EP3259221B1 - Positionsregelung einer mastspitze - Google Patents

Positionsregelung einer mastspitze Download PDF

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Publication number
EP3259221B1
EP3259221B1 EP16708951.5A EP16708951A EP3259221B1 EP 3259221 B1 EP3259221 B1 EP 3259221B1 EP 16708951 A EP16708951 A EP 16708951A EP 3259221 B1 EP3259221 B1 EP 3259221B1
Authority
EP
European Patent Office
Prior art keywords
mast
sensor
large manipulator
manipulator according
tip
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
EP16708951.5A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP3259221A1 (de
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/de
Application granted granted Critical
Publication of EP3259221B1 publication Critical patent/EP3259221B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/46—Position indicators for suspended loads or for crane elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)
EP16708951.5A 2015-02-19 2016-02-19 Positionsregelung einer mastspitze Active EP3259221B1 (de)

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 (de) 2015-02-19 2016-02-19 Positionsregelung einer mastspitze

Publications (2)

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

Family

ID=55521673

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16708951.5A Active EP3259221B1 (de) 2015-02-19 2016-02-19 Positionsregelung einer mastspitze

Country Status (5)

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

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015108473A1 (de) * 2015-05-28 2016-12-01 Schwing Gmbh Großmanipulator mit schnell ein- und ausfaltbarem Knickmast
GB2568630B (en) 2016-09-19 2021-08-18 Somero Entpr Inc Concrete screeding system with boom mounted screed head
US10315850B2 (en) 2017-07-13 2019-06-11 1875452 Alberta Ltd. Proppant conveyor systems and methods of use
CN107727151A (zh) * 2017-11-10 2018-02-23 公安部上海消防研究所 一种举高消防车臂架运动状态动态测试装置
DE102018104491A1 (de) * 2018-02-27 2019-08-29 Putzmeister Engineering Gmbh Großmanipulator mit Schwingungsdämpfer
DE102018109057A1 (de) 2018-04-17 2019-10-17 Liebherr-Mischtechnik Gmbh Betonpumpe
DE102018109098A1 (de) 2018-04-17 2019-10-17 Liebherr-Mischtechnik Gmbh Betonpumpe
DE102018109088A1 (de) 2018-04-17 2019-10-17 Liebherr-Mischtechnik Gmbh Großmanipulator, insbesondere für Betonpumpen
CN108867747B (zh) * 2018-09-10 2023-10-03 江苏徐工工程机械研究院有限公司 工程机械作业臂架自动回位调节系统、方法及工程机械
CN110465942A (zh) * 2019-07-26 2019-11-19 深圳前海达闼云端智能科技有限公司 位姿补偿方法、装置、存储介质和电子设备
CN110549335A (zh) * 2019-08-16 2019-12-10 珠海格力电器股份有限公司 一种关节减速比自动标定方法、控制系统及其机器人
CN112720450B (zh) * 2019-10-28 2022-07-19 深圳市大族机器人有限公司 机器人关节角度检验方法、装置、设备及介质
EP3978420B1 (de) * 2020-09-30 2024-03-27 STILL GmbH Verfahren zur dämpfung von hubmast-torsionsschwingungen bei einem flurförderzeug und flurförderzeug
CN112900878A (zh) * 2021-01-27 2021-06-04 徐州徐工施维英机械有限公司 混凝土泵车臂架控制系统、方法及混凝土泵车
CN112943323B (zh) * 2021-02-08 2022-07-22 中国铁建重工集团股份有限公司 锚杆台车控制系统
WO2022221311A1 (en) 2021-04-12 2022-10-20 Structural Services, Inc. Systems and methods for assisting a crane operator
CN114215362B (zh) * 2021-12-17 2023-04-25 徐州徐工施维英机械有限公司 一种臂架自动避障系统、避障方法及泵车

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007012575A1 (de) * 2007-03-13 2008-09-18 Putzmeister Concrete Pumps Gmbh Großmanipulator
WO2014165888A1 (de) * 2013-04-09 2014-10-16 Ttcontrol Gmbh Elektrohydraulischer steuerkreis

Family Cites Families (14)

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Publication number Priority date Publication date Assignee Title
JPS612312A (ja) 1984-06-15 1986-01-08 Hitachi Ltd コンデンサ形ブツシングｐｄ
JPS6123212A (ja) * 1984-07-11 1986-01-31 Hitachi Ltd 多関節構造機械の制御装置
DE19503895A1 (de) 1995-02-07 1996-08-08 Putzmeister Maschf Betonpumpe mit Verteilermast
JP3091667B2 (ja) * 1995-06-09 2000-09-25 日立建機株式会社 建設機械の領域制限掘削制御装置
CN1078287C (zh) * 1997-06-20 2002-01-23 日立建机株式会社 建筑机械的范围限制挖掘控制装置
DE10046546A1 (de) * 2000-09-19 2002-03-28 Putzmeister Ag Großmanipulator mit Schwingungsdämpfer
DE10240180A1 (de) * 2002-08-27 2004-03-11 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts
CN102575457B (zh) * 2009-10-19 2014-12-17 日立建机株式会社 作业机械
IT1397794B1 (it) * 2010-01-26 2013-01-24 Cifa Spa Dispositivo per il controllo attivo delle vibrazioni di un braccio articolato per il pompaggio di calcestruzzo.
DE102010035291A1 (de) * 2010-08-25 2012-03-01 Robert Bosch Gmbh Verfahren und Vorrichtung zur Lagebestimmung eines bestimmten Teils eines Arbeitsarms einer Arbeitsmaschine
AT514116A1 (de) * 2013-04-09 2014-10-15 Ttcontrol Gmbh Regelsystem und Verfahren zum Steuern der Orientierung eines Segments eines Manipulators
KR101669787B1 (ko) * 2014-05-14 2016-10-27 가부시키가이샤 고마쓰 세이사쿠쇼 유압 쇼벨의 교정 시스템 및 교정 방법
US9945095B2 (en) * 2014-06-03 2018-04-17 Komatsu Ltd. Control system of excavating machine and excavating machine
US9598845B2 (en) * 2014-06-04 2017-03-21 Komatsu Ltd. Posture computing apparatus for work machine, work machine, and posture computation method for work machine

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007012575A1 (de) * 2007-03-13 2008-09-18 Putzmeister Concrete Pumps Gmbh Großmanipulator
WO2014165888A1 (de) * 2013-04-09 2014-10-16 Ttcontrol Gmbh Elektrohydraulischer steuerkreis

Also Published As

Publication number Publication date
US20180037444A1 (en) 2018-02-08
WO2016131977A1 (de) 2016-08-25
DE102015102368A1 (de) 2016-08-25
US10407282B2 (en) 2019-09-10
CN107406237B (zh) 2020-08-25
EP3259221A1 (de) 2017-12-27
CN107406237A (zh) 2017-11-28

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