EP2730531B1 - Vorrichtung und zugehöriges Verfahren zur Steuerung der Vibrationen eines Gelenkauslegers - Google Patents

Vorrichtung und zugehöriges Verfahren zur Steuerung der Vibrationen eines Gelenkauslegers Download PDF

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Publication number
EP2730531B1
EP2730531B1 EP13191978.9A EP13191978A EP2730531B1 EP 2730531 B1 EP2730531 B1 EP 2730531B1 EP 13191978 A EP13191978 A EP 13191978A EP 2730531 B1 EP2730531 B1 EP 2730531B1
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EP
European Patent Office
Prior art keywords
articulated arm
segments
actuators
auxiliary
drive
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.)
Not-in-force
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EP13191978.9A
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English (en)
French (fr)
Other versions
EP2730531A1 (de
Inventor
Massimo MANTINEO
Paolo Dario Maini
Ferruccio Resta
Francesco Ripamonti
Alessandro Tosi
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CIFA SpA
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CIFA SpA
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms

Definitions

  • the present invention concerns an apparatus, and the corresponding method, to control the vibrations of an articulated arm, in particular but not only used for pumping concrete and associated with transport vehicles in so-called truck-mounted pumps.
  • the invention concerns an apparatus for active control used to reduce the vibrations to which the various segments of an articulated arm are subjected, which articulated arm is used for pumping concrete in operating machines such as for example truck-mounted pumps, concrete mixer trucks or suchlike.
  • Active control of the vibrations in an articulated arm consisting of a plurality of pivotable segments is shown in "Active control of a flexible boom for the concrete placing : numerical and experimental analysis", Gabriele Cazzulani.
  • a device to actively control vibrations of an articulated arm using at least an auxiliary actuator is shown in EP-2-347-988 A1 .
  • Heavy work vehicles are known, used in the building trade, normally consisting of a truck on which an articulated arm is mounted to distribute and cast concrete.
  • the trucks may or may not be equipped with a concrete mixer.
  • Extendible articulated arms of a known type consist of a plurality of segments pivoted to each other at the respective ends and able to be folded back on each other, by driving suitable actuators, so they can assume a folded configuration, close up to the truck, and work configurations that allow them to reach areas that can even be very far from the truck.
  • the vibrations intended as oscillation forces, can be resolved both on a vertical plane in which the articulated arm in its extended condition is contained, that is, in the direction in which the actuators that move the arm act, and also in lateral directions, that is, inclined and substantially transverse with respect to the vertical plane.
  • Apparatuses are known for controlling and damping the vibrations of an articulated arm which provide that the action of controlling, reducing and possibly canceling the vibrations is performed by the drive actuators themselves, which move the articulated arm to open and close it.
  • each of the actuators is connected to a hydraulic drive circuit, in order to drive the arm, and to an auxiliary control circuit, to control the vibrations to which the arm is subjected.
  • Purpose of the present invention is to obtain an apparatus, and corresponding method, to control and damp the vibrations of an articulated arm, which is able to improve the action of controlling and damping the vibrations of the articulated arm during use.
  • the Applicant has devised, tested and embodied the present invention to overcome the shortcomings of the state of the art and to obtain these and other purposes and advantages.
  • a control apparatus which overcomes the limitations of the state of the art and eliminates the defects present therein, is used to control and damp the vibrations of an articulated arm, for example used for pumping concrete.
  • the articulated arm consists of a plurality of segments pivoted to each other in correspondence with their pivoting ends, and of drive actuators each cooperating with one of the segments in order to extend and/or fold back the articulated arm.
  • Each of the drive actuators is connected to a drive circuit to act on a vertical plane defined substantially by the two segments of the arm to which it is associated.
  • the control apparatus comprises at least one auxiliary actuator associated to at least a corresponding segment of the articulated arm in proximity to at least one of said pivoting ends.
  • the auxiliary actuator is disposed so as to act on a damping plane which is different from said vertical plane, so as to be selectively activated to damp the lateral vibrations to which the articulated arm can be subjected.
  • One or more auxiliary actuators are therefore associated with a corresponding segment to contrast and damp the lateral vibrations that known apparatuses using the same drive actuators are unable to contrast.
  • the auxiliary actuator is provided with at least two operative ends, each of said operative ends being connected to a corresponding support.
  • the supports are located on the corresponding segment distanced to each other along the longitudinal development of the segment and they define, on said segment, respective application zones.
