EP3452672A1 - Large manipulator with decentralized hydraulic system - Google Patents

Large manipulator with decentralized hydraulic system

Info

Publication number
EP3452672A1
EP3452672A1 EP17720372.6A EP17720372A EP3452672A1 EP 3452672 A1 EP3452672 A1 EP 3452672A1 EP 17720372 A EP17720372 A EP 17720372A EP 3452672 A1 EP3452672 A1 EP 3452672A1
Authority
EP
European Patent Office
Prior art keywords
manipulator
proportional valve
control
drive unit
mast
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
EP17720372.6A
Other languages
German (de)
French (fr)
Other versions
EP3452672B1 (en
Inventor
Johannes HENIKL
Reiner VIERKOTTEN
Andreas Lehmann
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
Priority to EP21195714.7A priority Critical patent/EP3957808A1/en
Publication of EP3452672A1 publication Critical patent/EP3452672A1/en
Application granted granted Critical
Publication of EP3452672B1 publication Critical patent/EP3452672B1/en
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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/027—Check valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0416—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor with means or adapted for load sensing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F15B13/0444—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors with rotary electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/202—Externally-operated valves mounted in or on the actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/008—Reduction of noise or vibration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30505—Non-return valves, i.e. check valves
    • F15B2211/30515—Load holding valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8613—Control during or prevention of abnormal conditions the abnormal condition being oscillations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/8633—Pressure source supply failure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/8636—Circuit failure, e.g. valve or hose failure

Definitions

  • the invention relates to a manipulator, in particular quasimanipulator for truck-mounted concrete pumps, with a folding articulated mast having a pivotable about a vertical axis turntable and a plurality of mast segments, wherein the mast segments at articulated joints each about buckling axes relative to an adjacent mast segment or the turntable by means of each of a drive unit are pivotally limited, and having a at least one control lever having remote control device, wherein the control lever is adjustable in a plurality of adjustment directions, and with a control device for controlling the drive units.
  • Such a manipulator is known from EP 0 686 224 B1.
  • these manipulators are controlled via a hydraulic control circuit with a central mast control block and attached to the individual drive units lowering brake valves to ensure the load holding function.
  • this embodiment is disadvantageous, in particular with regard to the response of the manipulator.
  • the differences in the response of the individual articulated joints can then generate unwanted pivoting movements of the mast in unintended directions, especially at the beginning of a movement.
  • the usual lowering brake valves often lead to a non-uniform, undefined movement, since at these low speeds, the opening state of the lowering brake valves is not clear.
  • the executed movement does not correspond to the specification by the control lever.
  • the response and accuracy are significantly affected, especially at low pivoting speeds.
  • the object of the invention is therefore to provide a manipulator which overcomes the disadvantages described and allows easy operation and excellent response.
  • a manipulator characterized in that the control unit a travel command indicating a desired movement of the mast top of the articulated mast or an attached end hose, for example in the direction of Cartesian or polar coordinates, wherein the movement command can be generated by an adjustment of the control lever in at least one adjustment direction in motion specifications for converts the drive units and the drive units by means of an electrically controlled proportional valve are actuated, which is connected to hydraulic working lines of the respective drive unit to its control, and at least one proportional valve is arranged directly on or in close proximity to the drive units to be controlled, can be a manipulator realize that ensures an excellent response.
  • the at least one proportional valve is arranged directly on an associated, to be controlled drive unit, ie at the mounting location of the drive unit.
  • the at least one proportional valve on the zu controlling drive unit be arranged such that the proportional valve changes its position relative to the turntable or the concrete pump together with the drive unit on the mast segment of the articulated mast.
  • the movement command indicates a desired movement of the mast top of the articulated mast or of an attached end hose in the direction of Cartesian or polar coordinates.
  • the at least one proportional valve can be controlled by a stepper motor.
  • a manipulator can be realized, which ensures excellent response of the pole segments.
  • a stepper motor controllable proportional valves are much lighter and smaller than similar powerful conventional valves with proportional solenoids, which allows a significant weight savings and a reduction in the required installation space. Due to the particularly small size and the low weight of the at least one proportional valve, this is particularly suitable for a decentralized hydraulic control circuit.
  • the at least one proportional valve has a housing which contains a valve piston, a return spring and the stepping motor.
  • a proportional valve is simple and trouble-prone, which is particularly advantageous when used in manipulators.
  • the proportional valve is arranged directly on the associated drive unit to be controlled, where the proportional valve for repairs can be difficult to reach.
  • valves used for the load-holding function are designed as hydraulic pilot-operated check valves. This offers great dynamic advantages, in particular for the implementation of an active vibration damping, since these valves offer a particularly good response.
  • the manipulator has a parallel to the at least one proportional valve hydraulic emergency circuit
  • the emergency circuit preferably at least one controllable switching valve, which is located directly on or in close proximity to the drive unit to be controlled and is preferably supplied via its own pressure supply line , as well as hydraulically releasable check valves or Senkbremsventile for Achieving a load-holding function contains. This allows the manipulator even in case of failure of the proportional valve control.
  • control unit is set up for active vibration damping, wherein the control unit generates control signals for the drive units for damping vibrations of the articulated mast.
  • control unit generates control signals for the drive units for damping vibrations of the articulated mast.
  • FIG. 2 shows a circuit diagram of a control circuit for a hydraulic drive unit of the manipulator.
  • FIG. 1 Shown schematically in FIG. 1 is a manipulator 1 according to the invention, in particular a large manipulator for truck-mounted concrete pumps, with a foldable articulated mast 2 which has a turntable 5 rotatable about a vertical axis 4 and a plurality of mast segments 6, 6a, 6b, 6c.
  • the mast segments 6, 6a, 6b, 6c are limitedly pivotable on articulated joints 7, 7a, 7b about buckling axes relative to an adjacent pole segment 6, 6a, 6b, 6c or the fifth wheel 5 by means of a respective drive unit 11 (FIG.
  • a control lever 8 at a remote control device 9 which is adjustable in a plurality of adjustment directions, movement instructions can be transmitted to a central control unit 10.
  • This may be, for example, a desired movement of the mast top 3 of the articulated mast 2 or an attached end hose.
  • the control lever 8 is adjusted in a direction of adjustment and the central control unit 10 receives the generated movement command.
  • the central control unit 10 converts the movement command into motion specifications for the individual drive units 11 (FIG. 2).
  • the metrologically detected position of the manipulator 1 which can be implemented for example by inclination sensors on the mast segments 6, 6a, 6b, 6c or rotation angle sensors in the articulated joints 7, 7a, 7b processed by the central control unit 10.
  • FIG. 2 shows a schematic representation of an electrohydraulic control circuit 17 for actuating a hydraulically actuated drive unit 11, by means of which a mast segment 6, 6a, 6b, 6c (FIG. 1) of the manipulator 1 (FIG. 1) is adjustable with regard to its orientation, with an electrically controlled proportional valve 12, which is connected to the hydraulic working lines 13, 14 of the drive unit 1 1 for its control.
  • a mast segment 6, 6a, 6b, 6c (FIG. 1) of the manipulator 1 (FIG. 1) is adjustable with regard to its orientation, with an electrically controlled proportional valve 12, which is connected to the hydraulic working lines 13, 14 of the drive unit 1 1 for its control.
  • FIG. 2 shows a schematic representation of an electrohydraulic control circuit 17 for actuating a hydraulically actuated drive unit 11, by means of which a mast segment 6, 6a, 6b, 6c (FIG. 1) of the manipulator 1 (FIG. 1) is adjustable with regard to its orientation, with an electrically controlled proportional valve 12, which is connected to the
  • the invention will be described below with reference to this preferred embodiment.
  • Mixed forms in which individual proportional valves for some articulated joints are part of a central hydraulic control block according to the prior art and the remaining proportional valves are arranged on or in proximity to the drive unit, are possible and improve the controllability of the manipulator.
