EP2342400A1 - Mobile work machine having support brackets - Google Patents

Mobile work machine having support brackets

Info

Publication number
EP2342400A1
EP2342400A1 EP09783219A EP09783219A EP2342400A1 EP 2342400 A1 EP2342400 A1 EP 2342400A1 EP 09783219 A EP09783219 A EP 09783219A EP 09783219 A EP09783219 A EP 09783219A EP 2342400 A1 EP2342400 A1 EP 2342400A1
Authority
EP
European Patent Office
Prior art keywords
chassis
transmitting
support
work machine
mobile work
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
EP09783219A
Other languages
German (de)
French (fr)
Other versions
EP2342400B1 (en
Inventor
Wolf-Michael Petzold
Martin Mayer
Dirk Hövemeyer
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 EP2342400A1 publication Critical patent/EP2342400A1/en
Application granted granted Critical
Publication of EP2342400B1 publication Critical patent/EP2342400B1/en
Not-in-force 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
    • 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
    • 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
    • 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
    • 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

Definitions

  • the invention relates to a mobile work machine with a chassis and two front and two rear support arms, the support arm are mounted with a bearing end to a chassis fixed rotary or sliding joint, wear at its free end a telescopic and supportable on the ground support leg and a driving - Near-frame drive position in a support position with a change in a base angle between the support arm and chassis are pivotable and / or telescopically changing the length of their support arm between the bearing side and free end.
  • Mobile working machines of this type are, for example, truck-mounted concrete pumps, which serve as a support for a conveyor concrete distributor, which is articulated with its first mast arm on a rotatable about a vertical axis of the chassis rotating a rotary actuator and driving the mast arms by driving associated buckling with respect to the turret and opposite each adjacent mast arm are pivotable about horizontal buckling axes.
  • Other applications include mobile cranes or mobile extension ladders.
  • each support boom has a chassis-near and at least one chassis-distant support position, which are freely selectable to form defined support configurations for the four support arms.
  • Abstützkonfiguration only such mast movements are allowed in which the center of gravity of the machine moves without the risk of incorrect operation within the support quadrilateral, ie within the tilting edges.
  • the support leg positions it is important to know the support leg positions. This is the only way to make a prediction about the stability of the support.
  • the support legs could only be positioned in certain discrete positions in the known support devices. These positions are selected by the concrete pump driver depending on the space available at the workplace. It is a disadvantage here that intermediate positions of the supporting device, which would be possible at the place of work, are not permitted.
  • the object of the invention is to improve the known working machine of the type specified in that an automatic detection of the support leg positions and thus the permissible load moments is possible, so that their installation without sacrificing stability results in a higher variability in the Positioning of the support legs is.
  • each transmitting and receiving unit which are related to the transmission and reception of runtime or distance signals are provided, of which a first transmitting and receiving unit at a chassis-fixed bearing-side reference point in the immediate vicinity the chassis-fixed rotary or sliding joint, a second transmitting and receiving unit at a defined distance from the bearing-side reference point fixed chassis reference point and a third transmitting and receiving unit at a cantilever reference point in the vicinity of the free support arm end are each arranged so that their transmission signals mutually on a straight line to the adjacent receivers are transferable and wherein an on the pairwise associated transmit and receive signals of the transmitting and receiving units responsive microprocessor-based evaluation is provided which is a software have outine for determining the boom fixed reference point or the support leg position in a chassis fixed coordinate system.
  • the three reference points according to the invention span a triangle which can be measured via the transmitting and receiving units arranged there in the manner of a triangulation method, by determining the support leg positions selected in a specific setup.
  • the triangular corners defined by the reference points must face each other freely, so that a trouble-free measurement is possible.
  • a preferred embodiment of the invention provides that the transmitting and receiving units each have an ultrasonic transmitter and an ultrasonic receiver, which in pairs between the reference points in can be used in both directions and thus redundant distance measuring system.
  • the distance is determined in each case by a transit time measurement.
  • the known distance between the first and the second fixed chassis reference point can be used as a reference for determining the two variable distances to the boom-fixed reference point.
  • a temperature compensation is possible, which takes into account the temperature dependence of the speed of sound.
  • a trouble-free measurement is made possible by the fact that the transmitting and receiving units overlap in their effective range.
  • the transmitting and receiving units In principle, it is possible to equip the transmitting and receiving units with light transmitters or light receivers, wherein the light emitter can be designed as a laser.
  • the use of radio transmitters and radio receivers in the transmitting and receiving units is also possible.
  • the mobile work machine advantageously arranged on a chassis-fixed base, serving as a support for a conveyor line and having at least three mast arms articulated mast, the first mast arm hinged with a free end to a rotatable about a vertical axis of the chassis by driving a rotary drive rotary head is and wherein the mast arms by controlling associated buckling with respect to the turret and / or each adjacent mast arm are pivotable about horizontal buckling axes.
  • Show it 1a is a side view of a truck-mounted concrete pump with support arms in driving position;
  • Fig. 1 b is a plan view of the truck-mounted concrete pump according to Fig 1a with support arms in different support positions.
  • Fig. 2 is a diagram of a front support arm with position measuring system
  • FIG. 4 shows a geometrical representation of the exemplary embodiment according to FIG. 2 for determining the support leg position (object) by triangulation
  • the truck-mounted concrete pump illustrated in FIGS. 1 a and b essentially comprises a multi-axle chassis 10 with two front axles 11 and three rear axles 12, with a driver's cab 13, a concrete distributor boom 15 mounted rotatably about a vertical axis on a front-axle slewing gear 14
  • the support structure 18 has a chassis-fixed support frame 19 and includes two front support boom 20 and two back prevailing support boom 22, which retracted in the transport position and are aligned parallel to the vehicle longitudinal axis 24 and project in the support position obliquely forward or back over the chassis 10.
