EP3259221A1 - Régulation de position d'une pointe de mât - Google Patents

Régulation de position d'une pointe de mât

Info

Publication number
EP3259221A1
EP3259221A1 EP16708951.5A EP16708951A EP3259221A1 EP 3259221 A1 EP3259221 A1 EP 3259221A1 EP 16708951 A EP16708951 A EP 16708951A EP 3259221 A1 EP3259221 A1 EP 3259221A1
Authority
EP
European Patent Office
Prior art keywords
mast
large manipulator
manipulator according
sensor
segment
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
EP16708951.5A
Other languages
German (de)
English (en)
Other versions
EP3259221B1 (fr
Inventor
Johannes HENIKL
Wolfgang KEMMETMÜLLER
Andreas Kugi
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 EP3259221A1 publication Critical patent/EP3259221A1/fr
Application granted granted Critical
Publication of EP3259221B1 publication Critical patent/EP3259221B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • 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
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution

Definitions

  • the invention relates to a large manipulator with a foldable mast arm having a rotatable about a vertical axis turntable and a plurality of mast segments, wherein the mast segments are limited to articulated joints about horizontal bending axes relative to an adjacent mast segment or the turntable by means of a respective drive unit pivotally limited and at Mastarm means for measuring the inclination are arranged, and a truck-mounted concrete pump with a large manipulator according to the invention.
  • the height of the mast top relative to the height of the vehicle can be detected by inclination sensors mounted on all mast segments.
  • the kite's position can be calculated using a kinematic description of the system.
  • the deformation of the pole segments is implicitly taken into account by the use of inclination sensors.
  • the tilt sensors typically used can not distinguish between a change in inclination and a translational acceleration of the sensor. For dynamic movements, these therefore provide incorrect measured values. They are therefore not suitable for the implementation of a position control.
  • a large manipulator is to be provided in which a vertical movement of a boom tip of a truck-mounted concrete pump during the pumping operation can be effectively reduced, which among other things leads to a significant relief for the leader of the end hose.
  • the large manipulator according to the invention comprises a folding mast arm having a rotatable about a vertical axis turntable and a plurality of mast segments, wherein the mast segments are limited to articulated joints about horizontal bending axes relative to an adjacent mast segment or the turntable by means of a respective drive unit pivotally limited.
  • the large manipulator according to the invention is characterized in that it has at least one inertial sensor for measuring the inclination and / or the acceleration of at least one pole segment.
  • the large manipulator according to the invention thus has the advantage over the prior art that a statically and dynamically accurate measurement of the vertical movements of the mast tip can be achieved by it.
  • an inertial sensor is preferably an acceleration sensor which detects the vertical acceleration at the location of the sensor.
  • the inertial sensor is a combined sensor which has a rotation rate sensor in addition to a two-axis acceleration sensor.
  • the axis of the rotation rate sensor is orthogonal to the acceleration axes. Since translational movements have only a very small influence on the rotation rate sensor, the measurement signals of the rotation rate sensor can be used to detect and correct a falsification of the determined from the measurement signals of the acceleration sensor inclination angle.
  • the inclination angle can be determined by temporal integration of the measured rate of rotation, wherein the determined by the acceleration sensors inclination angle is used for stationary balancing.
  • a gyroscope measures the rate of rotation of the inclination, which is not influenced by the translatory movement becomes.
  • an observer in the form of an extended Kalman filter or an approach with complementary filters can be used to combine the measuring signals of the acceleration sensors and the yaw rate sensor.
  • At least one inertial sensor can be arranged on each pole segment. As a result, the measurement accuracy and reliability can be further improved.
  • the inertial sensors are arranged substantially in the middle of a mast segment. Due to the slim design of the mast arm, the individual mast segments have in operation due to the static and dynamic forces not negligible elastic deformations. Due to the arrangement of the sensors in the middle of the mast segments, the difference of the measured inclinations of two successive mast segments in addition to the exact joint angle also includes a portion of the elastic deformation. As a result, the kinematics of the mast arm can be considered approximately as rigid body problem. Ideally, each pole segment has an inertial sensor, which is arranged approximately in the middle of the respective pole segment.