  • the individual actuators 1 1 associated proportional valves 12 are on the first pressure supply (P1) 24 and on the first return (T1) 25 arranged parallel to each other.
  • the proportional valve 12 can be controlled by a stepper motor 15, the proportional valve 12 having a housing which contains a valve piston, a return spring and the stepping motor 15. The control of the valve piston on the proportional valve 12 via a rack by means of the stepping motor 15.
  • a monitoring unit for monitoring the steps performed by the stepping motor 15 Stell intimide is provided.
  • a memory is provided for storing the performed steps of the stepping motor 15.
  • the control by stepper motor 15 allows precise adjustment of the proportional valve 12 regardless of the flow forces occurring, which is a particularly allows precise control of the drive unit 1 1 and the response of the manipulator 1 (Fig. 1) sustainably improved.
  • the electrically controlled proportional valve 12 is further recognizable, with which the drive unit 1 1, in particular the hydraulic cylinder, can be moved by the proportional valve 12, the power unit 1 1 associated working lines 13, 14 subjected to a pressure difference.
  • the working lines 13, 14 are selectively connected respectively to a first pressure supply (P1) 24 or a first return (T1) 25 through the proportional valve 12.
  • the control of the proportional valve 12 via an associated stepper motor 15 by a local electronic control unit ECU (electronic control unit) 10 a.
  • the controller 10a receives the motion command transmitted by the central controller 10 (FIG central control device 10 (FIG. 1) is calculated on the basis of the travel command generated by the adjustment of the control lever 8 (FIG. 1) for the associated drive unit and processes it into a drive signal for the proportional valve 12, which is thereby switched and the drive unit 1 1 pressed.
  • the check valves 16, 16a perform a load holding function when the control circuit 17 is in an inactive state or a safe state.
  • These check valves 16, 16a are designed as hydraulically releasable check valves 16, 16a, which can be opened and closed independently of the position of the proportional valve 12 by the local control device 10a.
  • the check valve 23 also has a safety function, in particular it prevents pressing of the check valves 16, 16a in the case of a clamping valve piston outside the central position in the proportional valve 12.
  • the electrohydraulic control circuit 17 also includes an optional emergency hydraulic emergency circuit connected in parallel with the proportional valve 12. This emergency circuit allows a method of the drive unit 1 1 in case of failure of the proportional valve 12 associated (upstream or downstream) components.
  • Each proportional valve 12 for controlling a drive unit 1 1 is preferably associated with a separate emergency circuit.
  • the emergency circuit comprises a control valve 21 for controlling the direction of travel of the drive unit 1 1 in emergency operation and two mutually coupled valves 20, 20a, which are designed as hydraulically releasable check valves or Senkbremsventile 20, 20a in classic circuit.
  • the travel speed can be limited in emergency mode.
  • the drive unit 1 1, in particular the hydraulic cylinder can be moved in emergency mode by the control valve 1 1 for emergency operation, the power unit 1 1 associated working lines 13, 14 is subjected to a pressure difference.
  • the working lines 13, 14 are optionally each connected to a second pressure supply (P2) 26 or a second return (T2) 27 of the control valve 21.
  • P2 second pressure supply
  • T2 second return
  • the pressure supply of the drive unit 1 1 preferably via the separate pressure supply (P2) 26 and the separate return (T2) 27, so that in a leakage of the pressure supply (P1) 24 or the return (T1) 25 is still a control of the drive unit 1 is possible.
  • the mast 2 (FIG. 1) can still be moved, for example to retract the mast 2 (FIG. 1) and if necessary to pump out the residual concrete from the concrete pump and the delivery pipes.
  • the control valves 21 associated with each proportional valve 12 are arranged parallel to one another on the separate pressure supply (P2) 26 and on the separate return (T2) 27.
  • the local electronic control device 10a also monitors the state and behavior of the control circuit 17 by means of the available sensors. As soon as the local electronic control device 10a detects an error, it automatically switches the control circuit 17 to a safe state.
  • the tasks of the local control units 10a could be taken over directly by the central control unit 10, so that the local control units 10a can be dispensed with.
  • this has the disadvantage that the electrical wiring complexity or the utilization of the BUS system used is substantially increased.
  • the check valves switch a defined opening state. By means of this defined opening state, the manipulator can be used even in small Operating the swiveling speeds in the individual articulated joints simply and safely by the user on the control lever.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Manipulator (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention relates to a manipulator (1), in particular a large manipulator for truck-mounted concrete pumps, comprising an articulated boom (2) which can be folded out and which has a turntable (5) that can be rotated about a vertical axis (4) and a plurality of boom segments (6, 6a, 6b, 6c). The boom segments (6, 6a, 6b, 6c) can be pivoted to a limited degree about a respective articulation axis at articulation joints (7, 7a, 7b) relative to an adjacent boom segment (6, 6a, 6b, 6c) or relative to the turntable (5) by means of a respective drive assembly (11). The manipulator also comprises a remote control device (9), which has at least one control lever (8) that can be moved in different movement directions, and a control device (10) for actuating the drive assemblies (11). The aim of the invention is to provide a manipulator which allows a simple operation and an excellent response behavior. This is achieved in that the control unit (10) converts a travel command which indicates a desired movement of the boom tip (3) of the articulation boom or of an end tube attached to the boom tip into movement specifications for the drive assemblies (11), wherein the travel command can be generated by moving the control lever (8) in at least one movement direction. The drive assemblies (11) can be actuated by means of a respective electrically actuated proportional valve (12) which is connected to hydraulic working lines (13, 14) of the respective drive assembly (11) in order to actuate same, and at least one of the proportional valves (12) is arranged directly on the drive assemblies (11) to be controlled or in the immediate vicinity thereof.

Description

Großmanipulator mit dezentraler Hydraulik Die Erfindung betrifft einen Manipulator, insbesondere Großmanipulator für Autobetonpumpen, mit einem ausfaltbaren Knickmast, der einen um eine Hochachse drehbaren Drehschemel und eine Mehrzahl von Mastsegmenten aufweist, wobei die Mastsegmente an Knickgelenken jeweils um Knickachsen gegenüber einem benachbarten Mastsegment oder dem Drehschemel mittels je eines Antriebsaggregates begrenzt verschwenkbar sind, und mit einer mindestens einen Steuerhebel aufweisenden Fernsteuereinrichtung, wobei der Steuerhebel in mehrere Stellrichtungen verstellbar ist, und mit einer Steuereinrichtung zur Ansteuerung der Antriebsaggregate.  The invention relates to a manipulator, in particular Großmanipulator for truck-mounted concrete pumps, with a folding articulated mast having a pivotable about a vertical axis turntable and a plurality of mast segments, wherein the mast segments at articulated joints each about buckling axes relative to an adjacent mast segment or the turntable by means of each of a drive unit are pivotally limited, and having a at least one control lever having remote control device, wherein the control lever is adjustable in a plurality of adjustment directions, and with a control device for controlling the drive units.
