EP2323943A1 - Machine de travail mobile avec dispositif de télécommande - Google Patents

Machine de travail mobile avec dispositif de télécommande

Info

Publication number
EP2323943A1
EP2323943A1 EP09781996A EP09781996A EP2323943A1 EP 2323943 A1 EP2323943 A1 EP 2323943A1 EP 09781996 A EP09781996 A EP 09781996A EP 09781996 A EP09781996 A EP 09781996A EP 2323943 A1 EP2323943 A1 EP 2323943A1
Authority
EP
European Patent Office
Prior art keywords
remote control
control device
working
transmitting
machine according
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
EP09781996A
Other languages
German (de)
English (en)
Other versions
EP2323943B1 (fr
Inventor
Wolf-Michael Petzold
Martin Mayer
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 Engineering 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 Engineering GmbH filed Critical Putzmeister Engineering GmbH
Publication of EP2323943A1 publication Critical patent/EP2323943A1/fr
Application granted granted Critical
Publication of EP2323943B1 publication Critical patent/EP2323943B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • 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
    • B66C15/00—Safety gear
    • B66C15/04—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track
    • B66C15/045—Safety gear for preventing collisions, e.g. between cranes or trolleys operating on the same track 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
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • 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
    • E04G21/0427—Devices for both conveying and distributing with distribution hose on a static support, e.g. crane