  • the inertial sensor is arranged on the last pole segment.
  • the mast segment is meant according to the invention, which is located furthest away from the turntable and at the outer end of which preferably a hose end is attached.
  • the inertial sensor on the last pole segment is not arranged in the middle. Since the influence of the beam curvature of the last mast segment on the height of the mast tip is small in relation to that of the preceding mast segments, such an arrangement leads to a sufficiently accurate measurement result.
  • the mast arm at the top of the mast has an intertial sensor. As a result, the measurement of the height of the mast tip during rapid movements with large accelerations can be further improved.
  • two sensors can be arranged on the last pole segment.
  • a sensor is in Located substantially in the middle and another sensor at the mast top, so at the outer end of the mast segment.
  • a sensor is arranged.
  • at least one of the articulated joints of the mast arm is associated with an angle sensor which detects the angular position of this articulated joint.
  • each articulated joint is associated with an angle sensor.
  • the large manipulator (by means of a suitable computer) with advantage for calculating the height of the mast top from the detected angular positions of the articulated joints in combination with the detected by means of the last mast segment, in particular at the mast top, arranged inertial acceleration can be established.
  • the angle sensors are not inertial sensors, but sensors with geometric resolution (with mechanical, resistive, inductive, optical or magnetic action principle).
  • the angular sensors serve to determine the (static) position of the mast arm.
  • the height of the mast top can first be determined via the angular positions of the articulated joints. In order to optimize the accuracy, the deflection of the mast segments can be taken into account.
  • the measurement signals ie the measurement signal of the vertical acceleration and the height measurement signal determined by means of the angle of inclination, may preferably be combined with one another by suitably selected, preferably complementary, filters.
  • the over the inclinations of the mast segments determined height of the mast tip is filtered with a low pass with a suitable cutoff frequency to filter out high-frequency dynamic noise.
  • the two-time integrated vertical acceleration signal is filtered with a complementary high pass with the same cutoff frequency.
  • the two filtered signals are then combined and give an accurate reading of the height of the mast top.
  • their function can also be realized by an observer or a Kalman filter.
  • the large manipulator according to the invention preferably has a position controller.
  • the position controller can be realized effectively acting control of the height of the mast tip, whereby an induced vertical movement of the mast tip is compensated.
  • the height of the mast tip can in principle be manipulated with each joint. While a great manipulability is given for inclinations of the associated mast segment near the horizontal for the relevant joint, this disappears at inclinations close to the vertical.
  • the user with a single joystick, which has at least two adjustment directions for the mast tip specifically specify a stretching or shortening while maintaining the height or a lifting or lowering movement while maintaining the radius.
  • an algorithm is used to calculate actuating signals for the hydraulic actuators of the individual joints, which initiate the desired movement.
  • the position controller preferably feeds back the deviation of the measured height of the mast tip from its nominal value as a specification of a lifting or lowering movement of the mast tip for example Cartesian or cylindrical control on the system.
  • a control circuit for vibration damping of the mast is implemented on the basis of a control of the joint angle.
  • This control circuit preferably has a computer unit which calculates the height of the mast top on the basis of a kinematic description of the mast and the measurements of the inclination angle of the individual mast segments with respect to the earth's gravity field.
  • the angular velocities of the individual articulated joints are considered as manipulated variables of this vibration damping control loop.
  • the position control according to the invention is preferably superimposed on the vibration damping.
  • the position control preferably has a proportional / integral differential controller (PID controller). Based on a control deviation (actual / setpoint value of the height of the mast tip), the controller determines a control output, which is specified as the nominal movement of the mast tip in the form of a lifting or lowering movement.