  • the front support arms 20 are pivotable about their vertical pivot axes 32 and the rear support arms 22 about their vertical pivot axes 34 between the driving position and a support position under the action of a respective Ausstellzylinders 36.
  • the front support arms 20 are designed as a telescopic boom. They each comprise a telescoping part 38 which can be swiveled around the vertical swivel axis 32 relative to the chassis and a telescopic part 40 consisting of three telescopic segments 40 ', 40 ", 40'". Through the extension box 38 and the telescopic part 40 a telescoping telescopic part extends. not shown in the drawing hydraulic cylinder. As can be seen from Fig. 1 b, the support arm can be supported depending on the space required at the construction site either to form different Ausstellkonfigurationen in an inner, chassis-like or an outer chassis remote support with their support legs on the ground.
  • a special feature of the present invention is that all intermediate positions between the inner and the outer support position are possible. The latter is made possible by the fact that a measuring arrangement is provided with which the position of the support leg 26 can be automatically determined in a frame-fixed coordinate system.
  • the measuring system has on each support arm each three transmitting and receiving units S 1 / E 1 , S 2 / E 2 and S 3 / E 3 , which are designed for the transmission and reception of runtime or distance signals.
  • each transmitting and receiving unit S 1 / E 1 , S 2 / E 2 and S 3 / E 3 which are designed for the transmission and reception of runtime or distance signals.
  • ultrasound transmitters and receivers are used for this purpose.
  • a first transmitting and receiving unit S 1 / E 1 is fixed to the chassis in a bearing-side reference point A in the immediate vicinity of the chassis-fixed pivot joint 32.
  • a second transmitting and receiving unit S 2 / E 2 is located at a defined distance L12 / 21 from the bearing-side reference point A fixed chassis reference point B, while a third transmitting and receiving unit S 3 / E 3 at a boom-fixed reference point C in the vicinity the free end of the support Layers 40 is arranged.
  • the reference points A, B and C, at which the transmitting and receiving units are located, are arranged according to FIG. 3 such that their effective ranges Wi, W 2 , W 3 overlap, so that their transmission signals are mutually echo-free on a straight line to the Recipients of the other reference points are transferable.
  • the reference points A, B, C span a triangle whose side lengths can be measured by transmitting and receiving ultrasonic signals in both directions with the aid of the transmitting and receiving units.
  • the length values depend on the direction of their measurement with Li 2 and L 21 , L 23 and L 32 as well as L
  • the measurement is carried out in the two directions in order to obtain a redundancy and thus a higher reliability in the results of the Ivies.
  • the aim of the measurement arrangements in different support legs is to determine the support leg position and thus the object point Xc / Yc in the frame-fixed coordinate system x / y. Taking into account the geometric arrangement in FIG. 4, the coordinates X 0 and Y c in the object point C are calculated as follows:
  • the lengths of the triangle sides a, b and c are known from the path measurements according to FIG. 2.
  • the coordinates Xc / Yc are sought in the x / y coordinate system.
  • the invention relates to a mobile work machine with a chassis 10 and with two front and two rear support arms 20,22.
  • the support arms can be pivoted from a driving position close to the chassis into a support position by changing their base angle ⁇ between the support arm and the chassis and / or telescopically changing their length between the slide-side and the free end.
  • three support arm-related transmitting and receiving units SiZE 1 to S 3 / E 3 are provided for transmitting and receiving runtime or distance signals.
  • a microprocessor-based evaluation unit which responds to the mutually paired transmit and receive signals of the transmitting and receiving units is provided which has a software routine for determining the support leg position in a chassis-fixed coordinate system x / y.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Jib Cranes (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Agricultural Machines (AREA)
  • Automation & Control Theory (AREA)
  • Arrangements For Transmission Of Measured Signals (AREA)
  • Manipulator (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention relates to a mobile work machine having a chassis (10) and with two front and two rear support brackets (20, 22). The support brackets can be displaced from a driving position close to the chassis into a support position by changing the base angles (α) thereof and/or can be telescoped by changing the lengths thereof between the end on the mounting side and that on the free end. In order to be able to automatically determine the support leg positions (Xc/Yc) in relation to the chassis (10), three transceiver units (S1/E1, S2/E2, S3/E3) related to the support legs are provided for transmitting and receiving run time or distance signals. Furthermore, a microprocessor-supported evaluation unit responding to the transmitted and received signals of the transceiver units arranged in pairs is provided, comprising a software routine for determining the support leg positions in a coordinate system (x/y) fixed to the chassis.

Description

Fahrbare Arbeϊtsmaschϊne mit Stützauslegern Mobile work machines with support arms
Beschreibungdescription
Die Erfindung betrifft eine fahrbare Arbeitsmaschine mit einem Fahrgestell und mit zwei vorderen und zwei rückwärtigen Stützauslegern, wobei die Stützausleger mit einem lagerseitigen Ende an einem fahrgestellfesten Drehoder Schubgelenk gelagert sind, an ihrem freien Ende ein teleskopierbares und auf dem Untergrund abstützbares Stützbein tragen und von einer fahr- gestellnahen Fahrstellung in eine Abstützstellung unter Veränderung eines Basiswinkels zwischen Stützausleger und Fahrgestell verschwenkbar und/oder unter Veränderung der Länge ihres Stützauslegers zwischen dem lagerseitigen und freien Ende teleskopierbar sind.The invention relates to a mobile work machine with a chassis and two front and two rear support arms, the support arm are mounted with a bearing end to a chassis fixed rotary or sliding joint, wear at its free end a telescopic and supportable on the ground support leg and a driving - Near-frame drive position in a support position with a change in a base angle between the support arm and chassis are pivotable and / or telescopically changing the length of their support arm between the bearing side and free end.