Ein solcher Manipulator ist aus der EP 0 686 224 B1 bekannt. Üblicherweise werden diese Manipulatoren über einen hydraulischen Steuerkreis mit einem zentralen Maststeuerblock sowie an den einzelnen Antriebsaggregaten angebrachten Senkbremsventilen zur Gewährleistung der Lasthaltefunktion gesteuert. Diese Ausgestaltung ist jedoch nachteilig, insbesondere im Hinblick auf das Ansprechverhalten des Manipulators. Aufgrund der erheblichen Leitungslängen zwischen den Senkbremsventilen und den Steuerventilen im zentralen Maststeuerblock, sowie aufgrund des dynamischen Verhaltens der Senkbremsventile kommt es bei diesen hydraulischen Steuerkreisen zu merkbaren Verzögerungen zwischen der Verstellung des Steuerhebels in eine Stellrichtung und der Ausführung einer Bewegung durch die Antriebsaggregate an den einzelnen Knickgelenken. Diese Verzögerung ist im Allgemeinen nicht für alle Knickgelenke gleich, sondern es ergeben sich Unterschiede bedingt durch die unterschiedlichen Leitungslängen zwischen den Senkbremsventilen und den Steuerventilen sowie aufgrund der Druckverhältnisse und der angeforderten Bewegungsgeschwindigkeit. Besonders zu Beginn einer Bewegung des Manipulators, eingeleitet durch die Verstellung des Steuerhebels in eine Stellrichtung, sind diese Verzögerungen von großem Nachteil, insbesondere wenn bei dieser eingeleiteten Bewegung mehrere Knickgelenke gleichzeitig verfahren werden, um die angeforderte Bewegung auszuführen. Die Unterschiede hinsichtlich des Ansprechverhaltens der einzelnen Knickgelenke können dann besonders zu Beginn einer Bewegung unerwünschte Verschwenkbewegungen des Mastes in nicht beabsichtigte Richtungen erzeugen. Insbesondere bei kleinen Verschwenkgeschwindigkeiten der einzelnen Knickgelenke führen die üblichen Senkbremsventile oft zu einer ungleichförmigen, Undefinierten Bewegung, da bei diesen geringen Geschwindigkeiten der Öffnungszustand der Senkbremsventile nicht eindeutig ist. In diesem Fall entspricht die ausgeführte Bewegung nicht der Vorgabe durch den Steuerhebel. Hierdurch sind das Ansprechverhalten und die Genauigkeit insbesondere bei kleinen Verschwenkgeschwindigkeiten erheblich beeinträchtigt. Such a manipulator is known from EP 0 686 224 B1. Usually, these manipulators are controlled via a hydraulic control circuit with a central mast control block and attached to the individual drive units lowering brake valves to ensure the load holding function. However, this embodiment is disadvantageous, in particular with regard to the response of the manipulator. Due to the considerable line lengths between the Senkbremsventilen and the control valves in the central mast control block, as well as due to the dynamic behavior of Senkbremsventile occurs in these hydraulic control circuits to noticeable delays between the adjustment of the control lever in a direction and the execution of a movement by the drive units at the individual articulated joints , This delay is generally not the same for all articulated joints, but there are differences due to the different line lengths between the lowering brake valves and the control valves and due to the pressure conditions and the requested Movement speed. Especially at the beginning of a movement of the manipulator, initiated by the adjustment of the control lever in a direction of adjustment, these delays are a great disadvantage, especially if in this initiated movement several articulated joints are moved simultaneously to perform the requested movement. The differences in the response of the individual articulated joints can then generate unwanted pivoting movements of the mast in unintended directions, especially at the beginning of a movement. Especially with small pivoting speeds of the individual articulated joints, the usual lowering brake valves often lead to a non-uniform, undefined movement, since at these low speeds, the opening state of the lowering brake valves is not clear. In this case, the executed movement does not correspond to the specification by the control lever. As a result, the response and accuracy are significantly affected, especially at low pivoting speeds.
Aufgabe der Erfindung ist es daher, einen Manipulator anzugeben, der die beschriebenen Nachteile behebt und eine einfache Bedienung und ein hervorragendes Ansprechverhalten ermöglicht. The object of the invention is therefore to provide a manipulator which overcomes the disadvantages described and allows easy operation and excellent response.
Gelöst wird diese Aufgabe durch einen Manipulator gemäß Anspruch 1 . Dadurch, dass die Steuereinheit einen Fahrbefehl, der eine gewünschte Bewegung der Mastspitze des Knickmastes oder eines daran angebrachten Endschlauchs angibt, beispielsweise in Richtung kartesischer oder Polar-Koordinaten, wobei der Fahrbefehl durch eine Verstellung des Steuerhebels in wenigstens eine Stellrichtung erzeugbar ist, in Bewegungsvorgaben für die Antriebsaggregate umsetzt und die Antriebsaggregate mittels jeweils eines elektrisch angesteuerten Proportionalventil betätigbar sind, welches mit hydraulischen Arbeitsleitungen des jeweiligen Antriebsaggregates zu dessen Ansteuerung verbunden ist, und mindestens ein Proportionalventil direkt an oder in unmittelbarer Nähe zu den zu steuernden Antriebsaggregaten angeordnet ist, lässt sich ein Manipulator realisieren, der ein hervorragendes Ansprechverhalten gewährleistet. Das mindestens eine Proportionalventil ist direkt an einem zugeordneten, zu steuernden Antriebsaggregat, d.h. am Anbringungsort des Antriebsaggregates, angeordnet. So kann das mindestens eine Proportionalventil an dem zu steuernden Antriebsaggregat derart angeordnet sein, dass das Proportionalventil zusammen mit dem Antriebsaggregat am Mastsegment des Knickmastes seine Position gegenüber dem Drehschemel bzw. der Betonpumpe ändert. Durch die direkte Anordnung des Proportionalventils an dem zugeordneten, zu steuernden Antriebsaggregat kann die Länge der Arbeitsleitungen zwischen dem Proportionalventil und dem Antriebsaggregat deutlich reduziert werden, wodurch das Ansprechverhalten des Manipulators verbessert wird und sich dieser agiler und dynamischer verfahren lässt. This object is achieved by a manipulator according to claim 1. Characterized in that the control unit a travel command indicating a desired movement of the mast top of the articulated mast or an attached end hose, for example in the direction of Cartesian or polar coordinates, wherein the movement command can be generated by an adjustment of the control lever in at least one adjustment direction in motion specifications for converts the drive units and the drive units by means of an electrically controlled proportional valve are actuated, which is connected to hydraulic working lines of the respective drive unit to its control, and at least one proportional valve is arranged directly on or in close proximity to the drive units to be controlled, can be a manipulator realize that ensures an excellent response. The at least one proportional valve is arranged directly on an associated, to be controlled drive unit, ie at the mounting location of the drive unit. Thus, the at least one proportional valve on the zu controlling drive unit be arranged such that the proportional valve changes its position relative to the turntable or the concrete pump together with the drive unit on the mast segment of the articulated mast. The direct arrangement of the proportional valve on the associated, to be controlled drive unit, the length of the working lines between the proportional valve and the drive unit can be significantly reduced, whereby the response of the manipulator is improved and this can be moved more agile and dynamic.
Der Effekt, den die Erfindung bewirkt ist am stärksten ausgeprägt, wenn alle Proportionalventile in der Nähe der zu steuernden Antriebsaggregate angeordnet sind. Es ist aber schon mit der Anordnung mindestens eines Proportionalventiles in der Nähe eines zu steuernden Antriebsaggregates oft schon eine sehr deutliche Verbesserung des Ansprechverhaltens des Manipulators gegeben. Je mehr Proportionalventile in der Nähe der zu steuernden Antriebsaggregate angeordnet sind, desto besser ist letztendlich aber das Ansprechverhalten des Manipulators auf Steuerbefehle. The effect that the invention causes is most pronounced when all the proportional valves are located in the vicinity of the drive units to be controlled. However, even with the arrangement of at least one proportional valve in the vicinity of a drive unit to be controlled, there is often already a very significant improvement in the response of the manipulator. The more proportional valves are arranged in the vicinity of the drive units to be controlled, the better but ultimately the response of the manipulator to control commands.
Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims.
Gemäß einer vorteilhaften Ausgestaltung der Erfindung ist vorgesehen, dass der Fahrbefehl eine gewünschte Bewegung der Mastspitze des Knickmastes oder eines daran angebrachten Endschlauchs in Richtung kartesischer oder Polar- Koordinaten angibt. Hierdurch ist eine besonders einfache Bedienung des Manipulators möglich. According to an advantageous embodiment of the invention, it is provided that the movement command indicates a desired movement of the mast top of the articulated mast or of an attached end hose in the direction of Cartesian or polar coordinates. As a result, a particularly simple operation of the manipulator is possible.
