EP3440288B1 - Large manipulator having remote control device - Google Patents

Large manipulator having remote control device Download PDF

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Publication number
EP3440288B1
EP3440288B1 EP17718844.8A EP17718844A EP3440288B1 EP 3440288 B1 EP3440288 B1 EP 3440288B1 EP 17718844 A EP17718844 A EP 17718844A EP 3440288 B1 EP3440288 B1 EP 3440288B1
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EP
European Patent Office
Prior art keywords
control lever
range
oscillation damping
large manipulator
switched
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Active
Application number
EP17718844.8A
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German (de)
French (fr)
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EP3440288A1 (en
Inventor
Johannes HENIKL
Reiner VIERKOTTEN
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Friedrich Wilhelm Schwing GmbH
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Friedrich Wilhelm Schwing GmbH
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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 large manipulator, in particular a truck-mounted concrete pump with a placing boom, with a control for the large manipulator, with a remote control device by means of which active vibration damping of the large manipulator can be switched on and off and which has at least one control lever which is orthogonally connected to the remote control device its longitudinal axis is pivotally mounted, which is pivotally mounted about a basic position and which, depending on the pivoting angle, has an inner zero position range and an outer travel range based on its basic position, the active vibration damping being switched 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 using a pump.
  • the conveyor line is led along a multi-part distribution boom.
  • the outer end of the delivery line (end hose) hangs freely in use at the top of the placing boom.
  • the placing boom consists of one or more segments, which can be folded towards each other via drives, and is pivotally mounted on a stationary or mobile platform. Using the placing boom, it is possible to precisely distribute concrete over long distances through the delivery line.
  • the positioning of the placing boom is carried out by a machine operator using the remote control device. Another operator carries out the fine adjustment when distributing the concrete at the free-swinging end of the delivery line.
  • the top of the tower can vibrate, in particular. These vibrations are particularly strong in the case of an abrupt stop when the mast tip has reached its destination. But even if the mast is not moved and concrete is pumped through the delivery line, the pulsating delivery of the concrete causes vibrations, especially at the top of the mast.
  • a large manipulator of the type mentioned is in the European patent EP 1 373 661 B1 disclosed.
  • the active vibration damping is switched on here when the control lever is moved from its basic position in the zero position range to the driving range. If the control lever is moved back to the zero position range, the active damping is not switched off immediately, but via a timing relay. This means that active damping can remain switched on for up to three seconds after the switching signal.
  • the above-mentioned machine directive prohibits prolonged operation of active damping. This measure is therefore only suitable to a limited extent to dampen the vibrations sufficiently by abruptly stopping the movement of the placing boom, since the vibrations of the system have not yet subsided after three seconds, despite the damping.
  • the prior art therefore proposes to provide a button with an additional function in the sense of a dead man button on the remote control device next to the control lever in this case in order to also provide the damping function in the Keep pump operation on. This means that the operator has to either take his hand off the control lever or use his second hand to help it, which makes it difficult to use.
  • 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 making operation considerably more difficult.
  • the invention proposes, starting from a large manipulator of the type mentioned at the outset, to set up the control lever in such a way that it is suitable for switching on the active vibration damping without causing the large manipulator to move.
  • This measure enables the operator to keep the large manipulator's active vibration damping in operation, even when the control lever is not in the driving range. He does not have to let go of the control lever or use his other hand to operate a dead man button or the like which is located away from the control lever.
  • the active vibration damping is switched off when the control lever is in the zero position range, a vibration damping range being located between the outer driving range and the inner zero position range of the control lever and a deflection of the control lever into this vibration damping range results in the active vibration damping being switched on without the mast moving to effect.
  • control lever is mounted on the remote control device so as to be pivotable about two pivot axes running orthogonally to one another and orthogonally to the longitudinal axis of the control lever.
  • additional functions can be carried out in the same mode using the control lever.
  • Both swivel axes are assigned a zero position, a vibration damping and a travel range depending on the swivel angle.
  • control lever is rotatably mounted about its longitudinal axis, and is rotatably mounted about a basic position and, depending on the angle of rotation based on its basic position, has an inner zero position range, an outer travel range and an intermediate vibration damping range and a deflection of the control lever in this vibration damping area leads to activation of the active vibration damping without causing the large manipulator to move.
  • This additional mobility of the control lever means that other functions can be carried out with the control lever without changing the mode.
  • control lever It also makes sense if one or more visual and / or acoustic signals from the remote control device indicate whether the control lever is in the driving range, in the vibration damping range or in the zeroing range. With these signals, the operator knows at all times in which area the control lever is located.
  • control lever can be automatically reset to its basic position by a reset mechanism and the restoring force or restoring force of the control lever increases suddenly at the transition from the vibration damping area to the driving area or a haptically perceptible threshold has to be exceeded. Due to this abrupt increase in the restoring force or turning force of the control lever, the operator feels directly when he is at the transition from the damping area 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 area is significantly less likely.
  • a further development of the invention provides that a push button is attached to the control lever and that the actuation of the push button switches on the active vibration damping.
  • the operator can leave the active vibration damping in the switched-on state by permanently pressing the pushbutton. He does not have to let go of the control lever or use his other hand to operate a dead man button or the like which is located away from the control lever.
  • a standstill mode e.g. a standstill mode
  • one or more driving modes e.g. a slow speed mode and a high speed mode.
  • the machine operator can switch to standstill mode so that only the vibration damping is activated in the driving range of the control lever. Due to this switching state, the unintentional movement of the large manipulator is not possible.
  • the fast movement mode is ideal. While the slow motion mode is best suited for the operation in the field, in particular to exclude the danger to the operating personnel.
  • a further embodiment of the invention results in systems which have a so-called Cartesian control of the mast tip as an additional operating mode (see, for example, the document EP 0686224 B2 ).
  • a movement for the mast tip or the attached end hose in Cartesian (or polar) coordinates can be specified directly by the control lever (s), which are converted by the control into movement speeds of the individual joints.
  • the movement of the mast can thus be operated by a single control lever, provided that this has at least three degrees of freedom or adjustment directions.
  • a normally available second control lever remains unused in this mode, ie its deflection does not lead to any movement of the mast.
  • a remote control device of a large manipulator is generally designated by reference number 1.
  • Remote control device 1 for a truck-mounted concrete pump is shown in a schematic plan view.
  • the remote control device 1 also has a display 3, via which mainly status displays are shown.
  • a selection switch 4 is provided, via which three operating modes, ie two driving modes, the "fast movement mode” (symbolized by a rabbit), “slow movement mode” (symbolized by a snail) and a “standstill mode” (symbolized by a crossed distribution boom) are selected can.
  • the operating mode set here is the "fast movement mode”.
  • the control lever 2 is set up by various measures to switch on the active vibration damping of the large manipulator without causing the large manipulator to move. These measures are explained in more detail below.
  • the two control levers 2 are mounted on the remote control device 1 so as to be pivotable about two pivot axes X, Y running orthogonally to their longitudinal axis and have a zero position range 5, a vibration damping range 6 and a travel range 7.
  • the force of the reset mechanism at the transitions of the individual areas expediently increases or the transitions have a tactile threshold that the machine operator can feel without the Restoring force is necessarily different in the driving area 7 and in the vibration damping area 6.
  • the display 3 also shows the area in which the control lever 2 is located. When the placing boom has reached its target position, the operator moves the control lever 2 from the driving area 7 into the vibration damping area 6, the placing boom stops and, at the same time, the active vibration damping remains switched on without the operator having to change his grip in any way. This makes it very easy to use.
  • FIG. 3 schematically shows such a sequence of movements.
  • the control lever 2 is pivoted from its basic position about the pivot axis Y.
  • control lever 2 is additionally rotatably supported about its longitudinal axis Z. This is in Figure 4 shown schematically. Just as with the pivot axes X, Y, which are orthogonal to the longitudinal axis Z, the control lever 2 also has a zero position range, a vibration damping range and a travel range depending on the angle of rotation when rotated about its longitudinal axis Z.
  • the remote control device 1 shown is set to the operating mode "standstill mode" via the selector switch 4.
  • the control levers 2 here also have the zeroing range 5, the vibration damping range 6 and the driving range 7.
  • the movement function of the placing boom of the truck-mounted concrete pump in this operating mode is not via the control levers 2
  • the active vibration damping remains switched on even in driving range 7.
  • This operating mode is particularly well suited for longer concreting processes, in which the placing boom does not have to be moved for a long time, but vibrations nevertheless occur on the placing boom due to pumping operations 2 can therefore be used by the machine operator to switch on the vibration damping without causing the mast to move.
  • FIG. 6 shows another embodiment of the control lever 2.
  • the control lever 2 here has an additional push button 8 with dead man function , via which the active vibration damping remains activated. If the additional pushbutton 8 is actuated, the active vibration damping remains switched on even in the zero position range 5, without the operator having to change his grip in any way. This makes it very easy to use.
  • the pushbutton functionality can also be solved mechanically in such a way that the entire control lever is pressed down from above in the direction of the remote control unit, thereby triggering a switching mechanism below the control lever which activates the vibration damping.
  • the pushbutton functionality can also be used here in standstill mode to switch on the vibration damping.
  • a movement for the mast tip or the attached end hose in Cartesian (or polar) coordinates can be specified in this operating mode by the control lever (s) in Cartesian (or polar) coordinates, which are determined by the control can 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 this has at least three degrees of freedom or adjustment directions.
  • a normally available second control lever 2 remains unused in this mode, i.e. its deflection does not lead to any movement of the mast.

