EP3440288A1 - Unité de télécommande pour grand manipulateur à levier de commande - Google Patents

Unité de télécommande pour grand manipulateur à levier de commande

Info

Publication number
EP3440288A1
EP3440288A1 EP17718844.8A EP17718844A EP3440288A1 EP 3440288 A1 EP3440288 A1 EP 3440288A1 EP 17718844 A EP17718844 A EP 17718844A EP 3440288 A1 EP3440288 A1 EP 3440288A1
Authority
EP
European Patent Office
Prior art keywords
control lever
vibration damping
active vibration
range
remote control
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
EP17718844.8A
Other languages
German (de)
English (en)
Other versions
EP3440288B1 (fr
Inventor
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 EP3440288A1 publication Critical patent/EP3440288A1/fr
Application granted granted Critical
Publication of EP3440288B1 publication Critical patent/EP3440288B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
    • A63H30/02—Electrical arrangements
    • A63H30/04—Electrical arrangements using wireless transmission
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/205—Remotely operated machines, e.g. unmanned vehicles
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/05—Means for returning or tending to return controlling members to an inoperative or neutral position, e.g. by providing return springs or resilient end-stops
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers

Definitions

  • the invention relates to a device for the control of large manipulators, in particular distributor masts of truck-mounted concrete pumps, with a remote control device, by the active vibration damping of the large manipulator is switched on and off and has at least one control lever on the remote control unit by at least one orthogonal to its longitudinal axis extending pivot axis is pivotally mounted, which is pivotally mounted about a basic position and depending on the pivot angle relative to its basic position has an inner zero position range and an outer driving range, wherein the active vibration damping is turned on when the control lever is in the driving range.
  • Large manipulators are used, for example, in truck-mounted concrete pumps in which concrete is pumped through a delivery line via a pump. The delivery line is guided along a multipart distribution boom.
  • the outer end of the delivery line hangs free-swinging in use at the top of the distribution boom.
  • the distribution boom consists of one or more segments, which are foldable to each other via drives, and is pivotally mounted on a stationary or mobile platform. Via the distributor boom, it is possible to distribute concrete accurately through the delivery line over long distances. The positioning of the placing boom is carried out by a machinist via the remote control device. The fine adjustment when distributing the concrete at the free-running end of the delivery line is performed by another operator.
  • the mast can be set in vibration, in particular at its tip. These vibrations are especially strong during an abrupt stop when the mast tip has reached its destination. But even if the mast is not moved and is pumped through the delivery line concrete, it comes through the pulsating conveyance of the concrete to vibrations, especially at the top of the mast.
  • a device of the type mentioned above is disclosed in European Patent EP 1 373 661 B1.
  • the active vibration damping is switched on here, when the control lever is guided from its basic position in the zeroing range in the driving range.
  • the active damping is not switched off immediately, but via a time relay.
  • the active damping can remain switched on for up to three seconds after the switching signal.
  • Prolonged operation of active damping is forbidden by the machinery directive mentioned above. This measure is therefore only conditionally suitable to dampen the vibrations sufficiently by an abrupt stop of the movement of the distributor mast, since the vibrations of the system have not subsided despite damping after three seconds.
  • the prior art therefore proposes to provide for this case a button with an additional function in the sense of a deadman button on the remote control device next to the control lever to the damping function in the Pump operation to keep turned on.
  • a button with an additional function in the sense of a deadman button on the remote control device next to the control lever to the damping function in the Pump operation to keep turned on.
  • the object of the invention is therefore to keep the active vibration damping in operation even when the control lever is not in the driving range, without significantly complicating the usability.
  • the invention proposes, starting from a device of the type mentioned, to set up the control lever so that it is suitable to turn on the active vibration damping, without causing movement of the large manipulator.
  • the machinist is able by this measure to keep the active vibration damping of the large manipulator in operation, even if the control lever is not in the driving range. He does not have to let go of the control lever or the other hand to help to operate a deadman remote from the control lever or the like.
  • the active vibration damping is turned off when the control lever is in the zeroing range, wherein between the outer driving range and the inner zero position of the control lever is a vibration damping area and a deflection of the control lever in this vibration damping area leads to an active vibration damping, without a movement of the Effect mast.
  • control lever is mounted pivotably on the remote control unit about two pivot axes orthogonal to one another and orthogonal to the longitudinal axis of the control lever.
  • This design allows additional functions to be performed in the same mode by the control lever.
  • Both swivel axes here are assigned a zeroing, a vibration damping and a driving range as a function of the swivel angle.
  • control lever is mounted rotatably about its longitudinal axis, and is rotatably mounted about a basic position and depending on the rotation angle relative to its normal position an inner zero position range, an outer driving range and an intermediate vibration damping region and a deflection of the control lever in This vibration damping range leads to an activation of the active vibration damping, without causing a movement of the large manipulator.
  • This additional mobility of the control lever can perform more functions with the control lever, without changing the mode.
  • control lever makes sense if it is indicated by one or more visual and / or acoustic signals, starting from the remote control device, whether the control lever is in the driving range, in the vibration damping range or zeroing range. Through these signals, the machinist always knows in which area the control lever is located.