Fahrbare Arbeitsmaschinen dieser Art sind beispielsweise Autobetonpumpen, die einen als Träger für eine Förderleitung dienenden Betonverteiler aufweisen, der mit seinem ersten Mastarm an einem durch Ansteuerung eines Drehantriebs um eine Hochachse des Fahrgestells verdrehbaren Drehkopf angelenkt ist und dessen Mastarme durch Ansteuerung zugeordneter Knickantriebe gegenüber dem Drehkopf und gegenüber je einem benachbarten Mastarm um horizontale Knickachsen verschwenkbar sind. Als weitere Anwendungen kommen Autokräne oder fahrbare Auszugsleitern in Betracht.Mobile working machines of this type are, for example, truck-mounted concrete pumps, which serve as a support for a conveyor concrete distributor, which is articulated with its first mast arm on a rotatable about a vertical axis of the chassis rotating a rotary actuator and driving the mast arms by driving associated buckling with respect to the turret and opposite each adjacent mast arm are pivotable about horizontal buckling axes. Other applications include mobile cranes or mobile extension ladders.
Die mit ihren Stützbeinen auf dem Untergrund abgestützten Stützausleger begrenzen bei abgehobenem Fahrgestell ein Stützviereck mit vier zwischen den benachbarten Ecken sich erstreckenden Kippkanten, die vom Schwerpunkt des Systems nicht nach außen hin überschritten werden dürfen. Im Falle einer Autobetonpumpe ist bei voll ausgefahrenen und abgestützten Stützauslegern üblicherweise eine Drehung des voll ausgeklappten und hori- zontal ausgerichteten Betonvetteilermasts um 360° seines Drehkopfs möglich, ohne dass eine Kippgefahr besteht. Weiter ist es vor allem bei schmalen Baustellen an sich bekannt, dass die Stützausleger nur auf einer Seite des Fahrgestells ausgefahren und abgestützt werden, während sie auf der anderen Seite in ihrer eingeschwenkten Stellung auf dem Untergrund abgestützt werden. In diesem Faüe ergibt sich ein eingeschränkter Arbeitsbereich des Betonverteilermastes nach der durch die ausgefahrenen Stützausleger abgestützten Seite hin.Supported with their support legs on the ground support boom limit with lifted chassis a support quadrilateral with four between the adjacent corners extending tilting edges, which must not be exceeded from the center of gravity of the system to the outside. In the case of a truck-mounted concrete pump with fully extended and supported support arms usually a rotation of the fully unfolded and horizontally oriented Betonvetteilermasts 360 ° of its rotary head possible without a risk of tipping exists. Furthermore, it is known, especially in narrow construction sites, that the support arms only on one side be extended and supported on the chassis, while they are supported on the other side in its pivoted position on the ground. In this case results in a limited work area of the concrete boom after the supported by the extended support arm side.
Weiter ist es aus der DE-10 2006 031 257 A1 bei einer Autobetonpumpe bekannt, dass jeder Stützausleger eine fahrgestellnahe und mindestens eine fahrgestellferne Abstützstellung aufweist, die unter Bildung definierter Ab- Stützkonfigurationen für die vier Stützausleger frei wählbar sind. Bei jeder Abstützkonfiguration sind nur solche Mastbewegungen erlaubt, bei denen sich der Schwerpunkt der Maschine ohne die Gefahr einer Fehlbedienung innerhalb des Stützvierecks, also innerhalb der Kippkanten bewegt. Bei variablen Stützbeinausstellungen ist es wichtig, die Stützbeinpositionen zu ken- nen. Nur damit lässt sich eine Vorhersage über die Stabilität der Abstützung machen. Bei den bekannten Abstützvorrichtungen konnten aus Sicherheitsgründen die Stützbeine nur in bestimmten diskreten Stellungen positioniert werden. Diese Stellungen werden vom Betonpumpenfahrer je nach Platzverhältnissen am Arbeitsort ausgewählt. Als nachteilig wird hierbei empfun- den, dass Zwischenposϊtionen der Abstützvorrichtung, die am Arbeitsort platzmäßig möglich wären, nicht zugelassen sind.It is also known from DE-10 2006 031 257 A1 in a truck-mounted concrete pump that each support boom has a chassis-near and at least one chassis-distant support position, which are freely selectable to form defined support configurations for the four support arms. In each Abstützkonfiguration only such mast movements are allowed in which the center of gravity of the machine moves without the risk of incorrect operation within the support quadrilateral, ie within the tilting edges. For variable support leg displays, it is important to know the support leg positions. This is the only way to make a prediction about the stability of the support. For safety reasons, the support legs could only be positioned in certain discrete positions in the known support devices. These positions are selected by the concrete pump driver depending on the space available at the workplace. It is a disadvantage here that intermediate positions of the supporting device, which would be possible at the place of work, are not permitted.
Ausgehend hiervon liegt der Erfindung die Aufgabe zugrunde, die bekannte Arbeitsmaschine der eingangs angegebenen Art dahingehend zu verbes- sern, dass eine automatische Erfassung der Stützbeinposϊtϊonen und damit der zulässigen Lastmomente möglich ist, so dass bei ihrer Aufstellung ohne Einbuße an Standsicherheit eine höhere Variabilität in der Positionierung der Stützbeine besteht.Proceeding from this, the object of the invention is to improve the known working machine of the type specified in that an automatic detection of the support leg positions and thus the permissible load moments is possible, so that their installation without sacrificing stability results in a higher variability in the Positioning of the support legs is.
