EP3231763A1 - Circuit de commande électrohydraulique pour un manipulateur de grande taille - Google Patents

Circuit de commande électrohydraulique pour un manipulateur de grande taille Download PDF

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Publication number
EP3231763A1
EP3231763A1 EP17166084.8A EP17166084A EP3231763A1 EP 3231763 A1 EP3231763 A1 EP 3231763A1 EP 17166084 A EP17166084 A EP 17166084A EP 3231763 A1 EP3231763 A1 EP 3231763A1
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EP
European Patent Office
Prior art keywords
pressure supply
supply unit
pressure
unit
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.)
Granted
Application number
EP17166084.8A
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German (de)
English (en)
Other versions
EP3231763B1 (fr
EP3231763B8 (fr
Inventor
Andreas Lehmann
Johannes HENIKL
Reiner VIERKOTTEN
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Friedrich Wilhelm Schwing GmbH
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Friedrich Wilhelm Schwing GmbH
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Filing date
Publication date
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Publication of EP3231763A1 publication Critical patent/EP3231763A1/fr
Publication of EP3231763B1 publication Critical patent/EP3231763B1/fr
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Publication of EP3231763B8 publication Critical patent/EP3231763B8/fr
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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
    • 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
    • B66C23/54—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 with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • 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
    • B66C23/18—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 specially adapted for use in particular purposes
    • B66C23/36—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes
    • B66C23/42—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 specially adapted for use in particular purposes mounted on road or rail vehicles; Manually-movable jib-cranes for use in workshops; Floating cranes with jibs of adjustable configuration, e.g. foldable
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/042—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in"
    • F15B11/0426—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the feed line, i.e. "meter in" by controlling the number of pumps or parallel valves switched on
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F15B11/17—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors using two or more pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/3059—Assemblies of multiple valves having multiple valves for multiple output members
    • F15B2211/30595—Assemblies of multiple valves having multiple valves for multiple output members with additional valves between the groups of valves for multiple output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/625—Accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7142—Multiple output members, e.g. multiple hydraulic motors or cylinders the output members being arranged in multiple groups
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/8633—Pressure source supply failure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/875—Control measures for coping with failures
    • F15B2211/8757—Control measures for coping with failures using redundant components or assemblies