  • control lever is automatically reset by a return mechanism to its normal position and the restoring force or reverse torque of the control lever at the transition from the vibration damping area in the driving range increases suddenly or a tactile threshold must be exceeded.
  • the machinist directly senses when he is at the transition from the damping to the driving range and must first overcome the increased resistance in order to bring the control lever into the driving range. An unintentional movement of the control lever in the driving range is thus much less likely.
  • a development of the invention provides that a push-button is mounted on the control lever and that the actuation of the push-button switches on the active vibration damping.
  • the machinist can leave the active vibration damping in the switched-on state. He does not have to let go of the control lever or the other hand to help to operate a deadman remote from the control lever or the like.
  • the remote control unit located in the driving range control lever three different operating modes are selected with activated active vibration damping, namely a standstill mode and one or more driving modes, such as a slow driving mode and a high-speed driving mode.
  • the machinist can switch to standstill mode, so that only the vibration damping is activated in the driving range of the control lever. By this switching state, the triggering of unintentional movement of the large manipulator is not possible. If the large manipulator is just starting or driving up, the fast-motion mode is ideal. While in the process in the field of application of the slow motion mode is best suited, in particular to exclude the threat to the operator.
  • a further embodiment of the invention results in systems which have a so-called Cartesian control of the mast top as additional operating mode (see, for example, document EP 0686224 B2).
  • Cartesian (or polar) coordinates can be specified by the control lever or directly, which are converted by the controller in the movement speeds of the individual joints.
  • the movement of the mast can thus be operated by a single control lever, provided that it has at least three degrees of freedom or adjustment.
  • a commonly available second control lever remains unused in this mode, ie its deflection does not lead to movement of the mast.
  • Figure 1 schematically a plan view of a remote control device according to the invention
  • FIG. 1 A first figure.
  • Figure 3 schematically in side view the
  • FIG. 5 Schematically the remote control device from FIG. 1 in a second operating mode
  • Figure 6 a schematic view of a
  • Control lever in a second embodiment.
  • a remote control device according to the invention is generally designated by the reference numeral 1.
  • the remote control device 1 is shown for a truck-mounted concrete pump in a schematic plan view.
  • two control levers 2 are mounted, through which a distributor mast of the truck-mounted concrete pump can be moved.
  • the remote control device 1 also has a display 3, via which mainly status displays are displayed.
  • a selector switch 4 is provided, on the three operating modes, ie two driving modes, the "fast movement mode” (symbolized by a rabbit), “slow motion mode” (symbolized by a worm) and a "standstill mode” (symbolized by a crossed distributor masts) are selected
  • the operating mode set here is the "fast motion mode”.
  • the control lever 2 is arranged by various measures to turn on the active vibration damping of the large manipulator without causing movement of the large manipulator. These measures are explained in more detail below.
  • the two control levers 2 are pivotally mounted about two orthogonal to its longitudinal axis pivot axes X, Y against a restoring force on the remote control device 1 and have a zeroing range 5, a vibration damping region 6 and a driving range 7.
  • the three areas are shown enlarged in the detail view of the area A of Figure 1 in Figure 2. If the control lever 2 is in its zero position range 5, the active vibration damping of the large manipulator is not switched on.
  • the zero position range 5 is small relative to the other two ranges, so that even a very small pivot angle is sufficient to move the control lever 2 out of the zero position range 5 into the vibration damping area 6.
  • FIG. 3 shows schematically such a movement.
  • the control lever 2 is pivoted from its basic position about the pivot axis Y.
  • the control lever 2 is additionally rotatably mounted in this embodiment about its longitudinal axis Z. This is shown schematically in FIG. As with the pivot axes X, Y which are orthogonal to the longitudinal axis Z, the control lever 2, even with a rotation about its longitudinal axis Z a zeroing range, a vibration damping area and a driving range in response to the rotation angle.
  • the remote control device 1 illustrated in Figure 5 is set to the operating mode "standstill mode" via the selector switch 4.
  • the control levers 2 also have the zero position range 5, the vibration damping area 6 and the travel area 7.
  • the movement function of the transfer boom of the truck-mounted concrete pump is in this operating mode is not switched on via the control lever 2.
  • the active vibration damping also remains switched on in the travel range 7.
  • This operating mode is particularly well suited for longer concreting operations in which the distributor boom does not have to be moved for a long time, but vibrations nevertheless still occur on the distributor boom due to pumping operations or - rotary movement of the control lever 2 can thus be used by the operator to turn on the vibration damping, without causing a driving movement of the mast additional pushbutton 8 with deadman function via which the active vibration damping remains activated. If the additional pushbutton 8 is actuated, the active vibration damping remains switched on in the zeroing range 5, without the machinist having to engage in any way whatsoever. The usability is very easy.
  • the push-button functionality may also be mechanically resolved so that the entire control lever is depressed from above in the direction of the remote control unit and thereby a switching mechanism is triggered below the Steubelbels, which activates the vibration damping.
  • the pushbutton functionality can also be used in standstill mode to switch on the vibration damping.
  • the large manipulator as a supplementary operating mode has a so-called Cartesian control of the mast top
  • a movement for the mast top or attached end hose in Cartesian (or polar) coordinates are given by the controller be converted into movement speeds of the individual joints.
  • the movement of the mast can thus be operated by a single control lever 2, provided that it has at least three degrees of freedom or adjustment.
  • a commonly present second control lever 2 remains unused in this mode, i. its deflection does not lead to movement of the mast.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Control Devices (AREA)
  • Control And Safety Of Cranes (AREA)