Zur Lösung dieser Aufgabe werden die im Patentanspruch 1 angegebenen Merkmale vorgeschlagen. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen. Die erfindungsgemäße Lösung geht vor allem von dem Gedanken aus, dass eine automatische Ermittlung der Stützbeinpositionen messtechnisch möglich ist, so dass sich für jede Abstützkonfiguration das Stützviereck ermitteln lässt, dessen Seitenkanten vom Schwerpunkt des Systems bei der Bewegung eines Arbeitsausiegers nicht überschritten werden dürfen. Um dies zu erreichen, wird gemäß der Erfindung vorgeschlagen, dass jeweils drei stüt- zauslegerbezogenene Sende- und Empfangseinheiten zur Aussendung und zum Empfang von Laufzeit- oder Entfernungssignalen vorgesehen sind, von denen eine erste Sende- und Empfangseinheit an einem fahrgestellfesten lagerseitigen Bezugspunkt in unmittelbarer Nähe des fahrgestellfesten Drehoder Schubgelenks, eine zweite Sende- und Empfangseinheit an einem in definiertem Abstand vom lagerseitigen Bezugspunkt angeordneten fahrgestellfesten Bezugspunkt und eine dritte Sende- und Empfangseinheit an ei- nem auslegerfesten Bezugspunkt in der Nähe des freien Stützauslegerendes jeweils so angeordnet sind, dass ihre Sendesignale wechselseitig auf gerader Strecke zu den benachbarten Empfängern übertragbar sind und wobei ein auf die einander paarweise zugeordneten Sende- und Empfangssignale der Sende- und Empfangseinheiten ansprechende mikroprozessorgestützte Auswerteeinheit vorgesehen ist, die eine Softwareroutine zur Bestimmung des auslegerfesten Bezugspunkts oder der Stützbeinposition in einem fahrgestellfesten Koordinatensystem aufweisen. Die drei erfϊndungsgemäßen Bezugspunkte spannen ein Dreieck auf, das über die dort angeordneten Sende- und Empfangseinheiten nach Art eines Triangulationsverfahrens un- ter Bestimmung der in einer bestimmten Aufstellung gewählten Stützbeinpo- sitonen vermessen werden kann. Die durch die Bezugspunkte definierten Dreϊecksecken müssen einander frei gegenüberliegen, damit eine störungsfreie Messung möglich ist.To solve this problem the features specified in claim 1 are proposed. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims. The solution according to the invention is based primarily on the idea that an automatic determination of the support leg positions is metrologically possible, so that the support quadrangle can be determined for each support configuration whose side edges from the center of gravity of the system during movement of a Arbeitsausiegers may not be exceeded. In order to achieve this, it is proposed according to the invention that in each case three transmitting and receiving units which are related to the transmission and reception of runtime or distance signals are provided, of which a first transmitting and receiving unit at a chassis-fixed bearing-side reference point in the immediate vicinity the chassis-fixed rotary or sliding joint, a second transmitting and receiving unit at a defined distance from the bearing-side reference point fixed chassis reference point and a third transmitting and receiving unit at a cantilever reference point in the vicinity of the free support arm end are each arranged so that their transmission signals mutually on a straight line to the adjacent receivers are transferable and wherein an on the pairwise associated transmit and receive signals of the transmitting and receiving units responsive microprocessor-based evaluation is provided which is a software have outine for determining the boom fixed reference point or the support leg position in a chassis fixed coordinate system. The three reference points according to the invention span a triangle which can be measured via the transmitting and receiving units arranged there in the manner of a triangulation method, by determining the support leg positions selected in a specific setup. The triangular corners defined by the reference points must face each other freely, so that a trouble-free measurement is possible.
Eine bevorzugte Ausgestaltung der Erfindung sieht vor, dass die Sende- und Empfangseinheiten jeweils einen Ultraschallsender und einen Ultraschallempfänger aufweisen, die zwischen den Bezugspunkten paarweise ein in beiden Richtungen einsetzbares und dadurch redundantes Entfernungsmesssystem bilden. Die Entfernung wird dabei jeweils durch eine Laufzeitmessung bestimmt. Die bekannte Entfernung zwischen dem ersten und dem zweiten fahrgestellfesten Bezugspunkt kann als Referenz zur Ermittlung der beiden variablen Entfernungen zum auslegerfesten Bezugspunkt verwendet werden. Damit ist zugleich eine Temperaturkompensation möglich, die der Temperaturabhängigkeit der Schallgeschwindigkeit Rechnung trägt. Eine störungsfreie Messung wird dadurch ermöglicht, dass sich die Sende- und Empfangseinheiten in ihrem Wirkbereich überlappen. Um die Sende- und Empfangssignale der drei verschiedenen Sende- und Empfangseinheiten eines jeden Stützauslegers einander zutreffend zuordnen zu können, ist es von Vorteil, wenn die Sendesignale jeweils eine an den Empfängern identifizierbare Codierung aufweisen.A preferred embodiment of the invention provides that the transmitting and receiving units each have an ultrasonic transmitter and an ultrasonic receiver, which in pairs between the reference points in can be used in both directions and thus redundant distance measuring system. The distance is determined in each case by a transit time measurement. The known distance between the first and the second fixed chassis reference point can be used as a reference for determining the two variable distances to the boom-fixed reference point. At the same time a temperature compensation is possible, which takes into account the temperature dependence of the speed of sound. A trouble-free measurement is made possible by the fact that the transmitting and receiving units overlap in their effective range. In order to assign the transmit and receive signals of the three different transmitting and receiving units of each support arm each other correctly, it is advantageous if the transmission signals each have an identifiable at the receivers coding.
Grundsätzlich ist es möglich, die Sende- und Empfangseinheiten auch mit Lichtsendern oder Lichtempfängern auszustatten, wobei die Lichtsender als Laser ausgebildet sein können. Der Einsatz von Funksendern und Funkempfängern in den Sende- und Empfangseinheiten ist ebenfalls möglich.In principle, it is possible to equip the transmitting and receiving units with light transmitters or light receivers, wherein the light emitter can be designed as a laser. The use of radio transmitters and radio receivers in the transmitting and receiving units is also possible.