Definitions

  • the invention relates to an electro-hydraulic control circuit for controlling a hydraulically actuated drive unit, by means of which a pole segment of a manipulator, in particular a large manipulator for truck-mounted concrete pumps, in terms of its orientation is adjustable, wherein the drive unit is drivable in a first operating state by means of a first hydraulic pressure supply unit, wherein the drive unit in a second operating state by means of one of the first pressure supply unit switchable further, second hydraulic pressure supply unit is drivable, and with a third pressure supply unit for driving a two-cylinder piston pump.
  • the invention relates to a manipulator, in particular a large manipulator for truck-mounted concrete pumps, with such a control circuit.
  • Such an electro-hydraulic control circuit is in the WO 2013/178373 A1 disclosed.
  • it is proposed to connect a second hydraulic pressure supply unit.
  • the object of the invention is therefore to provide a control circuit and a manipulator which overcomes the disadvantages described and allows optimum pressure supply of the drive units to increase the operating speed.
  • the hydraulic power of the switchable second pressure supply unit is less than the hydraulic power of the third pressure supply unit, that is, the pressure supply unit for driving the two-cylinder piston pump.
  • the second pressure supply unit of the first pressure supply unit for driving the drive units, according to the invention switched.
  • an optimal pressure supply of the drive units to increase the operating speed is ensured during the folding and unfolding of the articulated mast.
  • the second pressure supply unit is preferably operated under pressure control, because a pressure-controlled pressure supply unit can be more easily adapted to the first pressure supply unit in the second operating state.
  • the first hydraulic pressure supply unit is operated under pressure control, because the connection of the second pressure supply unit to the first pressure supply unit can be carried out much easier if both pressure supply units operate according to the same control concept.
  • the second pressure supply unit is constant pressure-controlled and the hydraulic pressure of the second pressure supply unit is less than or equal to the maximum hydraulic pressure of the first pressure supply unit. This makes it particularly easy to adjust the pressures of the first and second pressure supply units to each other when switching to the second operating state.
  • the pressure of the first pressure supply unit is set to be equal to or slightly lower than the pressure provided by the second pressure supply unit.
  • a check valve is arranged between the first pressure supply unit and the second pressure supply unit, and the check valve is closed when in the second operating state, the first pressure supply unit for driving the drive unit is set to a higher pressure than it provides the second pressure supply unit ,
  • the switched-on pressure supply unit can automatically disconnected at mast positions that require a higher hydraulic pressure than the switched second pressure supply unit, and at the first pressure supply unit, a sufficiently high pressure can be set to move the drive units of the mast segments.
  • the second pressure supply unit preferably supplies a hydraulic accumulator which is required for switching over the concrete switching valve in the case of a two-cylinder piston pump.
  • the one-touch valve must be switched by one or two hydraulic or plunger cylinders within a few tenths of a second when one of the two-cylinder piston pump delivery pistons switches from pressure to intake stroke and the other delivery cylinder switches from the intake stroke to the compression stroke.
  • the second pressure supply unit has between the switching operations about 5-15 seconds to fill the hydraulic accumulator for the next switching of the concrete switching valve. For this reason, although the second pressure supply unit must provide a high pressure, but the delivery volume of the second pressure supply unit is not so large that would be required for their connection to the mast drive complex control and limiting systems, especially because this pump is constant pressure controlled.
  • At least one further, fourth, hydraulic pressure supply unit in the second operating state can be connected to drive the drive unit.
  • This is, for example, the pressure supply unit for driving an agitator.
  • the agitator is driven in the first operating state by a hydraulic motor and stirs the liquid concrete in the hopper, so that the concrete can not be solidified after filling by a truck mixer in the hopper and the suction openings of the delivery cylinder can be better supplied.
  • this pump When folding and unfolding the articulated mast, this pump is usually not active and can therefore be connected in this operating state of the first pressure supply unit.
  • the delivery volume of the agitator pump is substantially less than the delivery volume of the third pressure supply unit, i. the pressure supply unit for driving the two-cylinder piston pump, so that no complicated control and limiting systems are required for their connection to the mast drive.
  • the pressure supply unit for driving the agitator is usually constant pressure.