Besonders vorteilhaft ist, dass das mindestens eine Proportionalventil mit einem Schrittmotor ansteuerbar ist. Hierdurch lässt sich ein Manipulator realisieren, der ein hervorragendes Ansprechverhalten der Mastsegmente gewährleistet. Zudem sind mit einem Schrittmotor ansteuerbare Proportionalventile deutlich leichter und kleiner als ähnlich leistungsfähige konventionelle Ventile mit Proportionalmagneten, was eine deutliche Gewichtseinsparung und eine Reduzierung des erforderlichen Bauraums ermöglicht. Aufgrund der besonders geringen Größe und des geringen Gewichts des mindestens einen Proportionalventils eignet sich dieses besonders für einen dezentralen hydraulischen Steuerkreis. It is particularly advantageous that the at least one proportional valve can be controlled by a stepper motor. As a result, a manipulator can be realized, which ensures excellent response of the pole segments. In addition, with a stepper motor controllable proportional valves are much lighter and smaller than similar powerful conventional valves with proportional solenoids, which allows a significant weight savings and a reduction in the required installation space. Due to the particularly small size and the low weight of the at least one proportional valve, this is particularly suitable for a decentralized hydraulic control circuit.
Gemäß einer vorteilhaften Ausgestaltung der Erfindung ist vorgesehen, dass das mindestens eine Proportionalventil ein Gehäuse aufweist, welches einen Ventilkolben, eine Rückstellfeder und den Schrittmotor enthält. Ein derartiges Proportionalventil ist einfach und störungsunanfällig aufgebaut, was insbesondere beim Einsatz in Manipulatoren von besonderem Vorteil ist. Insbesondere wenn das Proportionalventil direkt an dem zugeordneten, zu steuernden Antriebsaggregat angeordnet ist, wo das Proportionalventil für Reparaturen schlecht erreichbar sein kann. According to an advantageous embodiment of the invention, it is provided that the at least one proportional valve has a housing which contains a valve piston, a return spring and the stepping motor. Such a proportional valve is simple and trouble-prone, which is particularly advantageous when used in manipulators. In particular, when the proportional valve is arranged directly on the associated drive unit to be controlled, where the proportional valve for repairs can be difficult to reach.
Eine besonders vorteilhafte Ausführungsform der Erfindung sieht vor, dass zur Lasthaltefunktion verwendete Ventile als hydraulische entsperrbare Rückschlagventile ausgebildet sind. Dies bietet insbesondere für die Umsetzung einer aktiven Schwingungsdämpfung große dynamische Vorteile, da diese Ventile ein besonders gutes Ansprechverhalten bieten. A particularly advantageous embodiment of the invention provides that valves used for the load-holding function are designed as hydraulic pilot-operated check valves. This offers great dynamic advantages, in particular for the implementation of an active vibration damping, since these valves offer a particularly good response.
Weiter vorteilhaft ist eine mögliche Ausgestaltung, bei der die Stellung der Rückschlagventile unabhängig von der Stellung des mindestens einen direkt an einem zugeordneten, zu steuernden Antriebsaggregat angeordneten Proportionalventils durch die erste Steuereinheit und oder eine weitere Steuereinheit veränderbar ist. Hierdurch ist es möglich, das Ansprechverhalten des Großmanipulators, insbesondere bei der Realisierung der Lasthaltefunktion, deutlich zu verbessern. Es hat sich gezeigt dass eine elektronische Ansteuerung der Rückschlagventile einen definierten Öffnungszustand auch bei kleinen Verschwenkgeschwindigkeiten in den Knickgelenken sicherstellt. Von besonderem Vorteil ist, wenn der Manipulator einen zu dem mindestens einen Proportionalventil parallelen hydraulischen Notkreis aufweist, wobei der Notkreis bevorzugt zumindest ein steuerbares Schaltventil, welches direkt an oder in unmittelbarer Nähe zu dem zu steuerndem Antriebsaggregat angeordnet ist und vorzugsweise über eine eigene Druckversorgungsleitung versorgt ist, sowie hydraulisch entsperrbare Rückschlagventile oder Senkbremsventile zum Erreichen einer Lasthaltefunktion enthält. Hierdurch lässt sich der Manipulator auch noch bei Ausfall des Proportionalventils steuern. Further advantageous is a possible embodiment in which the position of the non-return valves, regardless of the position of the at least one arranged directly on an associated, to be controlled drive unit proportional valve by the first control unit and or another control unit is changeable. This makes it possible to significantly improve the response of the large manipulator, especially in the realization of the load-holding function. It has been shown that an electronic control of the check valves ensures a defined opening state even at low pivoting speeds in the articulated joints. It is particularly advantageous if the manipulator has a parallel to the at least one proportional valve hydraulic emergency circuit, the emergency circuit preferably at least one controllable switching valve, which is located directly on or in close proximity to the drive unit to be controlled and is preferably supplied via its own pressure supply line , as well as hydraulically releasable check valves or Senkbremsventile for Achieving a load-holding function contains. This allows the manipulator even in case of failure of the proportional valve control.
Besonders vorteilhaft ist eine Ausgestaltung, bei der die Steuereinheit zur aktiven Schwingungsdämpfung eingerichtet ist, wobei die Steuereinheit Ansteuersignale für die Antriebsaggregate zur Dämpfung von Schwingungen des Knickmastes erzeugt. Dies hat besondere Vorteile bei der Bedienung des Manipulators, da Schwingungen des Knickmastes durch eine direkte Ansteuerung des mindestens einen Proportionalventils durch die Steuereinheit gegenüber dem Stand der Technik besser gedämpft werden können. Gemäß einer vorteilhaften Ausgestaltung der Erfindung ist vorgesehen, dass die Umsetzung der Bewegungsvorgaben in Ansteuersignale für das mindestens eine direkt an einem zugeordneten, zu steuernden Antriebsaggregat angeordnete Proportionalventil durch eine lokale Steuereinheit erfolgt. Hierdurch wird der elektrische Verkabelungsaufwand bzw. die Auslastung des verwendeten BUS- Systems wesentlich reduziert. Particularly advantageous is an embodiment in which the control unit is set up for active vibration damping, wherein the control unit generates control signals for the drive units for damping vibrations of the articulated mast. This has particular advantages in the operation of the manipulator, since vibrations of the articulated mast can be better damped by a direct control of the at least one proportional valve by the control unit over the prior art. According to an advantageous embodiment of the invention, it is provided that the implementation of the movement specifications in control signals for the at least one directly to an associated, to be controlled drive unit arranged proportional valve by a local control unit. As a result, the electrical wiring complexity or the utilization of the BUS system used is substantially reduced.
Weitere Merkmale, Einzelheiten und Vorteile der Erfindung ergeben sich aufgrund der nachfolgenden Beschreibung sowie anhand der Zeichnungen. Ein Ausführungsbeispiel der Erfindung ist in den folgenden Zeichnungen rein schematisch dargestellt und wird nachfolgend näher beschrieben. Einander entsprechende Gegenstände sind in allen Figuren mit den gleichen Bezugszeichen versehen. Es zeigen: Further features, details and advantages of the invention will become apparent from the following description and from the drawings. An embodiment of the invention is shown purely schematically in the following drawings and will be described in more detail below. Corresponding objects are provided in all figures with the same reference numerals. Show it:
Figur 1 einen erfindungsgemäßen Manipulator und 1 shows a manipulator according to the invention and
Figur 2 einen Schaltplan eines Steuerkreises für ein hydraulisches Antriebsaggregat des Manipulators. 2 shows a circuit diagram of a control circuit for a hydraulic drive unit of the manipulator.