Eine besonders vorteilhafte Anwendung der Erfindung ist in Autobetonpumpen möglich. Zu diesem Zweck weist die fahrbare Arbeitsmaschine vorteilhafterweise einen auf einem fahrgestellfesten Unterbau angeordneten, als Träger für eine Förderleitung dienenden und mindestens drei Mastarme aufweisenden Knickmast auf, dessen ersten Mastarm mit einem freien Ende an einem durch Ansteuerung eines Drehantriebs um eine Hochachse des Fahrgestells verdrehbaren Drehkopf angelenkt ist und wobei die Mastarme durch Ansteuerung zugeordneter Knickantriebe gegenüber dem Drehkopf und/oder gegenüber je einem benachbarten Mastarm um horizontale Knickachsen verschwenkbar sind.A particularly advantageous application of the invention is possible in truck-mounted concrete pumps. For this purpose, the mobile work machine advantageously arranged on a chassis-fixed base, serving as a support for a conveyor line and having at least three mast arms articulated mast, the first mast arm hinged with a free end to a rotatable about a vertical axis of the chassis by driving a rotary drive rotary head is and wherein the mast arms by controlling associated buckling with respect to the turret and / or each adjacent mast arm are pivotable about horizontal buckling axes.
Im Folgenden wird die Erfindung anhand eines in der Zeichnung in schema- tischer Weise dargestellten Ausführungsbeispiels näher erläutert. Es zeigen Fig. 1a eine Seitenansicht einer Autobetonpumpe mit Stützauslegern in Fahrstellung;In the following the invention will be explained in more detail with reference to an embodiment shown schematically in the drawing. Show it 1a is a side view of a truck-mounted concrete pump with support arms in driving position;
Fig. 1 b eine Draufsicht auf die Autobetonpumpe nach Fig. 1a mit Stützauslegern in verschiedenen Abstützstellungen;Fig. 1 b is a plan view of the truck-mounted concrete pump according to Fig 1a with support arms in different support positions.
Fig. 2 ein Schema eines vorderen Stützauslegers mit Positionsmesssystem;Fig. 2 is a diagram of a front support arm with position measuring system;
Fig. 3 Schema des Wirkbereichs der Sende-/Empfangseinheiten;Fig. 3 Scheme of the effective range of the transmitting / receiving units;
Fig. 4 eine geometrische Darstellung des Ausführungsbeispiels nach Fig. 2 zur Ermittlung der Stützbeinposition (Objekt) durch Triangu- lation;4 shows a geometrical representation of the exemplary embodiment according to FIG. 2 for determining the support leg position (object) by triangulation;
Die in Fig. 1a und b dargestellte Autobetonpumpe besteht im Wesentlichen aus einem mehrachsigen Fahrgestell 10 mit zwei Vorderachsen 11 und drei Hinterachsen 12, mit einem Führerhaus 13, einem an einem vorderachsna- hen Drehwerk 14 um eine vertikale Achse drehbar gelagerten Betonverteilermast 15, mit einer im Abstand vom Drehwerk 14 auf dem Fahrgestell 10 montierten Pumpanordnung 16 sowie einer Stützkonstruktion 18 für das Fahrgestell 10. Die Stützkonstruktion 18 weist einen fahrgestellfesten Tragrahmen 19 auf und umfasst zwei vordere Stützausleger 20 und zwei rück- wältige Stützausleger 22, die in der Transportstellung eingezogen und parallel zur Fahrzeuglängsachse 24 ausgerichtet sind und in der Abstützstellung schräg nach vorne bzw. hinten über das Fahrgestell 10 überstehen.The truck-mounted concrete pump illustrated in FIGS. 1 a and b essentially comprises a multi-axle chassis 10 with two front axles 11 and three rear axles 12, with a driver's cab 13, a concrete distributor boom 15 mounted rotatably about a vertical axis on a front-axle slewing gear 14 The support structure 18 has a chassis-fixed support frame 19 and includes two front support boom 20 and two back prevailing support boom 22, which retracted in the transport position and are aligned parallel to the vehicle longitudinal axis 24 and project in the support position obliquely forward or back over the chassis 10.
Die vorderen Stützausleger 20 sind um ihre vertikalen Schwenkachsen 32 und die rückwärtigen Stützausleger 22 um ihre vertikalen Schwenkachsen 34 zwischen der Fahrstellung und einer Abstützstellung unter der Einwirkung je eines Ausstellzylinders 36 verschwenkbar. Weiter weisen alle Stützausleger 20, 22 an ihrem freien Ende ein teleskopierbares Stützbein 26,28 auf, mit dem sie auf einem Untergrund 30 unter Anheben des Fahrgestells 10 abstützbar sind.The front support arms 20 are pivotable about their vertical pivot axes 32 and the rear support arms 22 about their vertical pivot axes 34 between the driving position and a support position under the action of a respective Ausstellzylinders 36. Next point all support arms 20, 22 at its free end a telescoping support leg 26,28, with which they can be supported on a substrate 30 by lifting the chassis 10.