Definitions

  • the invention relates to a mobile machine with at least one working or support member having at least one motor drive mechanism, with a control device for controlling the at least one drive mechanism and with a remote control device communicating wirelessly with the control device.
  • Mobile machines such as concrete pumps, are provided with a support structure with which they can be supported in their working position on a surface.
  • the Abstützorgane the support structure are previously extended individually on the chassis and supported with her foot on the ground.
  • the extension and retraction of the support members and the up and down movement of the foot is triggered via separate switch via electro-hydraulic actuation mechanisms. From the machine, although all operating mechanisms can be controlled simultaneously, if the ground is known. However, it is often not clear from the distance at which point the foot part hits the ground. Therefore, in addition to the support cylinder has a switch arranged in order to better position the foot can. However, it can not be ruled out here that the operator is in danger if the foot part hits the ground. He could get trapped and injured there. Also, the extension and retraction of the support organs represents a certain danger, since the boom can hit the operator and thereby hurt.
  • the object of the invention is to develop a remote control system for the working and / or support organs in working machines of the type specified at the outset, which fulfills higher operational reliability requirements.
  • the solution according to the invention is primarily based on the idea that the remote control device and / or the at least one working or support member have a first distance sensor defining an inner zone boundary and a second distance sensor defining an outer zone boundary, and the control device is only triggered by remote control signals an actuation signal for the motor drive mechanism responds when the remote control device is in the range between the inner and the outer zone boundary.
  • the basic principle of the invention is that three zones are formed around the outermost end of each support member:
  • zone boundaries are defined for this, an inner zone boundary and an outer zone boundary.
  • the zone limits are determined by suitable parameterization of the transmitting and / or receiving units. In the example case of the support organs, this presupposes that transmitting and / or receiving units are present both on the support member and on the remote control held by the operator.
  • a preferred embodiment of the invention provides that at the at least one working or supporting two wirelessly communicating with a receiving unit of the remote control unit transmitting units are classified whose transmission ranges are different, wherein the one transmitting unit one of the inner zone boundary corresponding inner range limit and the other transmitting unit defines an outer range limit corresponding to the outer zone boundary, and wherein the control device only responds by triggering an actuating signal for the drive mechanism when the remote control device is in the range between the inner and the outer reach limit relative to the associated working or support member.
  • two wirelessly communicating with a receiving unit of the working or supporting member transmitting units are arranged on the remote control device whose transmission ranges are different, wherein the one transmitting unit of the inner zone boundary corresponding inner range limit and the other transmitting unit one of the outer Zone boundary corresponding outer Reach limit defined, and wherein the controller responds only under the triggering of an actuating signal for the drive mechanism, when the remote control device is in the range between the inner and the outer reach limit relative to the associated working or supportive organ.
  • the range limit of the mutually assigned transmit and receive units can be adjusted for example via the transmission power and / or the antenna geometry.
  • the transmitting and receiving units are designed as radio units, in particular as RFID units of an RFID system.
  • the RFID units of an RFID system consist of an RFID transponder and an RFID reader for reading the transponder identification.
  • the reader contains software in the form of a microprogram, which controls the actual reading process. As a rule, the reader generates an electromagnetic high-frequency field with a predetermined range. This not only transmits data, but also powers the RFID transponder. If larger ranges are to be achieved, active transponders with their own power supply can also be used.
  • the coordinated RFID units respond to identical identification signals.
  • the transmitting and receiving units are designed as infrared or ultrasonic units. Via the transmitting and / or receiving units and control signals can be exchanged, which are necessary for the actuation of the drive mechanism.
  • Chassis arranged, designed as a support arm supporting members are provided, which under the action of associated drive mechanisms from a transport position in a support position extendable and below Lifting the chassis are supported on a substrate, and that are arranged on each boom two pairwise responsive to wireless signals of the remote control device, an inner and an outer range limit defining transmitting and / or receiving units.
  • At least two support arms to be actuated simultaneously when the remote control device is located between the inner and outer range limits of the support arms to be controlled.
  • a further advantageous embodiment of the invention provides that a chassis arranged on a chassis is provided as a working member which is movable under the action of an associated drive mechanism from a starting position to a working position, and that on the chassis or working member at least one group of two pairs arranged on wireless signals of the remote control device, an inner and an outer range limit defining transmitting and / or receiving units are arranged.
  • the chassis is, for example, a wheel or crawler chassis.
  • Fig. 1 a is a side view of a truck-mounted concrete pump with support arms in transport position
  • Figure 1 b is a plan view of the truck-mounted concrete pump with support arms in different positions.
  • Fig. 2 is a diagram of a truck-mounted concrete pump with support arms, which are operated via a remote control device.
  • Fig. 3 is a side view and an end view of a mobile slurry pump with crawler track, which is operated via a remote control device.
  • the truck-mounted concrete pumps shown schematically in FIGS. 1 a, b and 2 essentially consist of a chassis 10 with at least one front axle 11 and at least one rear axle 12, with a driver's cab 13, which is rotatably mounted about a vertical axis about a vertical axis Concrete spreader mast 15, with a mounted at a distance from the slewing gear 14 on the chassis 10 pump assembly 16 and a support structure 18 for the chassis 10.
  • the support structure 18 has a chassis-fixed support frame 19 and comprises two front support boom 20 and two rear support boom 22, in the 1 a) and oriented substantially parallel to the vehicle longitudinal axis 24 and in the support position (FIG. 1 b) projecting obliquely forwards or backwards over the chassis 10 and supported with their foot parts 26, 28 on the floor 30 are.
  • the front support arms 20 are pivotable about their vertical pivot axes 32 and the rear support arm 22 about their vertical pivot axes 34 between the transport position and the support position under the action of a respective Ausstellzylinders 36.
  • the front support arm 20 are formed as a telescopic boom. They each comprise one about a vertical pivot axis 32 relative to the chassis pivotable Ausschub- boxes 38 and one of three telescopic segments 40 ', 40 ", 40"' existing telescopic part 40.