In Figur 1 schematisch dargestellt ist ein erfindungsgemäßer Manipulator 1 , insbesondere Großmanipulator für Autobetonpumpen, mit einem ausfaltbaren Knickmast 2, der einen um eine Hochachse 4 drehbaren Drehschemel 5 und eine Mehrzahl von Mastsegmenten 6, 6a, 6b, 6c aufweist. Die Mastsegmente 6, 6a, 6b, 6c sind an Knickgelenken 7, 7a, 7b jeweils um Knickachsen gegenüber einem benachbarten Mastsegment 6, 6a, 6b, 6c oder dem Drehschemel 5 mittels je eines Antriebsaggregates 1 1 (Fig. 2) begrenzt verschwenkbar. Mit einem Steuerhebel 8 an einer Fernsteuereinrichtung 9, der in mehrere Stellrichtungen verstellbar ist, lassen sich Bewegungsvorgaben an eine zentrale Steuereinheit 10 übermitteln. Dies kann beispielsweise eine gewünschte Bewegung der Mastspitze 3 des Knickmastes 2 oder eines daran angebrachten Endschlauchs sein. Hierzu wird der Steuerhebel 8 in eine Stellrichtung verstellt und die zentrale Steuereinheit 10 empfängt den generierten Fahrbefehl. Die zentrale Steuereinheit 10 setzt den Fahrbefehl in Bewegungsvorgaben für die einzelnen Antriebsaggregate 1 1 (Fig. 2) um. Hierfür wird von der zentralen Steuereinheit 10 die messtechnisch erfasste Stellung des Manipulators 1 , was beispielsweise durch Neigungssensoren an den Mastsegmenten 6, 6a, 6b, 6c oder Drehwinkelsensoren in den Knickgelenken 7, 7a, 7b umgesetzt sein kann, verarbeitet. Shown schematically in FIG. 1 is a manipulator 1 according to the invention, in particular a large manipulator for truck-mounted concrete pumps, with a foldable articulated mast 2 which has a turntable 5 rotatable about a vertical axis 4 and a plurality of mast segments 6, 6a, 6b, 6c. The mast segments 6, 6a, 6b, 6c are limitedly pivotable on articulated joints 7, 7a, 7b about buckling axes relative to an adjacent pole segment 6, 6a, 6b, 6c or the fifth wheel 5 by means of a respective drive unit 11 (FIG. With a control lever 8 at a remote control device 9, which is adjustable in a plurality of adjustment directions, movement instructions can be transmitted to a central control unit 10. This may be, for example, a desired movement of the mast top 3 of the articulated mast 2 or an attached end hose. For this purpose, the control lever 8 is adjusted in a direction of adjustment and the central control unit 10 receives the generated movement command. The central control unit 10 converts the movement command into motion specifications for the individual drive units 11 (FIG. 2). For this purpose, the metrologically detected position of the manipulator 1, which can be implemented for example by inclination sensors on the mast segments 6, 6a, 6b, 6c or rotation angle sensors in the articulated joints 7, 7a, 7b processed by the central control unit 10.
Die Figur 2 zeigt eine schematische Darstellung eines elektrohydraulischen Steuerkreises 17 zum Ansteuern eines hydraulisch betätigten Antriebsaggregates 1 1 , mittels dessen ein Mastsegment 6, 6a, 6b, 6c (Fig. 1 ) des Manipulators 1 (Fig. 1 ) hinsichtlich seiner Orientierung verstellbar ist, mit einem elektrisch angesteuerten Proportionalventil 12, welches mit den hydraulischen Arbeitsleitungen 13, 14 des Antriebsaggregates 1 1 zu dessen Ansteuerung verbunden ist. Zur besseren Übersicht ist in Figur 2 lediglich der Steuerkreis 17 für ein Antriebsaggregat 1 1 gezeigt, wobei an mindestens einem Knickgelenk bzw. in der in Fig. 2 dargestellten bevorzugten Ausführungsform der Erfindung an jedem Knickgelenk, je ein Antriebsaggregat 1 1 mit eigenem Steuerkreis 17 vorgesehen ist. 2 shows a schematic representation of an electrohydraulic control circuit 17 for actuating a hydraulically actuated drive unit 11, by means of which a mast segment 6, 6a, 6b, 6c (FIG. 1) of the manipulator 1 (FIG. 1) is adjustable with regard to its orientation, with an electrically controlled proportional valve 12, which is connected to the hydraulic working lines 13, 14 of the drive unit 1 1 for its control. For better clarity, only the control circuit 17 for a drive unit 1 1 is shown in Figure 2, wherein at least one articulated joint or in the illustrated in Fig. 2 preferred embodiment of the invention at each articulated joint, depending on a drive unit 1 1 provided with its own control circuit 17 is.
Im Folgenden wird die Erfindung anhand dieser bevorzugten Ausführungsform beschrieben. Mischformen, bei denen einzelne Proportionalventile für einige Knickgelenke Teil eines zentralen hydraulischen Steuerblocks gemäß dem Stand der Technik sind und die übrigen Proportionalventile am oder in der Nähe zum Antriebsaggregat angeordnet sind, sind möglich und verbessern die Steuerbarkeit des Manipulators. Die den einzelnen Anthebsaggregaten 1 1 zugeordneten Proportionalventile 12 sind auf der ersten Druckversorgung (P1 ) 24 und auf dem ersten Rücklauf (T1 ) 25 parallel zueinander angeordnet. Das Proportionalventil 12 ist mit einem Schrittmotor 15 ansteuerbar, wobei das Proportionalventil 12 ein Gehäuse aufweist, welches einen Ventilkolben, eine Rückstellfeder und den Schrittmotor 15 enthält. Die Ansteuerung des Ventilkolbens am Proportionalventil 12 erfolgt über eine Zahnstange mittels des Schrittmotors 15. An dem Schrittmotor 15 ist eine Überwachungseinheit zur Überwachung der von dem Schrittmotor 15 durchgeführten Stellschritte vorgesehen. Um nachvollziehen zu können, in welcher Stellung sich das Proportionalventil 12 befindet, ist zudem ein Speicher vorgesehen für die Speicherung der durchgeführten Stellschritte des Schrittmotors 15. Die Ansteuerung mittels Schrittmotor 15 ermöglicht eine präzise Einstellung des Proportionalventils 12 unabhängig von den auftretenden Strömungskräften, was eine besonders genaue Steuerung des Antriebsaggregates 1 1 ermöglicht und das Ansprechverhalten des Manipulators 1 (Fig. 1 ) nachhaltig verbessert. The invention will be described below with reference to this preferred embodiment. Mixed forms in which individual proportional valves for some articulated joints are part of a central hydraulic control block according to the prior art and the remaining proportional valves are arranged on or in proximity to the drive unit, are possible and improve the controllability of the manipulator. The individual actuators 1 1 associated proportional valves 12 are on the first pressure supply (P1) 24 and on the first return (T1) 25 arranged parallel to each other. The proportional valve 12 can be controlled by a stepper motor 15, the proportional valve 12 having a housing which contains a valve piston, a return spring and the stepping motor 15. The control of the valve piston on the proportional valve 12 via a rack by means of the stepping motor 15. At the stepping motor 15, a monitoring unit for monitoring the steps performed by the stepping motor 15 Stellschritte is provided. In order to be able to understand the position in which the proportional valve 12 is, in addition, a memory is provided for storing the performed steps of the stepping motor 15. The control by stepper motor 15 allows precise adjustment of the proportional valve 12 regardless of the flow forces occurring, which is a particularly allows precise control of the drive unit 1 1 and the response of the manipulator 1 (Fig. 1) sustainably improved.