Die vorderen Stützausleger 20 sind als Teleskopausleger ausgebildet. Sie umfassen jeweils einen um die vertikale Schwenkachse 32 gegenüber dem Fahrgestell verschwenkbaren Ausschubkasten 38 und ein aus drei Teleskopsegmenten 40',40",40'" bestehendes Teleskopteil 40. Durch den Ausschubkasten 38 und das Teleskopteil 40 hindurch erstreckt sich ein mehr- fach teleskopierbarer, in der Zeichnung nicht dargestellter Hydrozylinder. Wie aus Fig. 1 b zu ersehen ist, können die Stützausleger je nach Platzbedarf an der Baustelle wahlweise unter Bildung verschiedener Ausstellkonfigurationen in einer inneren, fahrgestellnahen oder einer äußeren fahrgestellfernen Abstützung mit ihren Stützbeinen am Untergrund abgestützt werden. Eine Besonderheit der vorliegenden Erfindung besteht darin, dass auch alle Zwischenpositionen zwischen der inneren und der äußeren Abstützstellung möglich sind. Letzteres wird dadurch ermöglicht, dass eine Messanordnung vorgesehen ist, mit welcher die Position des Stützbeins 26 in einem gestellfesten Koordinatensystem automatisch bestimmt werden kann.The front support arms 20 are designed as a telescopic boom. They each comprise a telescoping part 38 which can be swiveled around the vertical swivel axis 32 relative to the chassis and a telescopic part 40 consisting of three telescopic segments 40 ', 40 ", 40'". Through the extension box 38 and the telescopic part 40 a telescoping telescopic part extends. not shown in the drawing hydraulic cylinder. As can be seen from Fig. 1 b, the support arm can be supported depending on the space required at the construction site either to form different Ausstellkonfigurationen in an inner, chassis-like or an outer chassis remote support with their support legs on the ground. A special feature of the present invention is that all intermediate positions between the inner and the outer support position are possible. The latter is made possible by the fact that a measuring arrangement is provided with which the position of the support leg 26 can be automatically determined in a frame-fixed coordinate system.
Das Messsystem weist an jedem Stützausleger jeweils drei Sende- und Empfangseinheiten S1/E1, S2/E2 und S3/E3 auf, die zur Aussendung und zum Empfang von Laufzeit- oder Entfernungssignalen ausgelegt sind. Bevorzugt werden zu diesem Zweck Ultraschallsender und -empfänger verwendet. Grundsätzlich ist es jedoch auch möglich, Licht- oder Funksender und -emp- fänger einzusetzen. Eine erste Sende- und Empfangseinheit S1/E1 ist dabei fahrgestellfest in einem lagerseitigen Bezugspunkt A in unmittelbarer Nähe des fahrgestellfesten Drehgelenks 32 angeordnet. Eine zweite Sende- und Empfangseinheit S2/E2 befindet sich an einem in definiertem Abstand L12/21 vom lagerseitigen Bezugspunkt A angeordneten fahrgestellfesten Bezugspunkt B, während eine dritte Sende- und Empfangseinheit S3/E3 an einem auslegerfesten Bezugspunkt C in der Nähe des freien Endes des Stützaus- legers 40 angeordnet ist. Die Bezugspunkte A, B und C, an welchen sich die Sende- und Empfangseinheiten befinden, sind gemäß Fig. 3 so angeordnet, dass sich ihre Wirkbereiche W-i, W2, W3 überlappen, so dass ihre Sendesignale wechselseitig echofrei auf gerader Strecke zu den Empfängern der an- deren Bezugspunkte übertragbar sind. Die Bezugspunkte A, B, C spannen gemäß Fig. 2, 3 und 4 ein Dreieck auf, dessen Seitenlängen mit Hilfe der Sende- und Empfangseinheiten durch Aussenden und Empfangen von Ultraschallsignalen in beiden Richtungen gemessen werden können. Die Längenwerte sind je nach Richtung ihrer Messung mit Li2 und L21, L23 und L32 sowie L|3 und L3i bezeichnet. Die Messung wird in den beiden Richtungen durchgeführt, um eine Redundanz und damit eine höhere Zuverlässigkeit in den Iviessergebnissen zu erhalten. Ziel der Messanordnungen in verschiedenen Stützbeinen ist es, die Stützbeinposition und damit den Objektpunkt Xc/Yc in dem gestellfesten Koordinatensystem x/y zu ermitteln. Unter Be- rücksichtigung der geometrischen Anordnung in Fig. 4 errechnen sich die Koordinaten X0 und Yc im Objektpunkt C wie folgt:The measuring system has on each support arm each three transmitting and receiving units S 1 / E 1 , S 2 / E 2 and S 3 / E 3 , which are designed for the transmission and reception of runtime or distance signals. Preferably, ultrasound transmitters and receivers are used for this purpose. In principle, however, it is also possible to use light or radio transmitters and receivers. A first transmitting and receiving unit S 1 / E 1 is fixed to the chassis in a bearing-side reference point A in the immediate vicinity of the chassis-fixed pivot joint 32. A second transmitting and receiving unit S 2 / E 2 is located at a defined distance L12 / 21 from the bearing-side reference point A fixed chassis reference point B, while a third transmitting and receiving unit S 3 / E 3 at a boom-fixed reference point C in the vicinity the free end of the support Layers 40 is arranged. The reference points A, B and C, at which the transmitting and receiving units are located, are arranged according to FIG. 3 such that their effective ranges Wi, W 2 , W 3 overlap, so that their transmission signals are mutually echo-free on a straight line to the Recipients of the other reference points are transferable. 2, 3 and 4, the reference points A, B, C span a triangle whose side lengths can be measured by transmitting and receiving ultrasonic signals in both directions with the aid of the transmitting and receiving units. The length values depend on the direction of their measurement with Li 2 and L 21 , L 23 and L 32 as well as L | 3 and L 3 i. The measurement is carried out in the two directions in order to obtain a redundancy and thus a higher reliability in the results of the Ivies. The aim of the measurement arrangements in different support legs is to determine the support leg position and thus the object point Xc / Yc in the frame-fixed coordinate system x / y. Taking into account the geometric arrangement in FIG. 4, the coordinates X 0 and Y c in the object point C are calculated as follows:
Bekannt sind die Längen der Dreieckseiten a, b und c aus den Wegmessungen gemäß Fig. 2. Gesucht sind die Koordinaten Xc/Yc im x/y- Koordinatensystem.The lengths of the triangle sides a, b and c are known from the path measurements according to FIG. 2. The coordinates Xc / Yc are sought in the x / y coordinate system.