  • An advantageous embodiment of the invention provides that at least one further hydraulic pressure supply unit in the second operating state is switchable to drive the drive unit.
  • This may be, for example, the hydraulic drive of a water pump for a high-pressure cleaner, since this pressure supply unit is usually not used in the second operating state and is therefore available for the drive in the second operating state. This multiple use both in the first and in the second operating state saves weight and reduces the number of required components.
  • At least the second and / or further pressure supply units are switched on as a function of the maximum load pressure occurring in the mast hydraulics and / or the position and position of the mast segments. In this way, the necessary delivery volume in the second operating state, ie in particular during the folding and unfolding of the mast, can be made optimally available.
  • An advantageous embodiment provides that the second, fourth and possibly further pressure supply units can be connected independently of one another as required.
  • the second, fourth and possibly further pressure supply units can be connected independently of one another as required.
  • the second, fourth and possibly further pressure supply units can be connected independently of one another as required.
  • the pressure supply unit for supplying the hydraulic accumulator for the switching of the concrete switching valve and the agitator pump can be switched on simultaneously with the first pressure supply unit.
  • switchable pressure supply units represent, for example, the hydraulic drive of a water pump for a high-pressure cleaner, since this pressure supply unit is usually not used in the second operating state and is therefore available for the drive in the second operating state.
  • the hydraulic oil delivery volume can be flexibly increased and optimally matched to the requirements.
  • This multiple use of the pressure supply units in both the first and in the second operating state saves weight and reduces the number of required components. It is of particular advantage that the different delivery volume of the individual pressure supply units can be included in the selection for connection.
  • the subject of the invention is a manipulator, in particular large manipulator for truck-mounted concrete pumps, with a folding articulated mast which has a pivotable about a vertical axis turntable and a plurality of mast segments, wherein the mast segments on articulated joints each about bending axes against an adjacent mast segment or the turntable by means of one each Drive units are limited pivotally, wherein an electro-hydraulic control circuit, as described above and hereinafter, is provided for controlling the drive unit.
  • a manipulator with such a control circuit makes it possible to use the maximum allowable speed for the gift and for the folding and unfolding of the articulated mast, as that for the drive of the drive units required delivery volume of the pressure supply units in the second operating state can be used.
  • a pivoting of the manipulator is also possible in the first operating state, for this purpose the delivery volume of the first pressure supply unit is sufficient.
  • An embodiment of the manipulator provides that a control unit for controlling the drive units is set up, wherein the control unit converts a travel command indicating a desired direction of movement and travel speed of the mast tip of the articulated mast or a attached end hose, in drive signals for the drive units, depending on the desired travel speed at least one further pressure supply unit by the control unit of the first pressure supply unit for driving the drive units is switched on.
  • An advantageous embodiment of the manipulator provides that the control unit to increase the travel speed automatically switches on at least one additional pressure supply unit for driving the drive units.
  • control unit can be switched over between the first and second operating states, wherein an automatic connection of the further pressure supply units takes place only in the second operating state. In this way, the user can easily select the respective operating state, depending on the work to be performed.
  • FIG. 1 shows an electro-hydraulic control circuit 1 according to the invention for driving hydraulically actuated drive units, wherein in FIG. 1 a total of five drive units 2, 2a, 2b, 2c, 2d for driving the mast segments 3, 3a, 3b, 3c, 3d ( Fig. 3 ) are shown.
  • the drive units 2, 2a, 2b, 2c, 2d allow an adjustment of the mast segments 3, 3a, 3b, 3c, 3d ( Fig. 3 ) of the manipulator 4 ( Fig. 3 ) with regard to their orientation.
  • the drive units 2, 2a, 2b, 2c, 2d are drivable in a first operating state by means of a first hydraulic pressure supply unit 5, wherein this operating state in FIG. 1 is shown.
  • the first pressure supply unit 5 supplies the drive units 2, 2a, 2b, 2c, 2d via the pressure supply (P1) 24 with hydraulic pressure to drive the drive units 2, 2a, 2b, 2c, 2d.
  • the first pressure supply (P1) 24 is in the FIGS. 1 and 2 shown in dashed lines, while the first return (T1) 25 is shown in phantom.
  • the hydraulic oil delivered by the first pressure supply unit 5 is supplied to the individual mast segments 3, 3a, 3b, 3c, 3d (FIG. Fig. 3 ) or arranged there drive units 2, 2 a, 2 b, 2 c, 2 d distributed.
