EP3231763B1 - Circuit de commande électrohydraulique pour un manipulateur de grande taille - Google Patents

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

Info

Publication number
EP3231763B1
EP3231763B1 EP17166084.8A EP17166084A EP3231763B1 EP 3231763 B1 EP3231763 B1 EP 3231763B1 EP 17166084 A EP17166084 A EP 17166084A EP 3231763 B1 EP3231763 B1 EP 3231763B1
Authority
EP
European Patent Office
Prior art keywords
pressure supply
supply unit
manipulator
drive
pressure
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.)
Active
Application number
EP17166084.8A
Other languages
German (de)
English (en)
Other versions
EP3231763A1 (fr
EP3231763B8 (fr
Inventor
Andreas Lehmann
Johannes HENIKL
Reiner VIERKOTTEN
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.)
Friedrich Wilhelm Schwing GmbH
Original Assignee
Friedrich Wilhelm Schwing 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 Friedrich Wilhelm Schwing GmbH filed Critical Friedrich Wilhelm Schwing GmbH
Publication of EP3231763A1 publication Critical patent/EP3231763A1/fr
Publication of EP3231763B1 publication Critical patent/EP3231763B1/fr
Application granted granted Critical
Publication of EP3231763B8 publication Critical patent/EP3231763B8/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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 a manipulator, in particular a large manipulator for truck-mounted concrete pumps, with a foldable articulated mast, which has a turntable that can be rotated around a vertical axis and a plurality of mast segments, the mast segments on articulated joints each bounding around articulated axes with respect to an adjacent mast segment or the turntable by means of a drive unit each are pivotable, with an electro-hydraulic control circuit for controlling the hydraulically operated drive unit, by means of which a mast segment of the manipulator is adjustable in terms of its orientation, the drive unit being driven in a first operating state by means of a first hydraulic pressure supply unit, the drive unit in a second operating state by means of a the first pressure supply unit connectable further, second hydraulic pressure supply unit is driven, and with a third hydraulic pressure supply means to drive a two-cylinder piston pump.
  • the U.S. 4,073,141 A relates to a hydraulic control circuit for controlling a hydraulically operated drive unit.
  • a manipulator with an electro-hydraulic control circuit according to the preamble of claim 1 is in the WO 2013/178373 A1 disclosed.
  • the object of the invention is therefore to provide a manipulator with a control circuit which eliminates the disadvantages described and enables an optimal pressure supply to the drive units to increase the operating speed.
  • the hydraulic power of the connectable second pressure supply unit is less than the hydraulic power of the third pressure supply unit, that is to say 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 is switched on according to the invention. In this way, when the articulated mast is folded in and out, an optimal supply of pressure to the drive units is guaranteed to increase the operating speed.
  • the second pressure supply unit is preferably operated in a pressure-regulated manner, because a pressure-regulated 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 also operated in a pressure-controlled manner, because the connection of the second pressure supply unit to the first pressure supply unit can be carried out much more easily 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 match the pressures of the first and second pressure supply units to one another when switching to the second operating state.
  • the pressure of the first pressure supply unit is advantageously set such that it is equal to or slightly lower than the pressure made available by the second pressure supply unit.
  • the pressures of both pressure supply units for controlling the drive units are at approximately the same level and both pressure supply units make their pumping capacities available for driving the drive units.
  • 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 the second pressure supply unit provides .
  • the second pressure supply unit preferably supplies a hydraulic accumulator which is required for switching over the concrete switching valve in a two-cylinder piston pump.
  • the concrete switching valve must be switched over by one or two hydraulic or plunger cylinders within a few tenths of a second when one delivery piston of the two-cylinder piston pump switches from the pressure to the suction stroke and the other delivery cylinder switches from the suction to the pressure stroke.
  • the second pressure supply unit has about 5-15 seconds between the switching processes to fill the hydraulic accumulator for the next switching process of the concrete switching valve. For this reason, the second pressure supply unit has to provide a high pressure, but the delivery volume of the second pressure supply unit is not so large that complex control and limitation systems would be required to connect it to the mast drive, in particular because this pump is constant-pressure controlled.
  • At least one further, fourth, hydraulic pressure supply unit can be switched on in the second operating state to drive the drive unit.
  • This is, for example, the pressure supply unit for driving an agitator.
  • the agitator In the first operating mode, the agitator is driven by a hydraulic motor and stirs the liquid concrete in the feed hopper, so that the concrete cannot solidify in the feed hopper after it has been filled by a truck mixer and can be better fed to the suction openings of the delivery cylinders.