In Figur 2 ist weiterhin das elektrisch angesteuerte Proportionalventil 12 erkennbar, mit welchem das Antriebsaggregat 1 1 , insbesondere der Hydraulikzylinder, verfahren werden kann, indem das Proportionalventil 12 die dem Antriebsaggregat 1 1 zugeordneten Arbeitsleitungen 13, 14 mit einer Druckdifferenz beaufschlagt. Hierfür werden die Arbeitsleitungen 13, 14 wahlweise jeweils mit einer ersten Druckversorgung (P1 ) 24 oder einem ersten Rücklauf (T1 ) 25 durch das Proportionalventil 12 verbunden. Die Ansteuerung des Proportionalventils 12 erfolgt über einen zugeordneten Schrittmotor 15 durch eine lokale elektronische Steuereinrichtung ECU (electronic control unit) 10a. Diese überwacht und steuert den Zustand des lokalen elektrohydraulischen Steuerkreises 17 samt zugehörigem Antriebsaggregat 1 1 , ermöglicht die Implementierung komplexer Algorithmen, bietet eine Schnittstelle zur Kommunikation nach außen über ein BUS-System (beispielsweise CAN) sowie die Möglichkeit, eine Vielzahl von Sensoren, wie z.B. Neigungssensoren an den Mastsegmenten, Drehwinkelsensoren in den Knickgelenken oder Drucksensoren zur Erfassung der Drücke in den Arbeitsleitungen mit dieser zu verbinden. Außerdem empfängt die Steuereinrichtung 10a die durch die zentrale Steuereinrichtung 10 (Fig. 1 ) übermittelte Bewegungsvorgabe, welche von der zentralen Steuereinrichtung 10 (Fig. 1 ) anhand des durch die Verstellung des Steuerhebels 8 (Fig. 1 ) generierten Fahrbefehls berechnet wird, für das zugehörige Antriebsaggregat und verarbeitet diesen in ein Ansteuersignal für das Proportionalventil 12, wobei dieses hierdurch geschaltet wird und das Antriebsaggregat 1 1 betätigt. Abhängig von der Stellung des Proportionalventils 12 wird ein der Druckversorgung (P1 ) 24 zugeordneter Versorgungsdruck auf eine Arbeitsleitung 13 oder 14 des zugeordneten Antriebsaggregates 1 1 geschaltet. Die Sperrventile 16, 16a erfüllen eine Lasthaltefunktion, wenn sich der Steuerkreis 17 in einem inaktiven Zustand oder sicheren Zustand befindet. Diese Sperrventile 16, 16a sind als hydraulisch entsperrbare Rückschlagventile 16, 16a ausgebildet, welche unabhängig von der Stellung des Proportionalventils 12 durch die lokale Steuereinrichtung 10a geöffnet und geschlossen werden können. Das Sperrventil 23 hat ebenfalls eine Sicherheitsfunktion, insbesondere verhindert es ein Aufdrücken der Sperrventile bzw. Rückschlagventile 16, 16a im Falle eines klemmenden Ventilkolbens außerhalb der Mittellage im Proportionalventil 12. Darüber hinaus werden mit den Sensoren 18, 18a, 18b der Versorgungsdruck der Zuleitung P1 , durch Sensor 18, im aktiven Zustand des elektrohydraulischen Steuerkreises 17 und die Drücke in den Arbeitsleitungen 13, 14, durch Sensoren 18a, 18b, zu dem hydraulischen Antriebsaggregat 1 1 gemessen. Diese Messungen werden von der lokalen Steuerung 10a zur Ermittlung jener Sollstellung des Proportionalventils 12 herangezogen, welche quasistatisch zu einem gewünschten Volumenstrom bzw. der Umsetzung der von der zentralen Steuerung 10 übermittelten Bewegungsvorgabe für das hydraulischen Antriebsaggregat 1 1 führt. Der elektrohydraulische Steuerkreis 17 umfasst in der dargestellten Ausführung außerdem einen optionalen dem Proportionalventil 12 parallel geschalteten hydraulischen Notkreis für den Notbetrieb. Dieser Notkreis ermöglicht ein Verfahren des Antriebsaggregates 1 1 bei Ausfall der dem Proportionalventil 12 zugeordneten (vor- bzw. nachgeschalteten) Bauteile. Jedem Proportionalventil 12 zur Steuerung eines Antriebsaggregates 1 1 ist vorzugsweise ein eigener Notkreis zugeordnet. Der Notkreis umfasst ein Steuerventil 21 zur Steuerung der Verfahrrichtung des Antriebsaggregates 1 1 im Notbetrieb sowie zwei gegenseitig verkoppelte Ventile 20, 20a, welche als hydraulisch entsperrbare Rückschlagventile oder Senkbremsventile 20, 20a in klassischer Verschaltung ausgeführt sind. Mit den nachgeschalteten einstellbaren Drosseln 19, 19a kann die Verfahr- geschwindigkeit im Notbetrieb begrenzt werden. Das Antriebsaggregat 1 1 , insbesondere der Hydraulikzylinder, kann so im Notbetrieb verfahren werden, indem das Steuerventil 1 1 für den Notbetrieb die dem Antriebsaggregat 1 1 zugeordneten Arbeitsleitungen 13, 14 mit einer Druckdifferenz beaufschlagt. Hierfür werden die Arbeitsleitungen 13, 14 wahlweise jeweils mit einer zweiten Druckversorgung (P2) 26 oder einem zweiten Rücklauf (T2) 27 von dem Steuerventil 21 verbunden. Im Notbetrieb erfolgt die Druckversorgung des Antriebsaggregates 1 1 vorzugsweise über die separate Druckversorgung (P2) 26 und den separaten Rücklauf (T2) 27, sodass bei einer Undichtigkeit der Druckversorgung (P1 ) 24 oder des Rücklaufs (T1 ) 25 weiterhin eine Steuerung des Antriebsaggregates 1 1 möglich ist. Hierdurch kann sichergestellt werden, dass bei Ausfall der regulären Maststeuerung samt Proportionalventil 12 der Mast 2 (Fig. 1 ) noch verfahren werden kann, um beispielsweise den Mast 2 (Fig. 1 ) einzufahren und gegebenenfalls den Restbeton aus der Betonpumpe und den Förderrohren herauszupumpen. Die jedem Proportionalventil 12 zugeordneten Steuerventile 21 sind auf der separaten Druckversorgung (P2) 26 und auf dem separaten Rücklauf (T2) 27 parallel zueinander angeordnet. Die lokale elektronische Steuereinrichtung 10a überwacht zudem den Zustand und das Verhalten des Steuerkreises 17 mittels der zur Verfügung stehenden Sensoren. Sobald die lokale elektronische Steuereinrichtung 10a einen Fehler erkennt, schaltet sie den Steuerkreis 17 automatisch in einen sicheren Zustand. In Figure 2, the electrically controlled proportional valve 12 is further recognizable, with which the drive unit 1 1, in particular the hydraulic cylinder, can be moved by the proportional valve 12, the power unit 1 1 associated working lines 13, 14 subjected to a pressure difference. For this purpose, the working lines 13, 14 are selectively connected respectively to a first pressure supply (P1) 24 or a first return (T1) 25 through the proportional valve 12. The control of the proportional valve 12 via an associated stepper motor 15 by a local electronic control unit ECU (electronic control unit) 10 a. This monitors and controls the state of the local electrohydraulic control circuit 17 and associated drive unit 1 1, allows the implementation of complex algorithms, provides an interface for communication to the outside via a bus system (such as CAN) and the possibility of a variety of sensors, such as Inclination sensors on the mast segments, rotation angle sensors in the articulated joints or pressure sensors for detecting the pressures in the working lines to connect with this. In addition, the controller 10a receives the motion command transmitted by the central controller 10 (FIG central control device 10 (FIG. 1) is calculated on the basis of the travel command generated by the adjustment of the control lever 8 (FIG. 1) for the associated drive unit and processes it into a drive signal for the proportional valve 12, which is thereby switched and the drive unit 1 1 pressed. Depending on the position of the proportional valve 