  • the rear support arms 22 are simple Swivel legs trained. As can be seen from Fig. 1 b, depending on the deployment angle of the support arm 20, 22 in addition to the normal support (below) and a narrow support (top) can be selected. This adaptation to given space in the field of construction site is possible.
  • the pivoting and the telescoping of the support arms 20, 22 and the up and down movement of the foot parts 26, 28 are triggered via separate switches on the support arms themselves or from a central switching position on the working machine via electro-hydraulic actuation mechanisms.
  • the invention therefore provides for the operation of the support arms 20, 22 and the support legs 26, 28, a remote control device 54 before. In this case, the operator can get close enough to the extend or retractable outriggers to observe the motion during the support process can. At the same time, however, it must be ensured that a danger to the operator is avoided by the extension and retraction support arms.
  • the truck-mounted concrete pump shown schematically in Fig. 2 a control device 50 for controlling the arranged in the support arms 20, 22 electro-hydraulic drive mechanisms, which can be operated individually via a remote control device 54 by the operator.
  • the remote control device 54 has a radio transmitter 56 which communicates via a radio link 58 with a radio receiver 60 fixed to the frame and connected to the control device 50.
  • the drive mechanism for one of the support arms is indicated symbolically in FIG. 2 by a support boom valve 52.
  • each of the support arms 20, 22 is connected via its own drive mechanism 52 to the control device. Since the operator is basically free to move around the truck-mounted concrete pump, additional precautions are taken to prevent an undesirable collision with the support beams 20, 22 when actuated.
  • two RFID transponders 62 ', 62 are arranged, for example glued, on the pedestal-side end of the support brackets 20, 22, while an RFID reader 64 is arranged on the remote control, on which the transponder identification can be read out
  • the reader 64 contains software in the form of a microprogram that controls the actual reading process, and the reader 64 generates a high-frequency electromagnetic field, not only transmitting data, but also powering the RFID transponder now in that the transmission ranges of the two transponders 62 ', 62 "of each support leg are different.
  • different range limits 66 ', 66 "of the transponder can be set, which are used to at the outer end of each support arm 20, 22 three zones defined by the range limits 66', 66" zones:
  • the zone boundaries 66 ', 66 are defined by suitable parameterization of the RFID system
  • the parameterization then takes place, for example, such that the inner zone boundary 66' is replaced by the reception at a first zone Antenna is detected. If the operator comes too close to the outrigger, this antenna responds and shuts off the movement. If the inner range limit 66 'is exceeded to the outside, then one is in the operating zone 70 as long as the second range limits 66 "have not yet been reached. In this case, contact only exists for one of the two RFID transponders , so it is located outside the operating zone 70 in the outer zone 72nd
  • the RFIDs have an additional function. You can identify the reader 64 of the operator. Only when the remote control 54 contains the appropriate reader 64, the operation of the support arms 20, 22 can be triggered. For an individualization of this kind could speak, if there are several concrete pumps on a large construction site, which must not disturb each other. Furthermore, this technique can also be used to avoid supporting leg collisions with chassis parts of any kind, for example the driver's cab. Also, the RFID technology can be used if there is a reader with a distance sensor is arranged.
  • the measures according to the invention can also be used to actuate two support arms simultaneously. In this case, there are overlapping operating zones 70, within which the operator must be in the operation of the support arm to avoid a risk of collision.
  • the above description is concerned with a remote control for the support boom of a car concrete pump.
  • the measures according to the invention for other applications as well, for example in the remote control of a self-propelled workstation which is to be moved by remote control from a starting position to a working position.
  • a working device in the form of a mobile concrete pump 80 with remote-controlled crawler track 82 is shown in Fig. 3a and b in a side view and an end view.
  • the operator must perform two tasks at the same time, namely the operation of the working machine along a certain distance and the operation of certain work organs for the execution of the concreting operations.
  • the safety of the operator is also ensured in this case by the fact that any operation is interrupted, if it is within a security zone and thus could be at risk, or if it is outside a predetermined operating zone and moving too far away from the working position and possibly jeopardizing other persons or the working machine.
  • the RFID system described above in connection with the support function is used, in which a RFID reader is arranged on a remote control device, not shown, and at certain positions of the mobile concrete pump 80 RFID transponder pairs 62 ', 62 "arranged
  • the remote control device is as previously used only in the operating zone for purposes of actuation.
  • the invention relates to a mobile work machine with at least one working or Abstützor- gan 20, 22, which has at least one motor Abhebmechanismus 52.
  • the work machine also comprises a control device 50 for controlling the at least one drive mechanism 52 and a remote control device 54 which communicates wirelessly with the control device 50.
  • the remote control device 54 and the at least one working or support member 20, 22 provide a first distance sensor Determining an inner zone boundary 66 'and a second distance sensor for determining an outer zone boundary 66 ", the controller 50 only responds to remote control signals triggering an actuation signal for the drive mechanism 52 when the remote control device 54 in the area 70 between the inner and the outer zone boundary 66 ', 66 "is located.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Selective Calling Equipment (AREA)
  • Manipulator (AREA)
  • Operation Control Of Excavators (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne une machine de travail mobile avec au moins un organe de travail ou d'appui (20, 22) qui possède au moins un mécanisme d'entraînement (52) par moteur. La machine de travail comprend en outre un dispositif de commande (50) destiné à piloter ledit ou lesdits mécanismes d'entraînement et un appareil de télécommande (54) communiquant sans fil avec le dispositif de commande (50). Afin d'augmenter la sécurité de fonctionnement, l'appareil de télécommande (54) et ledit ou lesdits organes de travail ou d'appui (20, 22) possèdent un premier capteur de distance destiné à déterminer une limite intérieure de zone (66') et un deuxième capteur de distance destiné à déterminer une limite extérieure de zone (66''). Le dispositif de commande (50) ne répond aux signaux de télécommande en produisant un signal d'actionnement pour le mécanisme d'entraînement que lorsque l'appareil de télécommande (54) se situe dans la région (70) délimitée par les limites intérieure et extérieure de zone (66', 66'').
EP09781996.5A 2008-09-15 2009-08-19 Machine de travail mobile avec dispositif de télécommande Active EP2323943B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200810047425 DE102008047425A1 (de) 2008-09-15 2008-09-15 Mobile Arbeitsmaschine mit Fernsteuereinrichtung
PCT/EP2009/060726 WO2010028938A1 (fr) 2008-09-15 2009-08-19 Machine de travail mobile avec dispositif de télécommande