  • this pump is usually not active and can therefore be connected to the first pressure supply unit in this operating state.
  • the delivery volume of the agitator pump is significantly less than the delivery volume of the third pressure supply unit, i.e. the pressure supply unit to drive the two-cylinder piston pump, so that no complex control and limitation systems are required to connect it to the mast drive.
  • the pressure supply unit for driving the agitator is also usually constant pressure controlled.
  • An advantageous embodiment of the invention provides that at least one further hydraulic pressure supply unit can be switched on in the second operating state to drive the drive unit.
  • This can 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 components required.
  • 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 can be optimally made available in the second operating state, that is to say in particular when the mast is folded in and out.
  • An advantageous embodiment provides that the second, fourth and possibly further pressure supply units can be switched on independently of one another as required.
  • the second, fourth and possibly further pressure supply units can be switched on independently of one another as required.
  • it can be selected which of the available pressure supply units is connected in each case.
  • An automatic connection of the further pressure supply units simplifies the operation of the manipulator and thus helps to simply increase the travel speed and thus to utilize the maximum permissible travel speed of the mast tip.
  • several pressure supply units which are available in this operating state, can be switched on simultaneously or independently of one another to drive the drive unit.
  • the pressure supply unit for supplying the hydraulic accumulator for switching over the concrete switching valve and the agitator pump can be connected to the first pressure supply unit at the same time.
  • switchable pressure supply units are, 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 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 thus optimally matched to the requirements.
  • This multiple use of the pressure supply units both in the first and in the second operating state saves weight and reduces the number of components required. It is particularly advantageous here that the different delivery volumes of the individual pressure supply units can flow into the selection for connection.
  • One embodiment of the manipulator provides that a control unit is set up to control the drive units, the control unit converting a travel command, which specifies a desired direction of movement and travel speed of the mast tip of the articulated mast or an end hose attached to it, into drive signals for the drive units, depending on the desired travel speed at least one further pressure supply unit can be switched on by the control unit of the first pressure supply unit for driving the drive units.
  • An advantageous embodiment of the manipulator provides that the control unit automatically switches on at least one further pressure supply unit for driving the drive units in order to increase the travel speed.
  • control unit can be switched between the first and second operating states, with the additional pressure supply units only being switched on automatically in the second operating state. In this way, the user can easily select the respective operating state, depending on the work to be carried out.
  • the Figure 1 shows an electrohydraulic control circuit 1 according to the invention for controlling hydraulically operated drive units, with FIG Figure 1 a total of five drive units 2, 2a, 2b, 2c, 2d to drive the mast segments 3, 3a, 3b, 3c, 3d ( Fig. 3 ) are shown.
  • the drive units 2, 2a, 2b, 2c, 2d enable the mast segments 3, 3a, 3b, 3c, 3d to be adjusted ( Fig. 3 ) of manipulator 4 ( Fig. 3 ) regarding their orientation.
  • the drive units 2, 2a, 2b, 2c, 2d can be driven in a first operating state by means of a first hydraulic pressure supply unit 5, this operating state in Figure 1 is shown.
  • the first return line (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 pump train 22.
  • the hydraulic pump train 22 comprises, in addition to the first pressure supply unit 5, further pressure supply units 6, 8, 29. While the second pressure supply unit 6 is switched in the first operating state to charge a hydraulic accumulator 7, the third pressure supply unit 8 switches on in this operating state Agitator 9 or its drive motor is supplied with hydraulic pressure.
  • Two further, third pressure supply units 29 supply the differential cylinders of a two-cylinder piston pump, not shown, which, if the manipulator is part of a truck-mounted concrete pump, for example, conveys concrete through a delivery line along the manipulator 4 to a delivery location.
  • the working lines are each optionally 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
  • An emergency stop circuit with an emergency stop valve 21 can also be seen through which the hydraulic oil delivered by the pressure supply units 5, 6 can simply run back into the tank 23 in an emergency.
  • the second pressure supply unit 6 has a downstream switch 19 via which the hydraulic oil delivered from the hydraulic accumulator 7, which controls the switch valve of the two-cylinder piston pump, can be switched over to the first pressure supply (P1) 24.
  • the fourth pressure supply unit 8 also has a downstream switchover 20, in which case the pumped hydraulic oil can be switched away from the agitator 9 towards the emergency circuit (P2, T2).