12, one of the pressure supply (P1) 24 associated supply pressure to a working line 13 or 14 of the associated drive unit 1 1 is switched. The check valves 16, 16a perform a load holding function when the control circuit 17 is in an inactive state or a safe state. These check valves 16, 16a are designed as hydraulically releasable check valves 16, 16a, which can be opened and closed independently of the position of the proportional valve 12 by the local control device 10a. The check valve 23 also has a safety function, in particular it prevents pressing of the check valves 16, 16a in the case of a clamping valve piston outside the central position in the proportional valve 12. In addition, with the sensors 18, 18a, 18b, the supply pressure of the supply line P1, by sensor 18, in the active state of the electro-hydraulic control circuit 17 and the pressures in the working lines 13, 14, by sensors 18a, 18b, to the hydraulic drive unit 1 1 measured. These measurements are used by the local control 10a to determine the desired position of the proportional valve 12, which quasi-statically leads to a desired volume flow or the conversion of the motion input for the hydraulic drive unit 11 transmitted from the central control 10. In the illustrated embodiment, the electrohydraulic control circuit 17 also includes an optional emergency hydraulic emergency circuit connected in parallel with the proportional valve 12. This emergency circuit allows a method of the drive unit 1 1 in case of failure of the proportional valve 12 associated (upstream or downstream) components. Each proportional valve 12 for controlling a drive unit 1 1 is preferably associated with a separate emergency circuit. The emergency circuit comprises a control valve 21 for controlling the direction of travel of the drive unit 1 1 in emergency operation and two mutually coupled valves 20, 20a, which are designed as hydraulically releasable check valves or Senkbremsventile 20, 20a in classic circuit. With the Downstream adjustable throttles 19, 19a, the travel speed can be limited in emergency mode. The drive unit 1 1, in particular the hydraulic cylinder, can be moved in emergency mode by the control valve 1 1 for emergency operation, the power unit 1 1 associated working lines 13, 14 is subjected to a pressure difference. For this purpose, the working lines 13, 14 are optionally each connected to a second pressure supply (P2) 26 or a second return (T2) 27 of the control valve 21. In emergency operation, the pressure supply of the drive unit 1 1 preferably via the separate pressure supply (P2) 26 and the separate return (T2) 27, so that in a leakage of the pressure supply (P1) 24 or the return (T1) 25 is still a control of the drive unit 1 is possible. In this way, it can be ensured that in case of failure of the regular boom control together with the proportional valve 12, the mast 2 (FIG. 1) can still be moved, for example to retract the mast 2 (FIG. 1) and if necessary to pump out the residual concrete from the concrete pump and the delivery pipes. The control valves 21 associated with each proportional valve 12 are arranged parallel to one another on the separate pressure supply (P2) 26 and on the separate return (T2) 27. The local electronic control device 10a also monitors the state and behavior of the control circuit 17 by means of the available sensors. As soon as the local electronic control device 10a detects an error, it automatically switches the control circuit 17 to a safe state.
Alternativ könnten die Aufgaben der lokalen Steuereinheiten 10a direkt von der zentralen Steuereinheit 10 übernommen werden, sodass auf die lokalen Steuereinheiten 10a verzichtet werden kann. Dies hat jedoch den Nachteil, dass der elektrische Verkabelungsaufwand bzw. die Auslastung des verwendeten BUS-Systems wesentlich erhöht wird. Denkbar wäre es auch im Sinne eines Kompromisses, mehrere lokale Steuereinheiten zusammenzufassen, sodass diese die Steuerung von jeweils mehr als einem Antriebsaggregat übernehmen. Weiter vorteilhaft ist eine Ausgestaltung, bei der die Rückschlagventile einen definierten Öffnungszustand schalten. Mittels dieses definierten Öffnungszustands lässt sich der Manipulator auch bei kleinen Verschwenkgeschwindigkeiten in den einzelnen Knickgelenken einfach und sicher durch den Benutzer am Steuerhebel bedienen. Alternatively, the tasks of the local control units 10a could be taken over directly by the central control unit 10, so that the local control units 10a can be dispensed with. However, this has the disadvantage that the electrical wiring complexity or the utilization of the BUS system used is substantially increased. It would also be conceivable, in the sense of a compromise, to combine a plurality of local control units, so that they assume control of more than one drive unit in each case. Further advantageous is an embodiment in which the check valves switch a defined opening state. By means of this defined opening state, the manipulator can be used even in small Operating the swiveling speeds in the individual articulated joints simply and safely by the user on the control lever.
Durch die Minimierung und Verkürzung der hydraulischen Arbeitsleitungen zwischen den Proportionalventilen 12 und dem hydraulischen Antriebsaggregat 1 1 und dem definierten Öffnungszustand der Ventile 16, 16a für die Lasthaltefunktion, welcher unabhängig von der Stellung des Proportionalventils 12 sowie der auftretenden Druckverhältnisse ist, wird für die einzelnen Antriebsaggregate 1 1 ein optimales Ansprechverhalten mit minimierter Verzögerungszeit zwischen der Verstellung des Steuerhebels 8 in eine Stellrichtung und der Ausführung einer Bewegung durch die Antriebsaggregate 1 1 erreicht. Insbesondere ist diese Verzögerungszeit für alle Antriebsaggregate 1 1 des Knickmasts 2 näherungsweise identisch, sodass bei der Einleitung einer Bewegung des Knickmastes 2 mit gleichzeitiger Betätigung mehrerer Antriebsaggregate 1 1 die Bewegung sehr präzise umgesetzt werden kann, ohne dass zu Beginn der Bewegung unerwünschte Verschwenkbewegungen des Knickmastes 2 in nicht beabsichtigte Richtungen erzeugt werden. By minimizing and shortening the hydraulic working lines between the proportional valves 12 and the hydraulic drive unit 1 1 and the defined opening state of the valves 16, 16a for the load-holding function, which is independent of the position of the proportional valve 12 and the pressure conditions occurring, is for the individual drive units 1 1 optimum response with minimized delay time between the adjustment of the control lever 8 in a direction and the execution of a movement by the drive units 1 1 achieved. In particular, this delay time for all drive units 1 1 of the articulated mast 2 is approximately identical, so that at the initiation of a movement of the articulated mast 2 with simultaneous operation of multiple drive units 1 1, the movement can be implemented very precisely without unwanted pivoting movements of the articulated mast 2 at the beginning of the movement are generated in unintended directions.
