmission process.
8. Large manipulator according to one of claims 5 to 7, characterized in that an RFID reader (44) is assigned to each setting input.
9. Large manipulator according to one of claims 6 to 8, characterized in that the at least one RFID transponder (62, 64) is integrated into a work glove (66) of an operator (51).
10. Large manipulator according to one of claims 1 to 9, characterized by a radio remote control device (80) having multiple control units that communicate with the mast drive and/or the pump drive by way of a radio link, whereby the control units of the radio remote control device and the setting elements in the housing (30) affixed to the pendulum element, or in the sensor belt, can optionally be activated by way of a switching element, from the radio remote control device.
11. Large manipulator according to claim 10, characterized in that the radio remote control device (80) carries an RFID transponder (62, 64), the content of which can be read and identified by way of an RFID reader (44) disposed in the housing affixed to the pendulum element or to the sensor belt.
12. Large manipulator according to claim 11, characterized in that an RFID transponder is disposed in the housing affixed to the pendulum element (30) or in the sensor belt, the content of which can be read and identified by way of an RFID reader (44) disposed in the remote control device.
13. Remote control device for fixation on the end hose (50) of a concrete pump that has a concrete distributor mast (20), preferably a mobile concrete pump, having a housing (30) and having at least one setting element disposed in the housing, which responds to a deflection of the end hose (50), characterized in that the setting element is configured as a three-dimensional inertial sensor (53) that is fixed in place on the end hose, and that a second three-dimensional inertial sensor (57) that is fixed in place on the frame is provided as a reference element for determining the current frame-fixed end hose coordinates.
14. Remote control device according to claim 13, characterized in that the inertial sensors (53, 57) comprises a number of gyroscope units and/or gravitation sensors that corresponds to the number of degrees of freedom.
15. Remote control device according to one of claims 13 or 14, characterized in that an additional setting element (60+, 60-) is disposed in the housing (30), which, on the input side, communicates, without contact, with an external activation organ (64).
16. Remote control device according to claim 15, characterized in that the additional setting element (60+, 60-) has at least two setting inputs that correspond to a feed amount increase or decrease, which can be activated without contact, by way of a radio link.
17. Remote control device according to claim 16, characterized in that the radio link comprises at least one RFID transponder (62, 64) as the triggering organ, as well as an RFID reader (44) fixed in place on the end arm.
18. Remote control device according to claim 17, characterized in that the at least one RFID transponder (62, 64) transmits an identity and base data packet, by way of the RFID reader (44), during every transmission process.
19. Remote control device according to one of claims 16 to 18, characterized in that an RFID reader (44) is assigned to every setting input.
20. Remote control device according to one of claims 17 to 19, characterized in that the at least one RFID transponder (62, 64) is integrated into a work glove (66) of an operator (51).

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