Description

Die Erfindung betrifft einen Großmanipulator, insbesondere eine Autobetonpumpe mit Verteilermast, mit einer Steuerung für den Großmanipulator, mit einem Fernsteuergerät, durch das eine aktive Schwingungsdämpfung des Großmanipulators ein- und ausschaltbar ist und das mindestens einen Steuerhebel aufweist, der am Fernsteuergerät um mindestens eine orthogonal zu seiner Längsachse verlaufende Schwenkachse schwenkbar gelagert ist, der um eine Grundstellung schwenkbar gelagert ist und der je nach Schwenkwinkel bezogen auf seine Grundstellung einen inneren Nullstellungsbereich und einen äußeren Fahrbereich aufweist, wobei die aktive Schwingungsdämpfung eingeschaltet ist, wenn der Steuerhebel sich im Fahrbereich befindet.The invention relates to a large manipulator, in particular a truck-mounted concrete pump with a placing boom, with a control for the large manipulator, with a remote control device by means of which active vibration damping of the large manipulator can be switched on and off and which has at least one control lever which is orthogonally connected to the remote control device its longitudinal axis is pivotally mounted, which is pivotally mounted about a basic position and which, depending on the pivoting angle, has an inner zero position range and an outer travel range based on its basic position, the active vibration damping being switched on when the control lever is in the driving range.

Großmanipulatoren werden beispielsweise bei Autobetonpumpen eingesetzt, bei denen über eine Pumpe Beton durch eine Förderleitung gepumpt wird. Die Förderleitung ist entlang eines mehrteiligen Verteilermasts geführt. Das äußere Ende der Förderleitung (Endschlauch) hängt im Einsatz freischwingend an der Spitze des Verteilermastes. Der Verteilermast besteht aus einem oder mehreren Segmenten, die über Antriebe faltbar zueinander sind, und ist auf einer stationären oder mobilen Plattform schwenkbar gelagert. Über den Verteilermast ist es möglich, Beton zielgenau durch die Förderleitung über weite Strecken zu verteilen. Die Positionierung des Verteilermastes wird von einem Maschinisten über das Fernsteuergerät vorgenommen. Die Feinjustierung beim Verteilen des Betons am freischwingenden Ende der Förderleitung wird durch einen weiteren Bediener durchgeführt.Large manipulators are used, for example, in truck-mounted concrete pumps in which concrete is pumped through a delivery line using a pump. The conveyor line is led along a multi-part distribution boom. The outer end of the delivery line (end hose) hangs freely in use at the top of the placing boom. The placing boom consists of one or more segments, which can be folded towards each other via drives, and is pivotally mounted on a stationary or mobile platform. Using the placing boom, it is possible to precisely distribute concrete over long distances through the delivery line. The positioning of the placing boom is carried out by a machine operator using the remote control device. Another operator carries out the fine adjustment when distributing the concrete at the free-swinging end of the delivery line.