Nach dem Kosinussatz giltAfter the cosine rate applies
(b2 + c2 - a2) cos a =(b 2 + c 2 - a 2 ) cos a =
2 - b ' C2 - b 'C
(b + c - az ) / 4 X α = arecos- '- (1 )(b + c - a z ) / 4 X α = arecos- '- (1)
2 - b - c2 - b - c
Hieraus errechnen sich die Koordinaten des Objektpunkts wie folgtFrom this, the coordinates of the object point are calculated as follows
Xc = cos(90° - d) - h (2) yc = sin(90° -α) - fc (3) Die Längenmesswerte der Dreiecksseiten werden für die Weiterberechnung skaliert. Bei der Sϊgnalskaüerung wird auch die Redundanz bei der Längenmessung in den beiden Richtungen berücksichtigt und ausgewertet. Dabei wird die fahrzeugfeste Entfernung L12/L2i als Referenzstrecke für eine Temperaturkompensation und zur Ermittlung von Korrekturfaktoren für die beiden anderen Längenmessungen verwendet. Die Berechnung der Stützbeinpositi- on erfolgt dann anhand der vorstehenden Gleichungen.X c = cos (90 ° -d) -h (2) y c = sin (90 ° -α) -fc (3) The length measurements of the triangle sides are scaled for further calculation. In the case of signal processing, the redundancy in the length measurement in the two directions is taken into account and evaluated. In this case, the vehicle-fixed distance L 12 / L 2 i is used as a reference path for a temperature compensation and for determining correction factors for the other two length measurements. The calculation of the support leg position then takes place on the basis of the above equations.
Zusammenfassend ist folgendes festzuhalten: Die Erfindung bezieht sich auf eine fahrbare Arbeitsmaschine mit einem Fahrgestell 10 und mit zwei vorderen und zwei rückwärtigen Stützauslegern 20,22. Die Stützausleger sind von einer fahrgestellnahen Fahrstellung in eine Abstützstellung unter Veränderung ihres Basiswinkels σ zwischen Stützausleger und Fahrgestell verschwenkbar und/oder unter Veränderung ihrer Länge zwischen dem Ia- gerseitigen und dem freien Ende teleskopϊerbar. Um eine automatische Bestimmung der Stützbeinposition X0IYc in Bezug auf das Fahrgestell 10 zu ermöglichen, sind jeweils drei stützauslegerbezogene Sende- und Empfangseinheiten SiZE1 bis S3/E3 zur Aussendung und zum Empfang von Lauf- zeit- oder Entfernungssignalen vorgesehen. Weiter ist eine auf die einander paarweise zugeordneten Sende- und Empfangssignale der Sende- und Empfangseinheiten ansprechende mikroprozessorgestützte Auswerteeinheit vorgesehen, die eine Softwareroutine zur Bestimmung der Stützbeinposition in einem fahrgestellfesten Koordinatensystem x/y aufweist. In summary, the following is to be noted: The invention relates to a mobile work machine with a chassis 10 and with two front and two rear support arms 20,22. The support arms can be pivoted from a driving position close to the chassis into a support position by changing their base angle σ between the support arm and the chassis and / or telescopically changing their length between the slide-side and the free end. In order to enable automatic determination of the support leg position X 0 IY c with respect to the chassis 10, three support arm-related transmitting and receiving units SiZE 1 to S 3 / E 3 are provided for transmitting and receiving runtime or distance signals. Furthermore, a microprocessor-based evaluation unit which responds to the mutually paired transmit and receive signals of the transmitting and receiving units is provided which has a software routine for determining the support leg position in a chassis-fixed coordinate system x / y.

Claims

Patentansprüche claims
1. Fahrbare Arbeitsmaschine mit einem Gestell (10) und mit zwei vorderen und zwei rückwärtigen Stützauslegern (20,22), wobei die Stützaus- leger (20,22) mit einem lagerseitigen Ende an einem fahrgestellfesten1. Mobile work machine with a frame (10) and with two front and two rear support arms (20,22), wherein the Stützaus- leger (20,22) with a bearing-side end to a chassis-fixed
Dreh- oder Schubgelenk (32,34) gelagert sind, an ihrem freien Ende ein teleskopierbares und auf einem Untergrund abstützbares Stützbein (32) tragen und von einer fahrgestellnahen Fahrstellung in eine Abstützstellung unter Veränderung eines Basiswinkels (α) zwischen Stützausleger (20,22) und Fahrgestell (10) verschwenkbar und/oder unter Veränderung der Länge ihres Stützauslegers (20) zwischen ihrem lagerseitigen und ihrem freien Ende teleskopierbar sind, gekennzeichnet durch jeweils drei stützauslegerbezogene Sende- und Empfangseinheiten zur Aussendung und zum Empfang von Laufzeit- oder Entfernungssigna- len, mit denen eine erste Sende- und Empfangseinheϊt (S1/E1) an einem lagerseitigen fahrgestellfesten Bezugspunkt (A) in unmittelbarer Nähe des fahrgestellfesten Dreh- oder Schubgelenks (32), eine zweite Sende-/Empfangseinheit (S2/E2) an einem in definiertem Abstand (Li2, L21) vom lagerseitigen Bezugspunkt (A) angeordneten fahrgestellfesten Bezugspunkt (B) und eine dritte Sende-/Empfangseinheit (S3/E3) an einem auslegerfesten Bezugspunkt (C) in der Nähe des freien Stützauslegerendes jeweils so angeordnet sind, dass ihre Sendesignale wechselseitig auf gerader Strecke zum Empfänger einer benachbarten Sende- und Empfangseinheit übertragbar sind, und wobei ein auf die ein- ander paarweise zugeordneten Sende- und Empfangssignale der Sende- und Empfangseinheiten ansprechende mikroprozessorgestützte Auswerteeinheit vorgesehen ist, die eine