  • the first return (T1) 25 leads the hydraulic oil from the drive units 2, 2a, 2b, 2c, 2d back into the tank 23, from where the hydraulic oil is available for renewed delivery through the hydraulic pumping train 22.
  • the second pressure supply unit 6 is connected in the first operating state for charging a hydraulic accumulator 7, the third pressure supply unit 8 in this operating state, a stirrer 9 and its drive motor with Supplied hydraulic pressure.
  • Two further, third pressure supply units 29 supply the differential cylinders of a two-cylinder piston pump, not shown, which, for example, if the manipulator is part of a truck-mounted concrete pump, concrete through a conveyor line along the manipulator 4 promotes to a place of application.
  • a single pressure supply unit 29 can also be used for this purpose, but in order to provide the necessary delivery volume, two third pressure supply units 29 are connected in parallel to one another here.
  • the individual drive units 2, 2a, 2b, 2c, 2d are not shown control valves, preferably proportional valves, assigned to the first pressure supply (P1) 24 and on the first return (T1) 25 are arranged parallel to each other.
  • the proportional valve with a stepper motor can be controlled.
  • the associated drive unit 2, 2a, 2b, 2c, 2d in particular the hydraulic cylinder, are moved by the control valve, the pressure applied to the drive unit 2, 2a, 2b, 2c, 2d not shown working lines with a pressure difference.
  • the working lines are optionally each connected to a first pressure supply (P1) 24 or a first return (T1) 25 through the control valve.
  • P1 first pressure supply
  • T1 first return
  • FIG. 1 It can also be seen an emergency stop circuit with emergency stop valve 21 through which the pumped by the pressure supply units 5, 6 hydraulic oil in an emergency can easily run back into the tank 23.
  • the second pressure supply unit 6 has a downstream changeover 19, via which the pumped hydraulic oil from the hydraulic accumulator 7, which controls the changeover valve of the two-cylinder piston pump, away on the first pressure supply (P1) 24 can be switched over.
  • the fourth pressure supply unit 8 also has a downstream changeover 20, in which case the delivered hydraulic oil can be switched away from the agitator 9 to the emergency circuit (P2, T2).
  • This emergency circuit allows a process of the drive units 2, 2a, 2b, 2c, 2d in case of failure of the regular pressure supply (P1, T1) 24, 25.
  • the drive units 2, 2a, 2b, 2c, 2d in particular the hydraulic cylinders, so in emergency operation be moved by the separate pressure supply (P2) 26 and the separate return (T2) 27, the drive units 2, 2a, 2b, 2c, 2d subjected to a pressure difference.
  • the working lines, not shown, either with the second pressure supply (P2) 26 or a second return line (T2) 27 are selectively connected by the control valve.
  • the pressure supply of the drive units 2, 2a, 2b, 2c, 2d is preferably carried out by the fourth pressure supply unit 8 via the separate pressure supply (P2) 26 and the separate return (T2) 27, so that in the event of a leak in the pressure supply (P1) 24 or the return (T1) 25, but also in case of failure of the first pressure supply unit 5, further control of the drive units 2, 2a, 2b, 2c, 2d is possible.
  • the articulated mast 10 (FIG. Fig. 3 ) can still be moved to, for example, the articulated mast 10 ( Fig. 3 ) and if necessary to pump out the residual concrete from the concrete pump and the delivery pipes.
  • the second pressure supply unit 6 usually has a hydraulic power that is lower than the hydraulic power of the third pressure supply units 29 and has a pressure control.
  • the second pressure supply unit 6, 8 is constant pressure-controlled. This means that the pressure supply unit 6 provides a constant pressure of, for example, 200 bar, with which the hydraulic accumulator 7 is charged during the pumping process.
  • the second pressure supply unit 6 is normally not required during assembly and disassembly of the manipulator 4.
  • the first pressure supply unit 5 is also a pressure-controlled pump and thus has the same control concept as the second pressure supply unit 6. The difference is that the pressure of the first pressure supply unit 5, for example, from 0 to 280 bar is adjustable and, for. at the of the drive units 2, 2a, 2b, 2c, 2d requested pressure, which is dependent on the position of the manipulator 4, can be adjusted.
  • FIG. 2 is the electro-hydraulic control circuit 1 off FIG. 1 shown in the second operating state.
  • the second pressure supply unit 6 is connected via the switching 19 of the first pressure supply unit 5 and supplies the drive units 2, 2a, 2b, 2c, 2d via the main valve 18 by means of the first pressure supply (P1) 24 with hydraulic pressure and thus drives the drive units 2, 2a, 2b, 2c, 2d in addition.
  • the delivery volume can be increased such that the drive units 2, 2a, 2b, 2c, 2d the mast segments 3, 3a, 3b, 3c, 3d ( Fig. 3 ) pivot so fast that the maximum permissible speed at the mast top 14 ( Fig. 3 ) is reachable.