Bei Bewegungen des Verteilermasts kann der Mast insbesondere an seiner Spitze in Schwingung versetzt werden. Besonders stark sind diese Schwingungen bei einem abrupten Stopp, wenn die Mastspitze ihr Ziel erreicht hat. Aber auch wenn der Mast nicht bewegt wird und durch die Förderleitung Beton gepumpt wird, kommt es durch das pulsierende Fördern des Betons zu Schwingungen, insbesondere an der Mastspitze.When the placing boom moves, the top of the tower can vibrate, in particular. These vibrations are particularly strong in the case of an abrupt stop when the mast tip has reached its destination. But even if the mast is not moved and concrete is pumped through the delivery line, the pulsating delivery of the concrete causes vibrations, especially at the top of the mast.

Um diese Schwingung in einem akzeptablen Maß zu halten, sind moderne Großmanipulatoren mit einer aktiven Schwingungsdämpfung ausgestattet, die durch den Maschinisten über das Fernsteuergerät einschaltbar ist. Nach Richtlinie 2006/42/EG (Maschinenrichtlinie) des europäischen Parlaments müssen beim Loslassen der Fernsteuerung alle Bewegungen des Verteilermastes in angemessener Zeit stoppen, um Gefahren für Personen in der Nähe des Großmanipulators auszuschließen. Daher muss die aktive Schwingungsdämpfung abgeschaltet werden, nachdem der Steuerhebel den Nullstellungsbereich erreicht hat, wenn keine zusätzlichen Maßnahmen getroffen wurden, um die aktive Schwingungsdämpfung in Betrieb zu halten.In order to keep this vibration to an acceptable level, modern large-scale manipulators are equipped with active vibration damping, which can be switched on by the operator using the remote control device. According to Directive 2006/42 / EC (Machinery Directive) of the European Parliament, when the remote control is released, all movements of the placing boom must stop in a reasonable time in order to exclude dangers for people in the vicinity of the large manipulator. Therefore, the active vibration damping must be switched off after the control lever has reached the zero position range, if no additional measures have been taken to keep the active vibration damping in operation.

Ein Großmanipulator der eingangs genannten Art ist in der europäischen Patentschrift EP 1 373 661 B1 offenbart. Die aktive Schwingungsdämpfung wird hier eingeschaltet, wenn der Steuerhebel aus seiner Grundstellung im Nullstellungsbereich in den Fahrbereich geführt wird. Wenn der Steuerhebel zurück in den Nullstellungsbereich geführt wird, wird die aktive Dämpfung nicht unmittelbar, sondern über ein Zeitrelais abgeschaltet. Hierdurch kann die aktive Dämpfung bis zu drei Sekunden nach dem Schaltsignal eingeschaltet bleiben. Einen längeren Betrieb der aktiven Dämpfung untersagt die oben genannte Maschinenrichtlinie. Diese Maßnahme eignet sich daher nur bedingt, die Schwingungen durch einem abrupten Stopp der Bewegung des Verteilermasts ausreichend zu dämpfen, da die Schwingungen des Systems trotz Dämpfung nach drei Sekunden noch nicht abgeklungen sind. Für eine Dämpfung der oben beschriebenen Schwingungen der Mastspitze, während der Mast nicht bewegt wird und Beton durch die Förderleitung gepumpt wird, ist sie ungeeignet. Der Stand der Technik schlägt daher vor, für diesen Fall einen Taster mit einer zusätzlichen Funktion im Sinne eines Totmanntasters am Fernsteuergerät neben dem Steuerhebel vorzusehen, um die Dämpfungsfunktion auch im Pumpenbetrieb eingeschaltet zu halten. Das bedeutet, dass der Maschinist zur dauerhaften Betätigung entweder die Hand vom Steuerhebel nehmen muss oder die zweite Hand zur Hilfe nehmen muss, wodurch die Bedienbarkeit erschwert wird.A large manipulator of the type mentioned is in the European patent EP 1 373 661 B1 disclosed. The active vibration damping is switched on here when the control lever is moved from its basic position in the zero position range to the driving range. If the control lever is moved back to the zero position range, the active damping is not switched off immediately, but via a timing relay. This means that active damping can remain switched on for up to three seconds after the switching signal. The above-mentioned machine directive prohibits prolonged operation of active damping. This measure is therefore only suitable to a limited extent to dampen the vibrations sufficiently by abruptly stopping the movement of the placing boom, since the vibrations of the system have not yet subsided after three seconds, despite the damping. It is unsuitable for damping the above-described vibrations of the mast tip while the mast is not moving and concrete is being pumped through the delivery line. The prior art therefore proposes to provide a button with an additional function in the sense of a dead man button on the remote control device next to the control lever in this case in order to also provide the damping function in the Keep pump operation on. This means that the operator has to either take his hand off the control lever or use his second hand to help it, which makes it difficult to use.

Die Aufgabe der Erfindung ist daher, die aktive Schwingungsdämpfung auch dann in Betrieb zu halten, wenn der Steuerhebel nicht im Fahrbereich ist, ohne dabei die Bedienbarkeit wesentlich zu erschweren.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 making operation considerably more difficult.