Bezuaszeichenliste Manipulator Bezuaszeichenliste manipulator
Knickmast  articulated mast
Mastspitze  mast top
Hochachse  vertical axis
Drehschemel  turntable
6a ,6b, 6c Mastsegmente  6a, 6b, 6c mast segments
7a, 7b Knickgelenke  7a, 7b Articulated joints
Steuerhebel  control lever
Fernsteuereinrichtung  Remote control device
10 Zentrale Steuereinheit  10 central control unit
10a - Lokale Steuereinheit(en)  10a - local control unit (s)
1 1 Antriebsaggregat  1 1 drive unit
12 Proportionalventil  12 proportional valve
3 Arbeitsleitung A  3 work management A
14 Arbeitsleitung B  14 Management B
15 Schrittmotor  15 stepper motor
16 16a Lasthalt-/Sperrventile  16 16a load-holding / shut-off valves
17 Steuerkreis 18 18a, 18b Drucksensoren 17 control circuit 18 18a, 18b pressure sensors
19 19a einstellbare Drosseln  19 19a adjustable throttles
20 20a Senkbrems-(Rückschlag-)ventile 20 20a lowering brake (check) valves
21 Steuerventil 21 control valve
22 Freigabeventil 22 release valve
23 Sperrventil  23 check valve
24 Druckversorgung (Nornnalbetrieb) 24 pressure supply (Nornnalbetrieb)
25 Rücklauf (Nornnalbetrieb) 25 return (Nornnalbetrieb)
26 Druckversorgung (Notbetrieb) 27 Rücklauf (Notbetrieb)  26 Pressure supply (emergency operation) 27 Return operation (emergency operation)

Claims

Patentansprüche claims
1 . Manipulator (1 ), insbesondere Großmanipulator für Autobetonpumpen, mit einem ausfaltbaren Knickmast (2), der einen um eine Hochachse (4) drehbaren Drehschemel (5) und eine Mehrzahl von Mastsegmenten (6, 6a, 6b, 6c) aufweist, wobei die Mastsegmente (6, 6a, 6b, 6c) an Knickgelenken (7, 7a, 7b) jeweils um Knickachsen gegenüber einem benachbarten Mastsegment (6, 6a, 6b, 6c) oder dem Drehschemel (5) mittels je eines Antriebsaggregates (1 1 ) begrenzt verschwenkbar sind, und mit einer mindestens einen Steuerhebel (8) aufweisenden Fernsteuereinrichtung (9), wobei der Steuerhebel (8) in mehrere Stellrichtungen verstellbar ist, und mit einer Steuereinrichtung (10) zur Ansteuerung der Antriebsaggregate (1 1 ), 1 . Manipulator (1), in particular large manipulator for truck-mounted concrete pumps, with a folding articulated mast (2) having a about a vertical axis (4) rotatable fifth wheel (5) and a plurality of mast segments (6, 6a, 6b, 6c), wherein the mast segments (6, 6a, 6b, 6c) at articulated joints (7, 7a, 7b) in each case about buckling axes relative to an adjacent pole segment (6, 6a, 6b, 6c) or the fifth wheel (5) by means of a respective drive unit (1 1) limited pivotally are, and with at least one control lever (8) having remote control device (9), wherein the control lever (8) is adjustable in a plurality of adjustment directions, and with a control device (10) for controlling the drive units (1 1),
d a d u r c h g e k e n n z e i c h n e t , dass die Steuereinheit (10) einen Fahrbefehl, der eine gewünschte Bewegung der Mastspitze (3) des Knickmastes oder eines daran angebrachten Endschlauchs angibt, wobei der Fahrbefehl durch eine Verstellung des Steuerhebels (8) in wenigstens eine Stellrichtung erzeugbar ist, in Bewegungsvorgaben für die Antriebsaggregate (1 1 ) umsetzt, und dass die Antriebsaggregate (1 1 ) mittels jeweils eines elektrisch angesteuerten Proportionalventils (12) betätigbar sind, welches mit hydraulischen Arbeitsleitungen (13, 14) des jeweiligen Antriebsaggregates (1 1 ) zu dessen Ansteuerung verbunden ist, und mindestens ein Proportionalventil (12) direkt an oder in unmittelbarer Nähe zu den zu steuernden Antriebsaggregaten (1 1 ) angeordnet ist. characterized in that the control unit (10) indicates a movement command indicating a desired movement of the mast top (3) of the articulated mast or of an end hose attached thereto, wherein the movement command can be generated by an adjustment of the control lever (8) in at least one adjustment direction, in movement specifications for the drive units (1 1) converts, and that the drive units (1 1) by means of an electrically controlled proportional valve (12) are actuated, which is connected to hydraulic working lines (13, 14) of the respective drive unit (1 1) to its control, and at least one proportional valve (12) is arranged directly on or in the immediate vicinity of the drive units (1 1) to be controlled.
2. Manipulator nach Anspruch 1 , dadurch gekennzeichnet, dass der Fahrbefehl eine gewünschte Bewegung der Mastspitze (3) des Knickmastes oder eines daran angebrachten Endschlauchs in Richtung kartesischer oder Polar- Koordinaten angibt. 2. Manipulator according to claim 1, characterized in that the movement command indicates a desired movement of the mast top (3) of the articulated mast or an attached end hose in the direction of Cartesian or polar coordinates.
3. Manipulator nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass das mindestens eine, direkt an oder in unmittelbarer Nähe zu dem zu steuernden Antriebsaggregat (1 1 ) angeordnete Proportionalventil (12) mit einem Schrittmotor (15) ansteuerbar ist. 3. Manipulator according to claim 1 or 2, characterized in that the at least one, directly on or in close proximity to the drive unit to be controlled (1 1) arranged proportional valve (12) with a stepping motor (15) is controllable.
4. Manipulator nach Anspruch 3, dadurch gekennzeichnet, dass das mindestens eine direkt, an oder in unmittelbarer Nähe zu dem zu steuernden Antriebsaggregat (1 1 ) angeordnete Proportionalventil (12) ein Gehäuse aufweist, welches einen Ventilkolben, eine Rückstellfeder und den Schrittmotor (15) enthält. 4. Manipulator according to claim 3, characterized in that the at least one directly, at or in close proximity to the drive unit to be controlled (1 1) arranged proportional valve (12) has a housing which a valve piston, a return spring and the stepping motor (15 ) contains.
5. Manipulator nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass zur Lasthaltefunktion verwendete Ventile (16, 16a) als hydraulisch entsperrbare Rückschlagventile ausgebildet sind. 5. Manipulator according to one of claims 1 to 4, characterized in that valves used for the load-holding function (16, 16 a) are designed as hydraulically releasable check valves.
6. Manipulator nach Anspruch 5, dadurch gekennzeichnet, dass die Stellung der Rückschlagventile (16, 16a) unabhängig von der Stellung des Proportionalventils (12) durch die erste Steuereinheit (10) und/oder eine weitere Steuereinheit veränderbar ist. 6. Manipulator according to claim 5, characterized in that the position of the check valves (16, 16 a) independently of the position of the proportional valve (12) by the first control unit (10) and / or another control unit is variable.
7. Manipulator nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass das mindestens eine direkt an oder in unmittelbarer Nähe zu dem zu steuernden Antriebsaggregat (1 1 ) angeordnete Proportionalventil (12) einen dazu parallelen hydraulischen Notkreis aufweist, wobei der Notkreis bevorzugt zumindest ein steuerbares Schaltventil (21 ) aufweist, welches direkt an oder in unmittelbarer Nähe zu dem zu steuerndem Antriebsaggregat (1 1 ) angeordnet ist und vorzugsweise über eine eigene Druckversorgungsleitung (26) versorgt ist, sowie hydraulisch entsperrbare Rückschlagventile oder Senkbremsventile (20, 20a) zum Erreichen einer Lasthaltefunktion enthält. 7. Manipulator according to one of claims 1 to 6, characterized in that the at least one directly to or in the immediate vicinity of the drive unit to be controlled (1 1) arranged proportional valve (12) has a parallel hydraulic emergency circuit, wherein the emergency circuit preferably at least a controllable switching valve (21) which is arranged directly on or in the immediate vicinity of the drive unit to be controlled (1 1) and preferably via its own pressure supply line (26) is supplied, and hydraulically releasable check valves or Senkbremsventile (20, 20a) for Achieving a load-holding function contains.
8. Manipulator nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass die Steuereinheit (10) zur aktiven Schwingungsdämpfung eingerichtet ist, wobei die Steuereinheit (10) Ansteuersignale für die Antriebsaggregate (1 1 ) zur Dämpfung von Schwingungen des Knickmastes erzeugt. 8. Manipulator according to one of claims 1 to 7, characterized in that the control unit (10) is adapted for active vibration damping, wherein the control unit (10) generates control signals for the drive units (1 1) for damping vibrations of the articulated mast.
9. Manipulator nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass die Umsetzung der Bewegungsvorgaben in Ansteuersignale für das mindestens eine direkt an oder in unmittelbarer Nähe zu dem zu steuernden Antriebsaggregat (1 1 ) angeordnete Proportionalventil (12) durch eine lokale Steuereinheit (10a) erfolgt. 9. Manipulator according to one of claims 1 to 8, characterized in that the implementation of the movement specifications in control signals for at least one directly on or in close proximity to the drive unit to be controlled (1 1) arranged proportional valve (12) by a local control unit ( 10a) takes place.
EP17720372.6A 2016-04-11 2017-04-10 Large manipulator with decentralized hydraulic system Active EP3452672B1 (en)

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EP3452672B1 (en) 2021-09-29
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US11105106B2 (en) 2021-08-31
DE102016106595A1 (en) 2017-10-12

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