  • the algorithm determines therefrom the control signals which are applied to the control inputs of the individual mast joints, ie in practice the control inputs of the proportional hydraulic valves of the hydraulic drives.
  • the algorithm is designed such that based on the orientation of the individual mast arms and / or the distance of the individual mast joints to the turntable weighting takes place, with which the weighted on the control inputs of the individual mast joints control signals are weighted.
  • the weighting increases, the farther the joint is from the turntable or the closer the joint is arranged on the jib tip.
  • the control of the mast joints farther away from the turntable offers the advantage that the mass to be moved is lower and thus can be counteracted faster and more effectively a change in position.
  • the weighting increases horizontally, the individual mast arms run. The regulation should preferably act on the horizontally extending mast arms in order to be able to influence the height of the cantilever tip effectively.
  • the algorithm or the weighting according to the invention is therefore expediently carried out in such a way that, in principle, the last master arm is subjected to the largest actuating signal if it has an approximately horizontal course. However, if the last boom arm is essentially vertical, then another boom arm with a horizontal course receives a larger weighting and is loaded with a correspondingly larger actuating signal.
  • the sensor and control concept according to the invention can be realized as a total effective control of the height of the cantilever tip.
  • the setpoint for the height of the mast top is preferably determined in practical operation by the method of the operator and therefore results from the rest position for the current position of the mast arm.
  • the large manipulator according to the invention is preferably used for the distribution of thick matter. In particular, it serves to convey concrete.
  • the subject of the invention is a truck-mounted concrete pump.
  • the truck-mounted concrete pump according to the invention has a vehicle frame, a slurry pump arranged on the vehicle frame, in particular a concrete pump, and a large-scale manipulator with the inertial sensors described above.
  • FIGS. show a particularly preferred embodiment of the invention.
  • the invention is not limited to the embodiments shown.
  • the invention includes, as far as is technically feasible, any combination of the technical features that are listed in the claims or described in the description as being relevant to the invention.
  • FIG. 1 is a schematic view of a mast arm according to the invention in a first embodiment
  • FIG. 2 is a schematic view of a mast arm according to the invention in a second embodiment
  • Fig. 3 is a schematic view of a mast arm according to the invention in a third embodiment.
  • Fig. 4 is a schematic view of a mast arm according to the invention in a fourth embodiment.
  • Fig. 5 is a schematic control circuit according to a
  • FIG. 1 shows a schematic representation of a mast arm 10 according to the invention with means 34, 36, 38 for inclination measurement in a first embodiment.
  • the large manipulator has a folding mast arm 10 with a pivotable about a vertical axis turntable 12 and a plurality of mast segments 14, 1 6, 18.
  • the mast segments 14, 1 6, 18 are at buckles 20, 22, 24 about each horizontal bending axes relative to an adjacent mast segment 14, 1 6, 18 or the turntable 12 by means of a respective drive unit 26, 28, 30 pivotally limited.
  • the mast arm 10 preferably has between three and five mast segments 14, 1 6, 18.
  • the large manipulator according to the invention has at least one inertial sensor 34, 36, 38 for detecting the inclination of the pole segments 14, 16, 18 with respect to the earth.
  • the inertial sensors 34, 36, 38 each preferably consist of a two-axis acceleration sensor and a rotation rate sensor. Ideally, the axis of the rotation rate sensor is orthogonal to the acceleration axes of the acceleration sensor. Since the translatory movements have only a very small influence on the yaw rate sensors, their measurements are used to detect and correct distortions of the angles of inclination determined from the acceleration measurements. As a result, a measurement error is reduced during movements of the mast.
  • the mast arm 10 according to the invention shown in FIG. 1 has an inertial sensor 34, 36, 38 on each mast segment 14, 16, 18.
  • the inertial sensors 34, 36, 38 are arranged substantially in the middle of the pole segments 14, 16, 18.
  • FIG. 2 shows a schematic representation of a mast arm 10 according to the invention with means for tilt measurement in a second embodiment.
  • the mast segments 14, 16, 18 each have an inertial sensor 34, 36, 38, which are arranged substantially in the middle thereof.
  • an additional measurement of the accelerations takes place directly at the mast tip 32.
  • the double temporal integration of the portion of the acceleration in the vertical direction produces a measurement signal which is a good match with the dynamic components of the motion sequence in the higher frequency band.