Zur Lösung dieser Aufgabe schlägt die Erfindung ausgehend von einem Großmanipulator der eingangs genannten Art gemäß Anspruch 1 vor, den Steuerhebel so einzurichten, dass er geeignet ist, die aktive Schwingungsdämpfung einzuschalten, ohne eine Bewegung des Großmanipulators zu bewirken.To achieve this object, the invention proposes, starting from a large manipulator of the type mentioned at the outset, to set up the control lever in such a way that it is suitable for switching on the active vibration damping without causing the large manipulator to move.

Der Maschinist ist durch diese Maßnahme in der Lage, die aktive Schwingungsdämpfung des Großmanipulators in Betrieb zu halten, auch wenn der Steuerhebel sich nicht im Fahrbereich befindet. Dabei muss er weder den Steuerhebel loslassen noch die andere Hand zur Hilfe nehmen, um einen vom Steuerhebel entfernt angeordneten Totmanntaster oder ähnliches zu bedienen.This measure enables the operator to keep the large manipulator's active vibration damping in operation, even when the control lever is not in the driving range. He does not have to let go of the control lever or use his other hand to operate a dead man button or the like which is located away from the control lever.

Die aktive Schwingungsdämpfung ist ausgeschaltet, wenn der Steuerhebel sich im Nullstellungsbereich befindet, wobei sich zwischen dem äußeren Fahrbereich und dem inneren Nullstellungsbereich des Steuerhebels ein Schwingungsdämpfungsbereich befindet und eine Auslenkung des Steuerhebels in diesen Schwingungsdämpfungsbereich zu einer Einschaltung der aktiven Schwingungsdämpfung führt, ohne eine Bewegung des Mastes zu bewirken.The active vibration damping is switched off when the control lever is in the zero position range, a vibration damping range being located between the outer driving range and the inner zero position range of the control lever and a deflection of the control lever into this vibration damping range results in the active vibration damping being switched on without the mast moving to effect.

Zweckmäßig ist es, wenn der Steuerhebel um zwei orthogonal zueinander und orthogonal zur Längsachse des Steuerhebels verlaufende Schwenkachsen schwenkbar am Fernsteuergerät gelagert ist. Durch diese Ausführung können durch den Steuerhebel zusätzliche Funktionen im selben Modus durchgeführt werden. Beiden Schwenkachsen sind hierbei ein Nullstellungs-, ein Schwingungsdämpfungs- und ein Fahrbereich in Abhängigkeit vom Schwenkwinkel zugeordnet.It is expedient if the control lever is mounted on the remote control device so as to be pivotable about two pivot axes running orthogonally to one another and orthogonally to the longitudinal axis of the control lever. With this version, additional functions can be carried out in the same mode using the control lever. Both swivel axes are assigned a zero position, a vibration damping and a travel range depending on the swivel angle.

Eine Weiterbildung der Erfindung sieht vor, dass der Steuerhebel um seine Längsachse drehbar gelagert ist, und um eine Grundstellung drehbar gelagert ist und je nach Drehwinkel bezogen auf seine Grundstellung einen inneren Nullstellungsbereich, einen äußeren Fahrbereich und einen dazwischenliegenden Schwingungsdämpfungsbereich aufweist und eine Auslenkung des Steuerhebels in diesem Schwingungsdämpfungsbereich zu einer Einschaltung der aktiven Schwingungsdämpfung führt, ohne eine Bewegung des Großmanipulators zu bewirken. Durch diese zusätzliche Beweglichkeit des Steuerhebels lassen sich weitere Funktionen mit dem Steuerhebel durchführen, ohne dabei den Modus zu wechseln.A further development of the invention provides that the control lever is rotatably mounted about its longitudinal axis, and is rotatably mounted about a basic position and, depending on the angle of rotation based on its basic position, has an inner zero position range, an outer travel range and an intermediate vibration damping range and a deflection of the control lever in this vibration damping area leads to activation of the active vibration damping without causing the large manipulator to move. This additional mobility of the control lever means that other functions can be carried out with the control lever without changing the mode.

Weiterhin ist es sinnvoll, wenn durch ein oder mehrere visuelle und/oder akustische Signale ausgehend vom Fernsteuergerät angezeigt wird, ob der Steuerhebel sich im Fahrbereich, im Schwingungsdämpfungsbereich oder Nullstellungsbereich befindet. Durch diese Signale weiß der Maschinist jederzeit, in welchem Bereich sich der Steuerhebel befindet.It also makes sense if one or more visual and / or acoustic signals from the remote control device indicate whether the control lever is in the driving range, in the vibration damping range or in the zeroing range. With these signals, the operator knows at all times in which area the control lever is located.

Des Weiteren ist es zweckmäßig, wenn der Steuerhebel durch einen Rückstellmechanismus in seine Grundstellung automatisch zurückstellbar ist und die Rückstellkraft bzw. Rückdrehkraft des Steuerhebels am Übergang vom Schwingungsdämpfungsbereich in den Fahrbereich sprunghaft ansteigt bzw. eine haptisch spürbare Schwelle überschritten werden muss. Durch diesen abrupten Anstieg der Rückstellungskraft bzw. Rückdrehkraft des Steuerhebels spürt der Maschinist direkt, wenn er am Übergang vom Dämpfungs- zum Fahrbereich ist, und muss erst den erhöhten Widerstand überwinden, um den Steuerhebel in den Fahrbereich zu bringen. Eine unabsichtliche Bewegung des Steuerhebels in den Fahrbereich wird dadurch deutlich unwahrscheinlicher.Furthermore, it is expedient if the control lever can be automatically reset to its basic position by a reset mechanism and the restoring force or restoring force of the control lever increases suddenly at the transition from the vibration damping area to the driving area or a haptically perceptible threshold has to be exceeded. Due to this abrupt increase in the restoring force or turning force of the control lever, the operator feels directly when he is at the transition from the damping area 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 area is significantly less likely.