  • This emergency circuit enables the drive units 2, 2a, 2b, 2c, 2d to move in the event of failure of the regular pressure supply (P1, T1) 24, 25.
  • the drive units 2, 2a, 2b, 2c, 2d in particular the hydraulic cylinders, can thus be operated in emergency mode be moved in that the separate pressure supply (P2) 26 or the separate return (T2) 27 acts on the drive units 2, 2a, 2b, 2c, 2d with a pressure difference.
  • the working lines are each optionally connected to the second pressure supply (P2) 26 or a second return (T2) 27 from the Control valve connected.
  • 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 of the return (T1) 25, but also if the first pressure supply unit 5 fails, control of the drive units 2, 2a, 2b, 2c, 2d is still possible.
  • the second pressure supply unit 6 usually has a hydraulic power which is lower than the hydraulic power of the third pressure supply units 29 and has a pressure regulator.
  • 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 when assembling and dismantling the manipulator 4.
  • the first pressure supply unit 5 is also a pressure-regulated pump and thus has the same control concept as the second pressure supply unit 6. The difference, however, is that the pressure of the first pressure supply unit 5 can be regulated, for example, from 0 to 280 bar and e.g. can be adapted to the pressure requested by the drive units 2, 2a, 2b, 2c, 2d, which is dependent on the position of the manipulator 4.
  • the electrohydraulic control circuit 1 is off Figure 1 shown in the second operating state.
  • the second pressure supply unit 6 is connected to the first pressure supply unit 5 via the switchover 19 and supplies the drive units 2, 2a, 2b, 2c, 2d with hydraulic pressure via the main valve 18 by means of the first pressure supply (P1) 24 and thus drives the drive units 2, 2a, 2b, 2c, 2d additionally.
  • 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 ) swivel so quickly that the maximum permissible speed at the top of the mast 14 ( Fig.
  • 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 can be slightly lower so that the check valve 28 arranged between the switchover 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 on the first pressure supply unit 5 that is slightly higher than the constant pressure of the connected second pressure supply unit 6. This case occurs, for example, when the manipulator 4 assumes a position in which 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 it in this position.
  • the check valve 28 thus prevents an undesired return flow of the hydraulic oil from the first pressure supply unit 5 to the second pressure supply unit 6.Because this state only occurs in certain positions of the manipulator, the manipulator 4 can usually be operated in parallel by the first and second pressure supply units 5, 6 and can therefore be moved faster.
  • FIG. 3 A manipulator 4 according to the invention, in particular a large manipulator for truck-mounted concrete pumps, with a foldable articulated mast 10, which has a turntable 12 rotatable about a vertical axis 11 and a plurality of mast segments 3, 3a, 3b, 3c, 3d, is shown schematically.
  • the mast segments 3, 3a, 3b, 3c, 3d in the exemplary embodiment a total of five, are attached to articulated joints 13, 13a, 13b, 13c, 13d, each around articulation axes relative to an adjacent mast segment 3, 3a, 3b, 3c, 3d or the turntable 12 limited pivotable.
  • a drive unit 2, 2a, 2b, 2c, 2d is installed in each of the articulated joints 13, 13a, 13b, 13c, 13d on the mast segments 3, 3a, 3b, 3c, 3d ( Fig. 1 u. 2) arranged.
  • a control unit is set up which converts a drive command, which specifies a desired direction of movement and travel speed of the mast tip 14 of the articulated mast 10 or an end hose attached to it, into control signals for the drive units 2, 2a, 2b, 2c, 2d ( Fig. 1 u. 2) implements.
  • the metrologically detected position of the manipulator 4 is processed by the control unit, which can be implemented, for example, by inclination sensors on the mast segments or rotation angle sensors in the articulated joints 13, 13a, 13b, 13c, 13d.
  • a corresponding travel command can be generated with the control lever 16 on the remote control device 15, which can be adjusted in several setting directions. This can be, for example, a desired movement of the mast tip 14 of the articulated mast 10 or an end hose attached to it.
  • the control lever 16 is adjusted in an actuating direction and the control unit receives the generated drive command, which preferably indicates a desired movement of the mast tip 14 of the articulated mast 10 or an end hose attached to it in one direction in Cartesian or polar coordinates.
  • the control unit then converts the drive command into control signals for the drive units 2, 2a, 2b, 2c, 2d ( Fig. 1 u. 2) around.
  • the desired travel speed is also specified with the travel command.
  • the control unit switches to drive the drive units 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. 1 u. 2), this is preferably done automatically.
  • the control unit can be switched between two operating states, whereby the automatic connection of the further pressure supply units 6, 8 ( Fig. 1 u. 2) only takes place in the second operating state.
  • the user selects this second operating state in particular when folding in and out the articulated mast 10 in order to set the maximum permissible speed for the drive units 2, 2a, 2b, 2c, 2d ( Fig. 1 u. 2) to be able to make optimal use of it.