  • the auxiliary actuator is selectively activable to induce, in said application zones, compensation forces acting on a damping plane which is different from said vertical plane.
  • each segment of the articulated arm is associated with one or more auxiliary actuators.
  • auxiliary actuators are in addition to the drive actuators which, as we said, can damp only the vibrations that act on the vertical plane containing the segments.
  • This characteristic entails a greater control of the machine, both in terms of performance and in terms of safety for the operators.
  • each of the auxiliary actuators is connected to a control circuit that is independent of the drive circuit.
  • the presence of the independent control circuit allows a greater control, safer and more effective, of the vibrations in question, since it is particularly configured for this application.
  • the damping plane is orthogonal with respect to the vertical plane.
  • the orthogonal disposition allows a consistent damping of the lateral vibrations to which the articulated arm is subjected.
  • each of the auxiliary actuators is associated with an adjustment device able to adjust the inclination of the auxiliary actuator with respect to the corresponding segment of the articulated arm.
  • each of the auxiliary actuators is able to be driven by drive components of the electrical type, associated with one or more sensors disposed in proximity to the pivoting ends and able to detect parameters necessary for the functioning of the electrical type component.
  • each of the sensors is able to detect at least one parameter including amplitude of oscillation and frequency of oscillation of the pivoting end, and configuration of the articulated arm.
  • control action is thus determined, for example, as a function of a mathematical algorithm that takes into consideration said three parameters.
  • each of the sensors is able to detect a speed of oscillation of the pivoting end on which it is disposed.
  • each of the auxiliary actuators is able to be driven by drive components of the piezoelectric type, associated with one or more sensors disposed in proximity to the pivoting end.
  • each of the components of a piezoelectric type is able to supply a force to the corresponding auxiliary actuator.
  • each of the auxiliary actuators is connected to a voltage source outside the articulated arm.
  • the external voltage source can be the 24V source already present on the vehicle on which the articulated arm is mounted for pumping concrete.
  • each of the auxiliary actuators is connected to a solar energy source.
  • the auxiliary actuator does not need any electric supply.
  • the present invention also concerns a method to actively control the vibrations of an articulated arm, for example for pumping concrete, consisting of a plurality of segments pivoted to each other in correspondence with their pivoting ends, and of drive actuators each cooperating with two of the segments in order to extend and/or fold back the articulated arm.
  • Each of the drive actuators is connected to a drive circuit to act on a vertical plane defined substantially by the two segments of the articulated arm to which it is associated.
  • the method provides at least a damping step in which at least one auxiliary actuator, associated to at least one of the segments of the articulated arm in proximity to at least one of the pivoting ends, acts on a damping plane which is different from the vertical plane.
  • the damping step comprises at least a first sub-step in which one or more sensors detect parameters associated to the corresponding pivoting end, a second sub-step in which the sensors send a signal to a drive component, and a third sub-step in which the drive component drives the auxiliary actuator.
  • an extendible articulated arm 11 able to distribute concrete or analogous material for the building trade, is shown in a position mounted on a heavy work vehicle 12, in a folded condition used for transport, and comprises a control apparatus 10 to control and damp the vibrations to which the articulated arm 11 is subjected during working conditions.
  • the articulated arm 11 is configured to pass from the folded condition shown in fig. 1 to an extended condition, or work condition, of which an example is shown in fig. 2 .
  • the heavy work vehicle 12 comprises a driver's cabin 13 and a support frame 14 on which the articulated arm 11 is mounted.
  • the articulated arm 11 comprises a plurality of articulated segments, for example, in the solution shown, six segments, respectively a first 15, a second 16, a third 17, a fourth 18, a fifth 19 and a sixth 20, pivoted to each other at their respective pivoting ends 23, and a flexible terminal segment 21, from the free end of which the concrete is delivered.
  • the first segment 15 is pivoted in a known manner to a turret 22 attached to the support frame 14 and is rotatable around a vertical axis by means of its own actuator so as to allow the end of the articulated arm 11 to reach all the points surrounding the turret 22.
  • the combination of the segments 15-20 can thus be rotated, even by 360°.
  • the segments 15-20 of the articulated arm 11 are, in their entirety, disposed so as to occupy substantially the whole width of the heavy work vehicle 12.
  • the segments 15-20 are sequentially pivoted to each other at their respective pivoting ends 23 and can be driven individually, in the vertical plane, by means of their own drive actuators 24, in this case of the oil-dynamic type and disposed between the respective segments 15-20 in proximity to said pivoting ends 23.