Des Weiteren sieht eine Weiterbildung der Erfindung vor, dass an dem Steuerhebel ein Drucktaster angebracht ist und dass die Betätigung des Drucktasters die aktive Schwingungsdämpfung einschaltet. Der Maschinist kann durch dauerhaftes Betätigen des Drucktasters die aktive Schwingungsdämpfung im eingeschalteten Zustand lassen. Dabei muss er weder den Steuerhebel loslassen noch die andere Hand zur Hilfe nehmen, um einen vom Steuerhebel entfernt angeordneten Totmanntaster oder ähnliches zu bedienen.Furthermore, a further development of the invention provides that a push button is attached to the control lever and that the actuation of the push button switches on the active vibration damping. The operator can leave the active vibration damping in the switched-on state by permanently pressing the pushbutton. He does not have to let go of the control lever or use his other hand to operate a dead man button or the like which is located away from the control lever.

Zusätzlich ist es sinnvoll, wenn am Fernsteuergerät bei im Fahrbereich befindlichem Steuerhebel drei unterschiedliche Betriebsmodi bei aktivierter aktiver Schwingungsdämpfung auswählbar sind, nämlich ein Stillstandsmodus und ein oder mehrere Fahrmodi, z.B. einen Langsamfahrmodus und einen Schnellfahrmodus. Falls der Großmanipulator lange nicht verfahren werden soll, beispielweise aufgrund eines längeren Betoniervorganges, kann der Maschinist in den Stillstandmodus schalten, so dass auch im Fahrbereich des Steuerhebels lediglich die Schwingungsdämpfung aktiviert ist. Durch diesen Schaltzustand ist das Auslösen einer unbeabsichtigten Bewegung des Großmanipulators nicht möglich. Wird der Großmanipulator gerade ein- oder aufgefahren, bietet sich der Schnellbewegungsmodus an. Während beim Verfahren im Einsatzgebiet der Langsambewegungsmodus am besten geeignet ist, insbesondere um die Gefährdung des Bedienpersonals auszuschließen.In addition, it makes sense if three different operating modes can be selected on the remote control device while the control lever is in the driving range, with active vibration damping activated, namely a standstill mode and one or more driving modes, e.g. a slow speed mode and a high speed mode. If the large manipulator is not to be moved for a long time, for example due to a longer concreting process, the machine operator can switch to standstill mode so that only the vibration damping is activated in the driving range of the control lever. Due to this switching state, the unintentional movement of the large manipulator is not possible. If the large manipulator is just being retracted or opened, the fast movement mode is ideal. While the slow motion mode is best suited for the operation in the field, in particular to exclude the danger to the operating personnel.

Schließlich ergibt sich eine weitere Ausgestaltung der Erfindung bei Systemen, welche als zusätzlichen Betriebsmodus eine sogenannte kartesische Steuerung der Mastspitze aufweisen (siehe z.B. die Schrift EP 0686224 B2 ). In diesem Betriebsmodus kann durch den oder die Steuerhebel direkt eine Bewegung für die Mastspitze oder des daran angebrachten Endschlauchs in kartesischen (oder Polar-) Koordinaten vorgegeben werden, welche von der Steuerung in Bewegungsgeschwindigkeiten der Einzelgelenke umgerechnet werden. Die Bewegung des Mastes kann damit durch einen einzelnen Steuerhebel, sofern dieser zumindest drei Freiheitsgrade bzw. Verstellrichtungen aufweist, bedient werden. Ein üblicherweise vorhandener zweiter Steuerhebel, bleibt in diesem Modus jedoch ungenutzt, d.h. dessen Auslenkung führt zu keiner Bewegung des Mastes. Gemäß der Erfindung wird vorgeschlagen, im Betriebsmodus der kartesischen Steuerung, welcher für den zweiten Steuerhebel sinngemäß einen Stillstandsmodus bedeutet, durch die Auslenkung des zweiten Steuerhebels in einer seiner vorhandenen Verstellrichtungen die aktive Schwingungsdämpfung einzuschalten. Durch diese Lösung steht für den Bediener eine weitere Möglichkeit zum Ein- und Ausschalten der aktiven Schwingungsdämpfung im Betriebsmodus der kartesischen Steuerung zur Verfügung. Dadurch erhöht sich der Bedienkomfort des Gesamtsystems ohne dass dafür eine zusätzliche, von den Joysticks gesonderte Totmannfunktion erforderlich ist.Finally, a further embodiment of the invention results in systems which have a so-called Cartesian control of the mast tip as an additional operating mode (see, for example, the document EP 0686224 B2 ). In this operating mode, a movement for the mast tip or the attached end hose in Cartesian (or polar) coordinates can be specified directly by the control lever (s), which are converted by the control into movement speeds of the individual joints. The movement of the mast can thus be operated by a single control lever, provided that this has at least three degrees of freedom or adjustment directions. A normally available second control lever, however, remains unused in this mode, ie its deflection does not lead to any movement of the mast. According to the invention it is proposed to switch on the active vibration damping in the operating mode of the Cartesian control, which means a standstill mode for the second control lever, by deflecting the second control lever in one of its existing adjustment directions. This solution provides the operator with another option for switching the active vibration damping on and off in the operating mode of the Cartesian control. This increases the ease of use of the overall system without the need for an additional dead man function that is separate from the joysticks.

Ein Ausführungsbeispiel der Erfindung wird nachfolgend anhand von Zeichnungen näher erläutert: Es zeigen:

Figur 1:
schematisch eine Draufsicht auf ein Fernsteuergerät gemäß der Erfindung;
Figur 2:
Detailansicht des Bereichs A aus Figur 1;
Figur 3:
schematisch in Seitenansicht die Bewegung des Steuerhebels aus Figur 1;
Figur 4:
schematisch in Seitenansicht die Verdrehbarkeit des Steuerhebels aus Figur 1 um seine Längsachse;
Figur 5:
Schematisch das Fernsteuergerät aus Figur 1 in einem zweiten Betriebsmodus;
Figur 6:
eine schematische Ansicht eines Steuerhebels in einem zweiten Ausführungsbeispiel.
An embodiment of the invention is explained in more detail below with reference to drawings:
Figure 1:
schematically shows a plan view of a remote control device according to the invention;
Figure 2:
Detail view of area A. Figure 1 ;
Figure 3:
schematically in side view the movement of the control lever Figure 1 ;
Figure 4:
schematically in side view of the rotatability of the control lever Figure 1 about its longitudinal axis;
Figure 5:
Schematic of the remote control device Figure 1 in a second operating mode;
Figure 6:
is a schematic view of a control lever in a second embodiment.