Landscapes

  • 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)

Claims (13)

  1. Manipulateur (4), en particulier manipulateur de grande taille, pour des pompes radiales à béton, avec un mât pliable (10) pouvant être déployé, qui présente une traverse pivotante (12) pouvant tourner autour d'un axe vertical (11) et une multitude de segments de mât (3, 3a, 3b, 3c, 3d), dans lequel les segments de mât (3, 3a, 3b, 3c) peuvent pivoter de manière limitée au moyen de respectivement un groupe d'entraînement (2, 2a, 2b , 2c, 2d) au niveau de joints articulés (13a, 13a, 13b, 13c, 13d) respectivement autour d'axes de pliage par rapport à un segment de mât (3, 3a, 3b, 3c, 3d) adjacent ou à la traverse pivotante (12), avec un circuit de commande (1) électrohydraulique servant à piloter le groupe d'entraînement (2, 2a, 2b, 2c, 2d) actionné de manière hydraulique, au moyen duquel un segment de mât (3, 3a, 3b, 3c, 3d) du manipulateur (4) peut être ajusté eu égard à son orientation, dans lequel le groupe d'entraînement (2, 2a, 2b, 2c, 2d) est entraîné dans un premier état de fonctionnement au moyen d'une première unité d'alimentation en pression (5) hydraulique, dans lequel le groupe d'entraînement (2, 2a, 2b, 2c, 2d) est entraîné dans un deuxième état de fonctionnement au moyen d'une autre deuxième unité d'alimentation en pression (6) hydraulique pouvant être activée avec la première unité d'alimentation en pression (5), et avec une troisième unité d'alimentation en pression (29) hydraulique servant à entraîner une pompe à piston à deux cylindres,
    caractérisé en ce que
    la puissance hydraulique de la deuxième unité d'alimentation en pression (6) est inférieure à la puissance hydraulique de la troisième unité d'alimentation en pression (29).
  2. Manipulateur (4) selon la revendication 1, caractérisé en ce que la deuxième unité d'alimentation en pression (6) fonctionne de manière régulée en pression.
  3. Manipulateur (4) selon la revendication 1 ou 2, caractérisé en ce que la première unité d'alimentation en pression (5) hydraulique fonctionne de manière régulée en pression.
  4. Manipulateur (4) selon la revendication 2 ou 3, caractérisé en ce que la deuxième unité d'alimentation en pression (6) est régulée avec une pression constante et la pression hydraulique de la deuxième unité d'alimentation en pression (6) est inférieure ou égale à une pression hydraulique pouvant être réglée au maximum de la première unité d'alimentation en pression (5).
  5. Manipulateur (4) selon la revendication 3 ou 4, caractérisé en ce que dans le deuxième état de fonctionnement, la pression hydraulique de la première unité d'alimentation en pression (5) est réglée de telle sorte qu'elle est égale et légèrement plus faible que la pression de la deuxième unité d'alimentation en pression (6).
  6. Manipulateur (4) selon la revendication 5, caractérisé en ce qu'une soupape anti-retour (28) est disposée entre la première unité d'alimentation en pression (5) et la deuxième unité d'alimentation en pression (6), et que la soupape anti-retour (28) est fermée dans le deuxième état de fonctionnement quand la première unité d'alimentation en pression (5) est réglée pour l'entraînement du groupe d'entraînement (2, 2a, 2b, 2c, 2d) sur une pression plus élevée que la deuxième unité d'alimentation en pression (6).