Abstract

L'invention concerne un dispositif de commande de grands manipulateurs, en particulier de mâts de distribution de pompes d'autobétonnière, comprenant une unité de télécommande (1), au moyen de laquelle un amortisseur de vibrations actif du grand manipulateur peut être activé et désactivé et qui comporte au moins un levier de commande (2) qui est monté sur l'unité de télécommande (1) de façon à pouvoir pivoter sur au moins un axe de pivotement (X, Y) s'étendant orthogonalement à son axe longitudinal (Z), qui est monté de façon à pouvoir pivoter autour d'une position de base et qui comporte, en fonction de l'angle de pivotement par rapport à sa position de base, une zone de position neutre intérieure (5) et une zone de déplacement extérieure (7), l'amortissement de vibrations active étant activé lorsque le levier de commande (2) se trouve dans la zone de déplacement (7). Le but de l'invention est de maintenir l'amortissement de vibrations actif en fonctionnement, même si le levier de commande (2) n'est pas dans la zone de déplacement (7), sans entraver de manière significative son fonctionnement, afin d'amortir efficacement les vibrations même après un arrêt brutal ou pendant le transport. Pour atteindre ce but, l'invention propose d'adapter le levier de commande (2) de façon à activer l'amortissement de vibrations actif sans déplacer le grand manipulateur.
EP17718844.8A 2016-04-07 2017-04-04 Grand manipulateur avec une unité de télécommande Active EP3440288B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016106352.5A DE102016106352A1 (de) 2016-04-07 2016-04-07 Fernsteuergerät für Großmanipulator mit Steuerhebel
PCT/EP2017/057981 WO2017174576A1 (fr) 2016-04-07 2017-04-04 Unité de télécommande pour grand manipulateur à levier de commande