  • Each drive actuator 24 is driven by a drive circuit 25 ( fig. 3 ) commanded by an operator.
  • the drive actuators 24 can be connected not only to the drive circuit 25 but also to a control circuit 26, selectively activated to damp, in the vertical movement plane, vibrations that are generated along the articulated arm 11, especially in proximity to the pivoting ends 23 of each segment.
  • each segment 15-20 there are also corresponding supports 27a, 27b on which a respective auxiliary actuator 28 is mounted, able to damp lateral vibrations that occur on the segment and more generally on the whole arm, especially in correspondence with the pivoting ends 23.
  • each of the auxiliary actuators 28 is provided with at least two operative ends 28a and 28b.
  • Each operative ends 28a, and 28b is connected to one of the supports 27a, 27b.
  • the supports 27a, 27b define corresponding application zones 127a and 127b of the forces of the auxiliary actuator 28.
  • the supports 27a, 27b are distanced to each other along the longitudinal development of the segment 15-20.
  • Said auxiliary actuator 28 is selectively activable to induce, in the application zones 127a and 127b, compensation forces that are suitable to control the lateral vibration of the articulated arm 11 and, therefore, to prevent lateral oscillation of the latter with respect to the vertical plane.
  • the auxiliary actuator 28 is a linear actuator.
  • the auxiliary actuator 28 is disposed and connected substantially parallel to the longitudinal development of the segment 15-20.
  • the auxiliary actuator 28 is connected to the segment 15-20 laterally with respect to the cross section bulk of the segment 15-20.
  • the auxiliary actuator 28 induces compression or traction forces in the segment 15-20 and, in particular, in the area comprised between the two application zones 127a, 127b, that compensate the lateral vibrations that act on a plane different from that where the segments and the respective actuators lie.
  • At least one of the segment 15-20 has a tubular shape, is provided with a plurality of walls reciprocally connected to each other in a single body.
  • the auxiliary actuator 28 is connected to one of the walls of the segment 15-20 that lie on a plane substantially parallel with respect to the vertical plane.
  • the auxiliary actuator 28 is not connected to the extrados or intrados walls of the segment 15-20, on which the action of the auxiliary actuator 28 is not effective for the lateral oscillations.
  • the auxiliary actuator 28 can be disposed on the external side of the respective wall, as disclosed in fig. 3 or, according to a variant not shown, can be disposed on the internal side of the wall.
  • the lateral vibrations can be generated for example by windy atmospheric conditions or other unfavorable atmospheric conditions, or by particular configurations of the articulated arm 11.
  • one segment is equipped with two or more auxiliary actuators 28, all acting in a respective plane, different from the movement plane where the drive actuators 24 act.
  • each auxiliary actuator 28 is disposed with its longitudinal development parallel to the vertical plane on which the drive actuator 24 acts.
  • the lateral forces in play during the lateral vibrations of the structure are generally less than those that act in the vertical plane. This characteristic allows to use auxiliary actuators 28 of a type different from oil-dynamic ones.
  • the auxiliary actuators 28 are the electrical type, for example driven by drive components, such as an electric motor 29 connected to one or more sensors 30 able to detect three parameters, that is, the amplitude and frequency of vibration of the corresponding pivoting end 23 and the configuration of the articulated arm 11.
  • control circuit 26 is connected both to the electric motor 29 and also to the sensor 30, so as to drive the auxiliary actuator 28.
  • the control apparatus 10 also comprises a supply source, in this case advantageously already present on the heavy work vehicle 12, which for example could be the 24V power source, not shown in the drawings, to supply the electric motor 29.
  • a supply source in this case advantageously already present on the heavy work vehicle 12, which for example could be the 24V power source, not shown in the drawings, to supply the electric motor 29.
  • control apparatus 10 comprises a solar energy supply source.
  • the sensor 30 connected to the electric motor 29 that drives the auxiliary actuator 28 is the type able to detect the speed of oscillation of the attachment points of the auxiliary actuator 28.
  • the control apparatus 10 comprises a voltage source already present on the heavy work vehicle 12 or a solar energy source.
  • the auxiliary actuators 28 are the piezoelectric type, exploiting the deformation of a piezoelectric element disposed near the pivoting end 23 of the corresponding segment.
  • the piezoelectric element is able to supply a force able to drive the corresponding auxiliary actuator 28, depending on the deformation to which it is subjected.
  • the supply source is not required.
  • the control apparatus 10 described is very simple to instal and at the same time allows to damp the lateral vibrations that known apparatuses are not configured to damp.
  • auxiliary actuators 28 confers a limited bulk on the control apparatus 10 and the articulated arm 11 in its entirety.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • Vibration Prevention Devices (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)