In den Zeichnungen ist ein Fernsteuergerät eines Großmanipulators gemäß der Erfindung insgesamt mit dem Bezugszeichen 1 bezeichnet.In the drawings, a remote control device of a large manipulator according to the invention is generally designated by reference number 1.

In Figur 1 ist das Fernsteuergerät 1 für eine Autobetonpumpe in schematischer Draufsicht gezeigt. An dem Fernsteuergerät 1 sind zwei Steuerhebel 2 angebracht, durch die ein Verteilermast der Autobetonpumpe bewegt werden kann. Das Fernsteuergerät 1 weist zudem ein Display 3 auf, über das hauptsächlich Statusanzeigen angezeigt werden. Des Weiteren ist am Fernsteuergerät 1 ein Auswahlschalter 4 vorgesehen, über den drei Betriebsmodi, d.h. zwei Fahrmodi, der "Schnellbewegungsmodus" (symbolisiert durch einen Hasen), "Langsambewegungsmodus" (symbolisiert durch eine Schnecke) und ein "Stillstandsmodus" (symbolisiert durch einen durchkreuzten Verteilermasten) ausgewählt werden können. Der hier eingestellte Betriebsmodus ist der "Schnellbewegungsmodus".In Figure 1 Remote control device 1 for a truck-mounted concrete pump is shown in a schematic plan view. On the remote control device 1, two control levers 2 are attached, through which a placing boom 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 shown. Furthermore, on Remote control device 1, a selection switch 4 is provided, via which three operating modes, ie two driving modes, the "fast movement mode" (symbolized by a rabbit), "slow movement mode" (symbolized by a snail) and a "standstill mode" (symbolized by a crossed distribution boom) are selected can. The operating mode set here is the "fast movement mode".

Der Steuerhebel 2 ist durch verschiedene Maßnahmen dazu eingerichtet, die aktive Schwingungsdämpfung des Großmanipulators einzuschalten, ohne eine Bewegung des Großmanipulators zu bewirken. Diese Maßnahmen werden im Folgenden genauer erläutert.The control lever 2 is set up by various measures to switch on the active vibration damping of the large manipulator without causing the large manipulator to move. These measures are explained in more detail below.

Die beiden Steuerhebel 2 sind um zwei orthogonal zu ihrer Längsachse verlaufende Schwenkachsen X,Y gegen eine Rückstellkraft schwenkbar am Fernsteuergerät 1 gelagert und weisen einen Nullstellungsbereich 5, einen Schwingungsdämpfungsbereich 6 und einen Fahrbereich 7 auf.The two control levers 2 are mounted on the remote control device 1 so as to be pivotable about two pivot axes X, Y running orthogonally to their longitudinal axis and have a zero position range 5, a vibration damping range 6 and a travel range 7.

Die drei Bereiche sind in der Detailansicht des Bereichs A aus Figur 1 in Figur 2 vergrößert dargestellt. Befindet sich der Steuerhebel 2 in seinem Nullstellungsbereich 5, ist die aktive Schwingungsdämpfung des Großmanipulators nicht eingeschaltet. Der Nullstellungsbereich 5 ist relativ zu den anderen beiden Bereichen klein, so dass bereits ein sehr kleiner Schwenkwinkel ausreicht, den Steuerhebel 2 aus dem Nullstellungsbereich 5 in den Schwingungsdämpfungsbereich 6 zu bewegen. Wenn der Steuerhebel 2 von dem Maschinisten nun aus dem Nullstellungsbereich 5 in den Schwingungsdämpfungsbereich 6 bewegt wird, wird die aktive Schwingungsdämpfung der Autobetonpumpe eingeschaltet. Der Verteilermast der Autobetonpumpe wird aber noch nicht verfahren. Bewegt der Maschinist den Steuerhebel 2 weiter bis in den Fahrbereich 7, wird der Verteilermast je nach jeweils ausgewähltem Betriebsmodus verfahren. Wenn der Maschinist den Steuerhebel 2 loslässt, schwenkt dieser durch seinen Rückstellmechanismus automatisch zurück in den Nullstellungsbereich 5.The three areas are in the detailed view of area A. Figure 1 in Figure 2 shown enlarged. 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 area 5 is small relative to the other two areas, so that a very small swivel angle is sufficient to move the control lever 2 from the zero position area 5 into the vibration damping area 6. When the control lever 2 is now moved by the machine operator from the zero position area 5 into the vibration damping area 6, the active vibration damping of the truck-mounted concrete pump is switched on. The placing boom of the truck-mounted concrete pump has not yet been moved. If the operator moves control lever 2 further into driving range 7, the placing boom is moved depending on the selected operating mode. When the operator releases the control lever 2, it automatically swings back into the zeroing range 5 through its reset mechanism.