  • the pressure of the first pressure supply unit 5 is set to the constant pressure of the connected pressure supply unit 6 (in the example 200 bar), but may be slightly lower so that the check valve 28 arranged between the switching device 19 and the connection point is opened by the pressure difference so that the hydraulic oil can flow from the second pressure supply unit 6 to the main valve 18.
  • the check valve 28 closes in the second operating state, as soon as a pressure is set at the first pressure supply unit 5, which is slightly higher than the constant pressure of the connected second pressure supply unit 6. This case occurs, for example, when the manipulator 4 occupies a position in the the pressure provided by the connected pressure supply unit 6 is not sufficient to hold the manipulator 4 in its position via the drive units 2, 2a, 2b, 2c, 2d, or to move in this position.
  • the check valve 28 prevents unwanted reflux of the hydraulic oil from the first pressure supply unit 5 to the second pressure supply unit 6. Because this condition occurs only at certain positions of the manipulator, the manipulator 4 can be operated in parallel by the first and second pressure supply unit 5, 6 in the rule and thus be moved faster.
  • FIG. 3 schematically illustrated is an inventive manipulator 4, in particular large manipulator for truck-mounted concrete pumps, with foldable Articulated mast 10, which has a pivotable about a vertical axis 11 turntable 12 and a plurality of mast segments 3, 3a, 3b, 3c, 3d.
  • the mast segments 3, 3a, 3b, 3c, 3d in the exemplary embodiment, a total of five pieces are at articulated joints 13, 13a, 13b, 13c, 13d respectively about buckling axes relative to an adjacent pole segment 3, 3a, 3b, 3c, 3d or the fifth wheel 12th limited pivoting.
  • a drive unit 2, 2a, 2b, 2c, 2d ( Fig. 1 u. 2) arranged at the mast segments 3, 3a, 3b, 3c, 3d in the articulated joints 13, 13a, 13b, 13c, 13d respectively arranged.
  • a control unit is set up which indicates a movement command indicating a desired direction of movement and travel speed of the mast top 14 of the articulated mast 10 or of an end hose attached thereto in drive signals for the drive units 2, 2a, 2b, 2c, 2d ( Fig. 1 u. 2).
  • the metrology-detected position of the manipulator 4 which can be implemented by inclination sensors on the mast segments or rotation angle sensors in the articulated joints 13, 13a, 13b, 13c, 13d, processed by the control unit.
  • a corresponding movement command can be generated. This can be, for example, a desired movement of the mast top 14 of the articulated mast 10 or of an attached end hose.
  • the control lever 16 is adjusted in a direction of adjustment and the control unit receives the generated travel command, which preferably indicates a desired movement of the mast top 14 of the articulated mast 10 or an attached Endschlauchs in one direction in Cartesian or polar coordinates.
  • the control unit sets the movement command in control signals for the drive units 2, 2a, 2b, 2c, 2d ( Fig. 1 u. 2).
  • the desired travel speed is also specified with the travel command.
  • the control unit switches to drive the drive assemblies 2, 2a, 2b, 2c, 2d ( Fig. 1 u. 2) further pressure supply units 6, 8 ( Fig. 1 u. 2) of the first pressure supply unit 5 (FIG. Fig. 1 u. 2), this is preferably done automatically.
  • the control unit can be switched between two operating states, wherein the automatic connection of the further pressure supply units 6, 8 (FIG. Fig. 1 u. 2) takes place only in the second operating state. This second operating state, the user selects in particular when folding and unfolding the articulated mast 10,
  • the maximum permissible speed for the drive units 2, 2a, 2b, 2c, 2d ( Fig. 1 u. 2) to be able to exploit optimally.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
EP17166084.8A 2016-04-11 2017-04-11 Circuit de commande électrohydraulique pour un manipulateur de grande taille Active EP3231763B8 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102016106643.5A DE102016106643A1 (de) 2016-04-11 2016-04-11 Elektrohydraulischer Steuerkreis für einen Großmanipulator

Publications (3)

Publication Number Publication Date
EP3231763A1 true EP3231763A1 (fr) 2017-10-18
EP3231763B1 EP3231763B1 (fr) 2020-09-23
EP3231763B8 EP3231763B8 (fr) 2021-03-24

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DE (1) DE102016106643A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102019201182A1 (de) * 2019-01-30 2020-07-30 Putzmeister Engineering Gmbh Fahrzeug

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US4073141A (en) * 1977-03-17 1978-02-14 Caterpillar Tractor Co. Fluid control system with priority flow
WO2013178373A1 (fr) 2012-05-31 2013-12-05 Putzmeister Engineering Gmbh Système hydraulique

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Publication number Priority date Publication date Assignee Title
DE102014207669A1 (de) * 2014-04-23 2015-10-29 Putzmeister Engineering Gmbh Steuerungssystem für eine hydraulische Arbeitsmaschine

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Publication number Priority date Publication date Assignee Title
US4073141A (en) * 1977-03-17 1978-02-14 Caterpillar Tractor Co. Fluid control system with priority flow
WO2013178373A1 (fr) 2012-05-31 2013-12-05 Putzmeister Engineering Gmbh Système hydraulique

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EP3231763B8 (fr) 2021-03-24
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