Publications (2)

Publication Number Publication Date
EP2323943A1 true EP2323943A1 (fr) 2011-05-25
EP2323943B1 EP2323943B1 (fr) 2015-08-05

Family

ID=41258929

Family Applications (1)

Application Number Title Priority Date Filing Date
EP09781996.5A Active EP2323943B1 (fr) 2008-09-15 2009-08-19 Machine de travail mobile avec dispositif de télécommande

Country Status (4)

Country Link
EP (1) EP2323943B1 (fr)
CN (1) CN102123934A (fr)
DE (1) DE102008047425A1 (fr)
WO (1) WO2010028938A1 (fr)

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EP3556712A1 (fr) 2018-04-20 2019-10-23 Cargotec Patenter AB Système de sécurité

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JP6259958B1 (ja) * 2016-03-03 2018-01-10 株式会社タダノ 作業機および作業機の操作システム
WO2018110662A1 (fr) * 2016-12-14 2018-06-21 株式会社タダノ Système d'actionnement à distance pour engin de chantier
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EP3838830B1 (fr) * 2019-12-20 2022-06-29 Hiab AB Système de commande de pied stabilisateur, véhicule et procédé
DE102020102210A1 (de) 2020-01-30 2021-08-05 Stetter Gesellschaft mit beschränkter Haftung Mobile Baumaschine und Verfahren zur Steuerung einer mobilen Baumaschine
DE102020107046A1 (de) 2020-03-13 2021-09-16 Bär Management- und Beteiligungsgesellschaft mbH Vorrichtung für eine Arbeitsmaschine, mobile Arbeitsmaschine mit einer solchen Vorrichtung und Verfahren zum Betrieb einer Arbeitsmaschine
CN112900463A (zh) * 2021-04-02 2021-06-04 北京中岩智泊科技有限公司 一种沉井壁行挖掘机自动控制装置和方法
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Also Published As

Publication number Publication date
DE102008047425A1 (de) 2010-04-15
CN102123934A (zh) 2011-07-13
WO2010028938A1 (fr) 2010-03-18
EP2323943B1 (fr) 2015-08-05

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