Sinnvollerweise erhöht sich die Kraft des Rückstellmechanismus an den Übergängen der einzelnen Bereiche sprunghaft bzw. die Übergänge weisen eine für den Maschinisten spürbare haptische Schwelle auf, ohne dass die Rückstellkraft notwendigerweise im Fahrbereich 7 und im Schwingungsdämpfungsbereich 6 unterschiedlich ist. Zusätzlich wird über das Display 3 angezeigt, in welchem Bereich sich der Steuerhebel 2 jeweils befindet. Wenn der Verteilermast seine Zielposition erreicht hat, bewegt der Maschinist den Steuerhebel 2 vom Fahrbereich 7 in den Schwingungsdämpfungsbereich 6, der Verteilermast stoppt und gleichzeitig bleibt die aktive Schwingungsdämpfung eingeschaltet, ohne dass der Maschinist in irgendeiner Form umgreifen muss. Die Bedienbarkeit ist damit sehr einfach.The force of the reset mechanism at the transitions of the individual areas expediently increases or the transitions have a tactile threshold that the machine operator can feel without the Restoring force is necessarily different in the driving area 7 and in the vibration damping area 6. The display 3 also shows the area in which the control lever 2 is located. When the placing boom has reached its target position, the operator moves the control lever 2 from the driving area 7 into the vibration damping area 6, the placing boom stops and, at the same time, the active vibration damping remains switched on without the operator having to change his grip in any way. This makes it very easy to use.

Figur 3 zeigt schematisch einen solchen Bewegungsablauf. Dort wird der Steuerhebel 2 aus seiner Grundstellung um die Schwenkachse Y verschwenkt. Figure 3 schematically shows such a sequence of movements. There the control lever 2 is pivoted from its basic position about the pivot axis Y.

Der Steuerhebel 2 ist in diesem Ausführungsbeispiel zusätzlich um seine Längsachse Z drehbar gelagert. Dies ist in Figur 4 schematisch dargestellt. Ebenso wie bei den Schwenkachsen X,Y die orthogonal zur Längsachse Z verlaufen, weist der Steuerhebel 2 auch bei einer Verdrehung um seine Längsachse Z einen Nullstellungsbereich, einen Schwingungsdämpfungsbereich und einen Fahrbereich in Abhängigkeit vom Drehwinkel auf.In this exemplary embodiment, the control lever 2 is additionally rotatably supported about its longitudinal axis Z. This is in Figure 4 shown schematically. Just as with the pivot axes X, Y, which are orthogonal to the longitudinal axis Z, the control lever 2 also has a zero position range, a vibration damping range and a travel range depending on the angle of rotation when rotated about its longitudinal axis Z.

Das in Figur 5 dargestellte Fernsteuergerät 1 ist über den Auswahlschalter 4 auf den Betriebsmodus Stillstandsmodus" eingestellt. Die Steuerhebel 2 weisen hier ebenfalls den Nullstellungsbereich 5, den Schwingungsdämpfungsbereich 6 und den Fahrbereich 7 auf. Allerdings ist die Bewegungsfunktion des Verteilermasts der Autobetonpumpe in diesem Betriebsmodus über die Steuerhebel 2 nicht eingeschaltet. Die aktive Schwingungsdämpfung bleibt aber auch im Fahrbereich 7 eingeschaltet. Dieser Betriebsmodus eignet sich besonders gut für längere Betoniervorgänge, bei denen der Verteilermast längere Zeit nicht bewegt werden muss, aber durch Pumpvorgänge trotzdem Schwingungen am Verteilermast auftreten. Jede Schwenk- oder Drehbewegung des Steuerhebels 2 kann damit vom Maschinisten dazu verwendet werden, die Schwingungsdämpfung einzuschalten, ohne eine Fahrbewegung des Mastes zu bewirken.This in Figure 5 The remote control device 1 shown is set to the operating mode "standstill mode" via the selector switch 4. The control levers 2 here also have the zeroing range 5, the vibration damping range 6 and the driving range 7. However, the movement function of the placing boom of the truck-mounted concrete pump in this operating mode is not via the control levers 2 However, the active vibration damping remains switched on even in driving range 7. This operating mode is particularly well suited for longer concreting processes, in which the placing boom does not have to be moved for a long time, but vibrations nevertheless occur on the placing boom due to pumping operations 2 can therefore be used by the machine operator to switch on the vibration damping without causing the mast to move.

Figur 6 zeigt eine andere Ausführungsform des Steuerhebels 2. Der Steuerhebel 2 weist hier einen zusätzlichen Drucktaster 8 mit Totmannfunktion auf, über den die aktive Schwingungsdämpfung aktiviert bleibt. Ist der zusätzliche Drucktaster 8 betätigt, bleibt die aktive Schwingungsdämpfung auch im Nullstellungsbereich 5 eingeschaltet, ohne dass der Maschinist in irgendeiner Form umgreifen muss. Die Bedienbarkeit ist damit sehr einfach. Figure 6 shows another embodiment of the control lever 2. The control lever 2 here has an additional push button 8 with dead man function , via which the active vibration damping remains activated. If the additional pushbutton 8 is actuated, the active vibration damping remains switched on even in the zero position range 5, without the operator having to change his grip in any way. This makes it very easy to use.

Die Drucktasterfunktionalität kann mechanisch auch so gelöst sein, dass der gesamte Steuerhebel von oben in Richtung der Fernsteuereinheit heruntergedrückt wird und hierdurch ein Schaltmechanismus unterhalb des Steuerebels ausgelöst wird, der die Schwingungsdämpfung aktiviert.The pushbutton functionality can also be solved mechanically in such a way that the entire control lever is pressed down from above in the direction of the remote control unit, thereby triggering a switching mechanism below the control lever which activates the vibration damping.

Die Drucktasterfunktionalität kann auch hier im Stillstandsmodus dazu verwendet werden, die Schwingungsdämpfung einzuschalten.The pushbutton functionality can also be used here in standstill mode to switch on the vibration damping.