Claims (14)

  1. Vorrichtung zum aktiven Steuern der Vibrationen eines Gelenkarms (11), zum Beispiel um Zement zu pumpen, wobei der Gelenkarm (11) eine Mehrzahl von Segmenten (15-20), welche gegeneinander mittels Gelenkenden (23) der Segmente (15-20) geschwenkt werden, und Stellantriebe (24) umfasst, welche jeweils mit zwei der Segmente (15-20) zusammenwirken, um den Gelenkarm (11) auszufahren und/oder zurückzufalten, wobei jeder der Stellantriebe (24) mit einem Antriebsschaltkreis (25) verbunden ist, um auf eine vertikale Fläche, welche im Wesentlichen durch die zwei Segmente (15-20) des zugehörigen Gelenkarms (11) definiert ist, einzuwirken, wobei die Vorrichtung mindestens einen Zusatzantrieb (28) umfasst, welcher mindestens einem der Segmente (15-20) zugeordnet ist,
    dadurch gekennzeichnet, dass der Zusatzantrieb (28) über mindestens zwei operative Enden (28a, 28b) verfügt, wobei jedes der operativen Enden (28a, 28b) mit einer entsprechenden Auflage (27a, 27b) verbunden ist, wobei die Auflagen (27a, 27b) auf dem Segment (15-20) voneinander entlang der longitudinalen Ausdehnung des entsprechenden Segments (15-20) beabstandet angeordnet sind und auf dem Segment (15-20) entsprechende Aufnahmezonen (127a, 127b) definieren, wobei der Zusatzantrieb (28) selektiv aktivierbar ist, um in den Aufnahmezonen (127a, 127b) Ausgleichskräfte zu erzeugen, die auf eine Dämpfungsfläche einwirken, welche sich von der vertikalen Fläche unterscheidet.
  2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass der Zusatzantrieb (18) in der Nähe von mindestens einem der Gelenkenden (23) an das zugehörige Segment (15, 20) angegliedert ist.
  3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass jeder der Zusatzantriebe (28) mit einem Kontrollschaltkreis (26) verbunden ist, welcher unabhängig von dem Antriebsschaltkreis (25) ist.
  4. Vorrichtung nach Anspruch 1, 2 oder 3, dadurch gekennzeichnet, dass die Dämpfungsfläche senkrecht zu der vertikalen Fläche ist.
  5. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass jeder der Zusatzantriebe (28) einer Justiereinrichtung zugeordnet ist, welche dazu eingerichtet ist, die Ausrichtung des Zusatzantriebs (28) bezüglich des zugehörigen Segments (15-20) einzustellen.
  6. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass jeder der Zusatzantriebe (28) dazu eingerichtet ist, von Antriebskomponenten (29) elektrischer Bauart angetrieben zu werden, welche einem oder mehreren Sensoren (30) zugeordnet sind, welche in der Nähe der Gelenkenden (23) angeordnet sind und dazu eingerichtet sind, Kenngrößen für das Funktionieren der Antriebskomponenten (29) von der elektrischen Bauart zu ermitteln.
  7. Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, dass jeder der einen oder mehreren Sensoren (30) dazu eingerichtet ist, mindestens eine Kenngröße, einschließlich Schwingungsamplitude und Schwingungsfrequenz der Gelenkenden (23), und die Konfiguration des Gelenkarms (11) zu ermitteln.
  8. Vorrichtung nach Anspruch 5 oder 6, dadurch gekennzeichnet, dass jeder der einen oder mehreren Sensoren (30) dazu eingerichtet ist, eine Schwingungsgeschwindigkeit der Gelenkenden (23), auf denen er angeordnet ist, zu ermitteln.
  9. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass jeder der Zusatzantriebe (28) dazu eingerichtet ist, von Antriebskomponenten piezoelektrischer Bauart angetrieben zu werden, welche einem oder mehreren Sensoren zugeordnet sind, welche in der Nähe der Gelenkenden (23) angeordnet sind.
  10. Vorrichtung nach Anspruch 9, dadurch gekennzeichnet, dass jede der Komponenten piezoelektrischer Bauart dazu eingerichtet ist, eine Kraft für den Zusatzantrieb (28) bereitzustellen.
  11. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass jeder der Zusatzantriebe (28) mit einer Spannungsquelle außerhalb des Gelenkarms (11) verbunden ist.
  12. Vorrichtung nach einem der vorangegangenen Ansprüche, dadurch gekennzeichnet, dass jeder der Zusatzantriebe (28) mit einer Solarenergiequelle verbunden ist.
  13. Verfahren zum aktiven Steuern der Vibrationen eines Gelenkarms (11), zum Beispiel um Zement zu pumpen, welcher aus einer Mehrzahl von Segmenten (15-20), welche gegeneinander über ihre eigenen Gelenkenden (23) geschwenkt werden, und aus Stellantrieben (24) besteht, welche jeweils mit zwei der Segmente (15-20) zusammenwirken, um den Gelenkarm (11) auszufahren und/oder zurückzufalten, wobei jeder der Stellantriebe (24) mit einem Antriebsschaltkreis (25) verbunden ist, um auf eine vertikale Fläche, welche im Wesentlichen durch die zwei Segmente (15, 20) des zugehörigen Gelenksarms (11) definiert ist, einzuwirken, wobei das Verfahren mindestens einen Dämpfungsschritt umfasst, in welchem mindestens ein Zusatzantrieb (28) auf mindestens eines der Segmente (15-20) selektiv Ausgleichskräfte erzeugt,
    wobei das Verfahren dadurch gekennzeichnet ist, dass der Dämpfungsschritt Kräfte erzeugt, welche auf eine von der vertikalen Fläche unterschiedliche Dämpfungsfläche einwirken, wobei der Zusatzantrieb (28) über mindestens zwei operative Enden (28a, 28b) verfügt, wobei jedes der operativen Enden (28a, 28b) mit einer entsprechenden Auflage (27a, 27b) verbunden ist, wobei die Auflagen (27a, 27b) auf dem Segment (15-20) voneinander entlang der longitudinalen Ausdehnung des Segments (15-20) beabstandet angeordnet sind und auf dem Segment (15-20) entsprechende Aufnahmezonen (127a, 127b) definieren, in denen die Ausgleichskräfte wirken.
  14. Verfahren nach Anspruch 13, dadurch gekennzeichnet, dass der Dämpfungsschritt mindestens umfasst
    einen ersten Unterschritt, in dem ein oder mehrere Sensoren (30) Kenngrößen ermitteln, welche den zugehörigen Gelenkenden (23) zugeordnet sind, und
    einen zweiten Unterschritt, in dem die Sensoren (30) ein Signal an eine Antriebskomponente (29) übersenden, und
    einen dritten Unterschritt, in dem die Antriebskomponente (29) den Zusatzantrieb (28) antreibt.
EP13191978.9A 2012-11-08 2013-11-07 Vorrichtung und zugehöriges Verfahren zur Steuerung der Vibrationen eines Gelenkauslegers Not-in-force EP2730531B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT001903A ITMI20121903A1 (it) 2012-11-08 2012-11-08 Apparato, e relativo metodo, per il controllo delle vibrazioni di un braccio articolato