  • FIG. 3 shows a schematic representation of a mast arm 10 according to the invention with means for tilt measurement in a third embodiment.
  • the mast segments 14, 16 each have an inertial sensor 34, 36, which are arranged substantially in the middle thereof.
  • the mast segment 18 has an inertial sensor 40 at its outer end, the mast top 32. Since the influence of the beam curvature of the last mast segment 18 on the height of the mast tip is small in relation to those of the preceding mast segments 14, 16, such an arrangement leads to a sufficiently accurate measurement result.
  • An additional sensor 38 can thus be dispensed with.
  • FIG. 4 shows a schematic view of a mast arm 10 according to the invention in a fourth embodiment.
  • the mast segments 14, 16, 18 each have an angle sensor 48, 50, 52.
  • the angle sensors 48, 50, 52 detect the angular positions of the individual articulated joints 20, 22, 24.
  • An inertial sensor 40 which detects the vertical acceleration of the masthead 32, is also arranged on the masthead 32.
  • the vibration damping according to the invention, a position control based on a PID controller 46 and a module 47 for controlling the lifting or lowering movement of the mast top 32 superimposed.
  • a position control based on a PID controller 46 and a module 47 for controlling the lifting or lowering movement of the mast top 32 superimposed.
  • the position control determines based on the deviation (deviation of the actual value of the height of the mast tip 32 of the setpoint) a controller output A, which is specified as a desired value in the form of a lifting or lowering movement of the mast tip for the module 47.
  • the setpoint for the height of the mast top 32 is determined in practical operation by the method of the operator and therefore results from the rest position for the current position of the mast arm 10.
  • An exact calculation of the rest position of the height of the mast tip 32 based on the current steady state values Joint angle is due to the complexity of the overall system and the only inaccurate knowledge of the model parameters for practical operation not possible and not necessary. Therefore, a simple high pass filter 44 with a suitably chosen cutoff frequency is used for the PID controller 46 to determine the control deviation.
  • a displacement of the height from the original position by the controller intervention is prevented by the underlying vibration damping control, which includes a regulation of the joint positions. Due to the illustrated scheme, vertical Movements of the mast top 32, such as a truck-mounted concrete pump during the pumping operation, can be effectively reduced.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un manipulateur de grande taille ayant un bras de mât (10) dépliable qui présente un chariot orientable (12) rotatif autour d'un axe haut et une pluralité de segments de mât (14, 16, 18), les segments de mât (14, 16, 18) pouvant pivoter de manière limitée au niveau d'articulations (20, 22, 24) sur des axes d'articulation respectivement horizontaux par rapport à un segment de mât (14, 16, 18) adjacent ou au chariot orientable (12) au moyen d'un ensemble d'entraînement (26, 28, 30). L'invention vise à perfectionner un tel manipulateur de grande taille de sorte que la dynamique du système puisse être mesurée d'un point de vue technique et évaluée du point de vue du réglage. Cela permet d'obtenir un manipulateur de grande taille avec lequel un mouvement vertical de la pointe de mât (32) peut être réduit. L'objectif de l'invention est atteint par le fait que le manipulateur de grande taille présente au moins un capteur inertiel (34, 36, 38, 40) pour mesurer l'inclinaison et/ou l'accélération d'au moins un des segments de mat (14, 16, 18). L'invention concerne en outre une pompe à béton automotrice.
EP16708951.5A 2015-02-19 2016-02-19 Contrôle de la position d'une pointe de mât Active EP3259221B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102015102368.7A DE102015102368A1 (de) 2015-02-19 2015-02-19 Positionsregelung Mastspitze
PCT/EP2016/053596 WO2016131977A1 (fr) 2015-02-19 2016-02-19 Régulation de position d'une pointe de mât

Publications (2)

Publication Number Publication Date
EP3259221A1 true EP3259221A1 (fr) 2017-12-27
EP3259221B1 EP3259221B1 (fr) 2020-02-12

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP16708951.5A Active EP3259221B1 (fr) 2015-02-19 2016-02-19 Contrôle de la position d'une pointe de mât

Country Status (5)

Country Link
US (1) US10407282B2 (fr)
EP (1) EP3259221B1 (fr)
CN (1) CN107406237B (fr)
DE (1) DE102015102368A1 (fr)
WO (1) WO2016131977A1 (fr)

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Also Published As

Publication number Publication date
US10407282B2 (en) 2019-09-10
CN107406237A (zh) 2017-11-28
WO2016131977A1 (fr) 2016-08-25
EP3259221B1 (fr) 2020-02-12
US20180037444A1 (en) 2018-02-08
CN107406237B (zh) 2020-08-25
DE102015102368A1 (de) 2016-08-25

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