  7. Manipulateur (4) selon l'une quelconque des revendications précédentes, caractérisé en ce que la deuxième unité d'alimentation en pression (6) alimente dans le premier état de fonctionnement un accumulateur hydraulique (7) pour une commutation d'une soupape de commutation de béton de la pompe à piston à deux cylindres.
  8. Manipulateur (4) selon l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins une autre quatrième unité d'alimentation en pression (8) hydraulique peut être activée dans le deuxième état de fonctionnement pour l'entraînement du groupe d'entraînement (2, 2a, 2b, 2c, 2d).
  9. Manipulateur (4) selon l'une quelconque des revendications précédentes, caractérisé en ce qu'au moins la deuxième et/ou l'autre unité d'alimentation en pression (6, 8) sont activées en fonction d'une pression de charge maximale se formant dans le système hydraulique de mât.
  10. Manipulateur (4) selon l'une quelconque des revendications précédentes, caractérisé en ce que la quatrième unité d'alimentation en pression (8) peut être activée indépendamment de la deuxième unité d'alimentation en pression (6) et/ou d'une autre unité d'alimentation en pression (6, 8).
  11. Manipulateur (4) selon l'une quelconque des revendications précédentes, caractérisé en ce qu'une unité de commande (14) est mise au point pour piloter les groupes d'entraînement (2, 2a, 2b, 2c, 2d), dans lequel l'unité de commande transforme une instruction de marche, qui indique une direction de déplacement souhaitée et une vitesse de déplacement de la pointe de mât (14) du mât pliable (10) ou d'un tuyau flexible d'extrémité installé au niveau de celui-ci, en signaux de pilotage pour les groupes d'entraînement (2, 2a, 2b, 2c, 2d), dans lequel l'unité de commande est mise au point par ailleurs pour activer en fonction de la vitesse de déplacement souhaitée au moins une autre unité d'alimentation en pression (6, 8) de la première unité d'alimentation en pression (5) pour l'entraînement des groupes d'entraînement (2, 2a, 2b, 2c, 2d).
  12. Manipulateur selon la revendication 11, caractérisé en ce que l'unité de commande active de manière automatique au moins une autre unité d'alimentation en pression (6, 8) pour l'entraînement des groupes d'entraînement (2, 2a, 2b, 2c, 2d) pour augmenter la vitesse de déplacement.
  13. Manipulateur selon la revendication 11 ou 12, caractérisé en ce que l'unité de commande peut être commutée entre un premier et un deuxième état de fonctionnement, dans lequel une activation automatique des autres unités d'alimentation en pression (6, 8) a lieu seulement dans le deuxième état de fonctionnement.
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 EP3231763A1 (fr) 2017-10-18
EP3231763B1 true EP3231763B1 (fr) 2020-09-23
EP3231763B8 EP3231763B8 (fr) 2021-03-24

Family

ID=58547342

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17166084.8A Active EP3231763B8 (fr) 2016-04-11 2017-04-11 Circuit de commande électrohydraulique pour un manipulateur de grande taille

Country Status (2)

Country Link
EP (1) EP3231763B8 (fr)
DE (1) DE102016106643A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019201182A1 (de) * 2019-01-30 2020-07-30 Putzmeister Engineering Gmbh Fahrzeug

Family Cites Families (3)

* Cited by examiner, † Cited by third party
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
DE102012209142A1 (de) 2012-05-31 2013-12-05 Putzmeister Engineering Gmbh Hydrauliksystem
DE102014207669A1 (de) * 2014-04-23 2015-10-29 Putzmeister Engineering Gmbh Steuerungssystem für eine hydraulische Arbeitsmaschine