Publications (2)

Publication Number Publication Date
EP3440288A1 true EP3440288A1 (fr) 2019-02-13
EP3440288B1 EP3440288B1 (fr) 2020-04-01

Family

ID=58609359

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17718844.8A Active EP3440288B1 (fr) 2016-04-07 2017-04-04 Grand manipulateur avec une unité de télécommande

Country Status (5)

Country Link
US (1) US11214970B2 (fr)
EP (1) EP3440288B1 (fr)
CN (1) CN109072622B (fr)
DE (1) DE102016106352A1 (fr)
WO (1) WO2017174576A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3108597B1 (fr) 2020-03-30 2023-07-21 Manitowoc Crane Group France Ensemble de remorque et grue à montage automatisé associée
CN113445752B (zh) * 2021-05-25 2022-03-25 中联重科股份有限公司 臂架末端运动的控制方法、装置、系统、介质及工程机械
CN115354860A (zh) * 2022-09-22 2022-11-18 三一汽车制造有限公司 臂架控制系统、臂架控制方法及车辆

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US5249272A (en) 1990-08-10 1993-09-28 Ambrosia Microcomputer Products, Inc. Interface between a radio control transmitter joystick control and a computer serial input port
US5086870A (en) 1990-10-31 1992-02-11 Division Driving Systems, Inc. Joystick-operated driving system
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WO1997017651A1 (fr) 1995-11-10 1997-05-15 Nintendo Co., Ltd. Systeme de manche a balai
DE19548717C1 (de) 1995-12-23 1997-05-07 Daimler Benz Ag Bedienelementanordnung zur Steuerung der Längsbewegung und/oder der Querbewegung eines Kraftfahrzeuges
DE10107107A1 (de) * 2001-02-14 2002-08-29 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts eines Großmanipulators sowie Großmanipulator mit einer solchen Vorrichtung
DE10116407A1 (de) * 2001-04-02 2002-10-17 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts insbesondere für Betonpumpen
CN1325365C (zh) * 2001-11-05 2007-07-11 日立建机株式会社 用于建筑机械的操纵杆装置
DE10240180A1 (de) * 2002-08-27 2004-03-11 Putzmeister Ag Vorrichtung zur Betätigung eines Knickmasts
US8545323B2 (en) 2006-06-30 2013-10-01 Logitech Europe S.A. Video game controller with compact and efficient force feedback mechanism
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CN102493652B (zh) * 2011-12-08 2014-01-22 中联重科股份有限公司 混凝土泵送设备及其臂架振动半主动控制装置和控制方法
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EP3041779B1 (fr) * 2013-09-06 2019-09-04 Putzmeister Engineering GmbH Machine de travail et procédé de fonctionnement
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Also Published As

Publication number Publication date
US11214970B2 (en) 2022-01-04
CN109072622A (zh) 2018-12-21
US20190055741A1 (en) 2019-02-21
CN109072622B (zh) 2020-12-08
EP3440288B1 (fr) 2020-04-01
WO2017174576A1 (fr) 2017-10-12
DE102016106352A1 (de) 2017-10-12

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