Wenn der Großmanipulator als zusätzlichen Betriebsmodus eine sogenannte kartesische Steuerung der Mastspitze aufweist, kann in diesem Betriebsmodus durch den oder die Steuerhebel 2 direkt eine Bewegung für die Mastspitze oder des daran angebrachten Endschlauchs in kartesischen (oder Polar-) Koordinaten vorgegeben werden, welche von der Steuerung in Bewegungsgeschwindigkeiten der Einzelgelenke umgerechnet werden. Die Bewegung des Mastes kann damit durch einen einzelnen Steuerhebel 2, sofern dieser zumindest drei Freiheitsgrade bzw. Verstellrichtungen aufweist, bedient werden. Ein üblicherweise vorhandener zweiter Steuerhebel 2, bleibt in diesem Modus jedoch ungenutzt, d.h. dessen Auslenkung führt zu keiner Bewegung des Mastes. In diesem Betriebsmodus der kartesischen Steuerung, welcher für den zweiten Steuerhebel 2 sinngemäß einen Stillstandsmodus bedeutet, wird durch die Auslenkung des zweiten Steuerhebels 2 in einer seiner vorhandenen Verstellrichtungen die aktive Schwingungsdämpfung eingeschaltet. Durch diese Lösung steht für den Bediener eine weitere Möglichkeit zum Ein- und Ausschalten der aktiven Schwingungsdämpfung im Betriebsmodus der kartesischen Steuerung zur Verfügung. Dadurch erhöht sich der Bedienkomfort des Gesamtsystems, ohne dass dafür eine zusätzliche, von den Steuerhebeln 2 gesonderte Totmannfunktion erforderlich ist.If the large manipulator has a so-called Cartesian control of the mast tip as an additional operating mode, a movement for the mast tip or the attached end hose in Cartesian (or polar) coordinates can be specified in this operating mode by the control lever (s) in Cartesian (or polar) coordinates, which are determined by the control can 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 this has at least three degrees of freedom or adjustment directions. A normally available second control lever 2, however, remains unused in this mode, i.e. its deflection does not lead to any movement of the mast. In this operating mode of the Cartesian control, which means a standstill mode for the second control lever 2, the active vibration damping is switched on by the deflection of the second control lever 2 in one of its existing adjustment directions. This solution provides the operator with another option for switching the active vibration damping on and off in the operating mode of the Cartesian control. This increases the ease of use of the overall system without the need for an additional dead man function that is separate from the control levers 2.

Claims (7)

  1. A large manipulator, in particular a truck-mounted concrete pump having a distributor boom, having a control for the large manipulator, having a remote control apparatus (1) by way of which an active oscillation damping of the large manipulator is capable of being switched on and off, and which has at least one control lever (2) which on the remote control apparatus (1) is mounted so as to be pivotable about an initial position about at least one pivot axis (X, Y) that runs so as to be orthogonal to the longitudinal axis (Z) of said control lever (2) and which, depending on the pivot angle, in relation to the initial position of said control lever (2) has an inner zero-position range (5) and an outer travel range (7), wherein the active oscillation damping is switched on when the control lever (2) is located in the travel range (7), characterized in that the control lever (2) is specified for switching on the active oscillation damping without causing any movement of the large manipulator, wherein the active oscillation damping is switched off when the control lever (2) is located in the zero-position range (5) and an oscillation damping range (6) is located between the outer travel range (7) and the inner zero-position range (5) of the control lever (2), and a deflection of the control lever (2) to said oscillation damping range (6) leads to the active oscillation damping being switched on without causing any movement of the distributor boom, and that active oscillation damping is switched off, if the control lever (2) is located in the zero-position range (5).
  2. Large manipulator according to claim 1, characterized in that the control lever (2) on the remote control apparatus (1) is mounted so as to be pivotable about at least two pivot axes (X, Y) that run so as to be mutually orthogonal and orthogonal to the longitudinal axis (Z) of the control lever (2).
  3. Large manipulator according to claim 1 or 2, characterized in that the control lever (2) is mounted so as to be rotatable about the longitudinal axis (Z) thereof, wherein said control lever (2) is mounted so as to be rotatable about an initial position and, depending on the rotation angle, in relation to the initial position of said control lever (2) has an inner zero-position range, an outer travel range, and disposed there between an oscillation damping range, and a rotation of the control lever (2) to said oscillation damping range leads to the active oscillation damping being switched on without causing any movement of the large manipulator, even if the control lever (2) is located in the zero-position range (5) in relation to the pivot angle.
  4. Large manipulator according to one of the preceding claims, characterized in that the control lever (2) by way of a restoring mechanism is capable of being automatically restored to the initial position of said control lever (2), and the restoring force, or the rotary restoring force, respectively, of the control lever (2) increases abruptly in the transition from the oscillation damping range (6) to the travel range (7), or the restoring force of the control lever (2) has a haptically noticeable threshold in said transition.
  5. Large manipulator according to one of the preceding claims, characterized in that a push button (8) is attached to the control lever (2), and in that the activation of the push button (8) switches on the active oscillation damping, even if the control lever (2) is located in the zero-position range (5) in relation to the pivot angle..
  6. Large manipulator according to one of claims 1 to 5, characterized in that at least one travel mode and one stationary mode can be set on the remote control apparatus (1), wherein also the deflection and alternative, if depending to claim 3, the rotation of the control lever (2) in the stationary mode switches on the active oscillation damping.
  7. Large manipulator according to in claim 5 and 6, characterized in that also in the stationary mode an activation of the push button (8) switches on the active oscillation damping.
EP17718844.8A 2016-04-07 2017-04-04 Large manipulator having remote control device Active EP3440288B1 (en)

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DE102016106352.5A DE102016106352A1 (en) 2016-04-07 2016-04-07 Remote control device for large manipulator with control lever
PCT/EP2017/057981 WO2017174576A1 (en) 2016-04-07 2017-04-04 Remote control device for a large manipulator having a control lever

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EP3440288B1 true EP3440288B1 (en) 2020-04-01

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US11214970B2 (en) 2022-01-04
CN109072622A (en) 2018-12-21
CN109072622B (en) 2020-12-08
DE102016106352A1 (en) 2017-10-12
EP3440288A1 (en) 2019-02-13
WO2017174576A1 (en) 2017-10-12
US20190055741A1 (en) 2019-02-21

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