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EP3231763A1 (fr) 2017-10-18
EP3231763B8 (fr) 2021-03-24
DE102016106643A1 (de) 2017-10-12

Similar Documents

Publication Publication Date Title
DE102005009843B4 (de) Hydraulikanlage mit geschlossenem Kreislauf für ein Arbeitsfahrzeug
DE69920452T2 (de) Mobile arbeitsmaschine
DE69031475T2 (de) Regelungsanordnung einer hydraulischen pumpe für baumaschinen
EP2855945B2 (fr) Méthode pour l'opération d'un système hydraulique
EP2267317B1 (fr) Système hydraulique
DE3217527A1 (de) Steuereinrichtung fuer hydraulische doppelt wirkende arbeitszylinder
EP1600643B1 (fr) Dispositif de commande pour un système de manutention hydraulique, en particulier un bras pivotant d'un sytème de levage de benne amovible de camion
DE102016106616B4 (de) Elektrohydraulischer Steuerkreis für einen Großmanipulator
EP1752587A1 (fr) Agencement hydraulique
EP3159549B1 (fr) Dispositif de recuperation d'energie hydraulique pour un engin de travail et engin de travail correspondant
DE112017003054T5 (de) Hydraulisches ansteuersystem
WO2015162229A1 (fr) Système de commande pour engin de travail hydraulique
DE3640305C2 (fr)
DE1259071B (de) Hydraulische Antriebsvorrichtung fuer einen Drehkran
EP3665342A1 (fr) Grand manipulateur et circuit hydraulique pour grand manipulateur
EP2867531B1 (fr) Pompe à béton mobile et procédé pour leur utilisation à l'état de transport
DE2440875B2 (de) Hydraulisches antriebssystem, insbesondere fuer loeffelbagger und dergleichen erdbewegungsgeraete
EP3231763B1 (fr) Circuit de commande électrohydraulique pour un manipulateur de grande taille
EP0505977B1 (fr) Système de contrôle de vitesse pour entraînements hydrauliques de préférence pour vérins hydrauliques
DE3717792C2 (fr)
DE19654700A1 (de) Fahrzeughydrauliksystem
DE102016204359A1 (de) Elektrohydraulisches Stellsystem einer Antriebseinheit eines Wasserfahrzeugs
EP0770015A1 (fr) Procede d'actionnement des verins de braquage de machines de travail mobiles et systeme de direction pour machines de travail mobiles
DE3508691C1 (de) Hydraulisches Erdbaufahrzeug mit einem schwenkbaren Ausleger
EP3317545A1 (fr) Unité de machine hydraulique et procédé de fonctionnement d'une telle unité de machine

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20180417

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20190321

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20200423

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

RIN2 Information on inventor provided after grant (corrected)

Inventor name: LEHMANN, ANDREAS

Inventor name: HENIKL, JOHANNES

Inventor name: VIERKOTTEN, REINER

GRAT Correction requested after decision to grant or after decision to maintain patent in amended form

Free format text: ORIGINAL CODE: EPIDOSNCDEC

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502017007364

Country of ref document: DE

Ref country code: AT

Ref legal event code: REF

Ref document number: 1316215

Country of ref document: AT

Kind code of ref document: T

Effective date: 20201015

REG Reference to a national code

Ref country code: CH

Ref legal event code: PK

Free format text: BERICHTIGUNG B8

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201223

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201224

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201223

REG Reference to a national code

Ref country code: CH

Ref legal event code: PK

Free format text: TITEL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

REG Reference to a national code

Ref country code: CH

Ref legal event code: PK

Free format text: BERICHTIGUNG B8

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20200923

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210125

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210123

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502017007364

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

26N No opposition filed

Effective date: 20210624

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210411

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20210430

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210430

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210430

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210411

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210123

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210430

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20170411

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1316215

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220411

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200923

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220411

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20231108

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200923

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20240423

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240429

Year of fee payment: 8

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: IT

Payment date: 20240423

Year of fee payment: 8

Ref country code: FR

Payment date: 20240430

Year of fee payment: 8