Softwareroutine zur Bestimmung der Koordinaten Xc/Yc des auslegerfesten Bezugspunkts (C) o- der die Position des Stützbeins (26,28) in einem fahrgestellfesten Ko- ordϊnatensystem (x/y) aufweist. Rotating or sliding joint (32,34) are mounted, at its free end a telescopic and supportable on a support surface support leg (32) and from a driving position near the chassis in a support position while changing a base angle (α) between support bracket (20,22) and undercarriage (10) can be pivoted and / or telescoped while changing the length of their support arm (20) between their bearing-side and their free end, characterized by three support arm-related transmitting and receiving units for transmitting and receiving transit time or distance signals, with which a first transmitting and Empfangseinheϊt (S 1 / E 1 ) at a bearing-side fixed chassis reference point (A) in the immediate vicinity of the chassis fixed rotary or sliding joint (32), a second transmitting / receiving unit (S 2 / E 2 ) a chassis fixed reference point (B) and ei arranged at a defined distance (Li 2 , L 21 ) from the bearing-side reference point (A) ne third transmitting / receiving unit (S3 / E3) are arranged at a cantilever fixed reference point (C) in the vicinity of the free support arm end each so that their transmission signals are mutually transferable on a straight line to the receiver of an adjacent transmitting and receiving unit, and wherein a is provided on the mutually associated transmit and receive signals of the transmitting and receiving units responsive microprocessor-based evaluation unit which a software routine for determining the coordinates Xc / Yc of the cantilever reference point (C) o- the position of the support leg (26,28) in a chassis-fixed coordinate system (x / y).
2. Fahrbare Arbeitsmaschine nach Anspruch 1 , dadurch gekennzeichnet, dass die Sende- und Empfangseinheiten einen Ultraschallsender und einen Ultraschallempfänger aufweisen.2. Mobile work machine according to claim 1, characterized in that the transmitting and receiving units comprise an ultrasonic transmitter and an ultrasonic receiver.
3. Fahrbare Arbeitsmaschine nach Anspruch 1 , dadurch gekennzeichnet, dass die Sende- und Empfangseinheiten einen Lichtsender und einen Lichtempfänger aufweisen.3. Mobile work machine according to claim 1, characterized in that the transmitting and receiving units have a light transmitter and a light receiver.
4. Fahrbare Arbeitsmaschine nach Anspruch 3, dadurch gekennzeich- net, dass der Lichtsender einen Laser aufweist.4. Mobile work machine according to claim 3, characterized marked, that the light transmitter has a laser.
5. Fahrbare Arbeitsmaschine nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die einander benachbarten Sende- und Empfangseinheiten einander überlappende Wirkbereiche aufweisen.5. Mobile work machine according to one of claims 1 to 4, characterized in that the adjacent transmitting and receiving units have overlapping effective ranges.
6. Fahrbare Arbeitsmaschine nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass die Sendesignale der Sende- und Empfangseinheiten eine von den Empfängern der Sende- und Empfangseinheiten identifizierbare Codierung aufweisen.6. Mobile work machine according to one of claims 1 to 5, characterized in that the transmission signals of the transmitting and receiving units have an identifiable by the receivers of the transmitting and receiving units coding.
7. Fahrbare Arbeitsmaschine nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass der definierte Abstand (L12/L21) zwischen dem ersten lagerseitigen fahrgestellfesten Bezugspunkt (A) und dem zweiten, fahrgestellfesten Bezugspunkt (B) eine Referenzstrecke für die üb- rigen Empfangsmessungen bildet.7. Mobile work machine according to one of claims 1 to 6, characterized in that the defined distance (L 1 2 / L21) between the first bearing-side fixed chassis reference point (A) and the second fixed chassis reference point (B) a reference distance for the üb rige receiving measurements forms.
8. Fahrbare Arbeitsmaschine nach einem der Ansprüche 1 bis 7, gekennzeichnet durch einen auf einem fahrgestellfesten Unterbau angeordneten, als Träger für eine Förderleitung dienenden, mindestens drei Mastarme aufweisenden Knickmast, der mit seinem einen Ende an einem um eine Hochachse des Fahrgestells (10) verdrehbaren Drehkopf (14) angelenkt ist. 8. Mobile work machine according to one of claims 1 to 7, characterized by arranged on a chassis-fixed base, serving as a support for a conveyor line, having at least three mast arms articulated mast, with one end to a about a vertical axis of the chassis (10) rotatable Turret (14) is articulated.
EP09783219.0A 2008-11-03 2009-09-21 Mobile work machine having support brackets Not-in-force EP2342400B1 (en)

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WO2010060668A1 (en) 2010-06-03
DE102008055625A1 (en) 2010-05-06
JP5439497B2 (en) 2014-03-12
DE112009002106A5 (en) 2012-04-19
JP2012507427A (en) 2012-03-29
CN102317555B (en) 2014-03-19
KR20110090889A (en) 2011-08-10
EP2342400B1 (en) 2013-12-25
RU2474656C1 (en) 2013-02-10
RU2011122465A (en) 2012-12-10
CN102317555A (en) 2012-01-11
BRPI0921626A2 (en) 2016-01-05
US9068366B2 (en) 2015-06-30
US20110196583A1 (en) 2011-08-11

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