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EP2730531A1 EP2730531A1 (de) 2014-05-14
EP2730531B1 true EP2730531B1 (de) 2018-07-18

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EP (1) EP2730531B1 (de)
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IT (1) ITMI20121903A1 (de)

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DE102022111755A1 (de) 2022-05-11 2023-11-16 Putzmeister Engineering Gmbh Verteilervorrichtung für Dickstoffe und Autobetonpumpe

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CN104071706B (zh) * 2014-07-11 2016-05-11 安徽江淮汽车股份有限公司 一种起重机总成
CN106223620B (zh) * 2016-07-25 2018-07-27 江苏赛福探伤设备制造有限公司 一种臂架控制系统

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DE19503895A1 (de) * 1995-02-07 1996-08-08 Putzmeister Maschf Betonpumpe mit Verteilermast
KR100621978B1 (ko) * 2004-03-10 2006-09-14 볼보 컨스트럭션 이키프먼트 홀딩 스웨덴 에이비 중장비용 자동 진동장치 및 그 방법
CN1932215B (zh) * 2006-09-30 2010-08-11 三一重工股份有限公司 用于抑制混凝土泵车臂架振动的方法及装置
ITUD20080057A1 (it) * 2008-03-17 2009-09-18 Cifa Spa Procedimento di controllo delle vibrazioni di un braccio articolato per il pompaggio di calcestruzzo, e relativo dispositivo
IT1397794B1 (it) * 2010-01-26 2013-01-24 Cifa Spa Dispositivo per il controllo attivo delle vibrazioni di un braccio articolato per il pompaggio di calcestruzzo.

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102022111755A1 (de) 2022-05-11 2023-11-16 Putzmeister Engineering Gmbh Verteilervorrichtung für Dickstoffe und Autobetonpumpe

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CN103807351A (zh) 2014-05-21
EP2730531A1 (de) 2014-05-14
CN103807351B (zh) 2017-07-18
ITMI20121903A1 (it) 2014-05-09

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