EP3477018B1 - Hollow two point lever - Google Patents

Hollow two point lever Download PDF

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Publication number
EP3477018B1
EP3477018B1 EP18201908.3A EP18201908A EP3477018B1 EP 3477018 B1 EP3477018 B1 EP 3477018B1 EP 18201908 A EP18201908 A EP 18201908A EP 3477018 B1 EP3477018 B1 EP 3477018B1
Authority
EP
European Patent Office
Prior art keywords
cavity
mast arm
lever
point lever
point
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18201908.3A
Other languages
German (de)
French (fr)
Other versions
EP3477018A1 (en
Inventor
Thomas JASNIEWICZ
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
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Filing date
Publication date
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Publication of EP3477018A1 publication Critical patent/EP3477018A1/en
Application granted granted Critical
Publication of EP3477018B1 publication Critical patent/EP3477018B1/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/68—Jibs foldable or otherwise adjustable in configuration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/64—Jibs
    • B66C23/70—Jibs constructed of sections adapted to be assembled to form jibs or various lengths
    • B66C23/701—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic
    • B66C23/702—Jibs constructed of sections adapted to be assembled to form jibs or various lengths telescopic with a jib extension boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/3604—Devices to connect tools to arms, booms or the like
    • E02F3/3609—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat
    • E02F3/3668—Devices to connect tools to arms, booms or the like of the quick acting type, e.g. controlled from the operator seat where engagement is effected by a mechanical lever or handle

Definitions

  • the invention relates to a mast arm for a large manipulator, the mast arm having a turntable that can be rotated about a vertical axis and a plurality of mast arm segments, the mast arm segments on articulated joints each being pivotable about articulated axes relative to an adjacent mast arm segment or the turntable by means of a drive unit each, with at least one the drive unit is attached to a first mast arm segment and acts on a second mast arm segment or the turntable via a lever mechanism, the lever mechanism comprising at least one two-point lever.
  • Mast arms for large manipulators are from the prior art, for example from CN 205 743 025 U , CN 103 216 096 A , CN 203 613 805 U or WO 2014/032840 A1 , known.
  • Such mast arms comprise at least two mast arm segments which can be pivoted at articulated joints around horizontal articulation axes relative to an adjacent mast arm segment by means of a drive element each, in particular by means of a hydraulic cylinder, in particular limited between a folded position and a working position.
  • the WO 2016/078706 A1 propose to provide recesses or breakthroughs in the two-point levers.
  • the depressions or breakthroughs do not increase the buckling resistance.
  • the levers would have to be made thicker, which increases their weight.
  • the object of the invention to provide a mast arm of the type mentioned above, which meets the growing demands on the range of large manipulators without being associated with impairments in other respects.
  • the weight or the mass of the mast arm should be reduced in relation to the reach of the mast without reducing the buckling rigidity of the two-point lever.
  • the two-point lever encloses at least one cavity, a weight saving can be achieved without reducing the buckling rigidity of the two-point lever. Due to the cavity in the two-point lever, the outer dimensions can be increased slightly at the same time, which increases the area moment of inertia, i.e. the buckling rigidity, of the lever with the same weight. On the other hand, this allows the weight of the two-point lever to be reduced without impairing the buckling rigidity.
  • the two-point levers on the mast arm segments are exposed to high tensile and compressive forces. In particular, due to the pressure load and the resulting risk of kinking, the two-point levers are usually very wide and are therefore very heavy.
  • a two-point lever pivoted far from the turntable when the mast arm is in operation therefore generates a high load torque on the large manipulator, which harbors the risk of the entire machine tipping over.
  • large support widths are again necessary on the vehicle frame, which restricts the installation of the vehicle or large manipulator at the place of use.
  • a hollow two-point lever With a hollow two-point lever, a weight saving can be achieved which, even with a small wall thickness of the two-point lever surrounding the cavity, ensures a high level of buckling resistance under pressure loads and reduces the required support widths.
  • the wall thickness of the hollow two-point lever must be adapted to the maximum effective tensile force, since the cross-sectional area of the two-point lever between the tensile points is decisive in the event of a tensile load.
  • the two-point lever has at least two bearing points, the cavity being formed in a section between the bearing points.
  • the bearing points of the two-point lever are preferably formed by bearing rings or bearing eyes, through which a bolt engages in each case and the two-point lever is rotatably mounted on the mast arm segment, deflection lever or turntable.
  • a cavity-forming section is formed in the two-point lever between these bearing points and forms the weight-saving cavity. Because the cavity is formed between the bearing points, the bearing points themselves are sufficiently large to absorb tensile and compressive forces.
  • the bearing rings or bearing eyes forming the bearing points are preferably designed as solid steel rings for this purpose.
  • a particularly advantageous embodiment which does not form part of the invention, provides that the cavity-forming section is designed as a tube.
  • a tube which is usually rolled but also drawn or welded, can have a round or angular cross section.
  • a tube as a cavity-forming section between the bearing rings or bearing eyes makes it possible that weld seams are only required between the tube and the bearing rings or bearing eyes to form the two-point lever, so that the weak points are limited in particular for tensile loads on the two-point lever.
  • the cavity-forming section has at least one cavity-forming cutout.
  • the cavity-forming section can also have a burn-out in which material for forming the cavity was burned out of a component of the two-point lever.
  • the formation of the cavity by milling or burning out is a simple way of doing that To reduce the weight of the two-point lever through a geometrically precisely predeterminable cavity.
  • the cavity-forming section has at least one cavity-forming bore.
  • the cavity-forming section comprises welded-on side plates.
  • the welding of side plates in the cavity-forming section increases the buckling rigidity of the two-point lever when subjected to pressure by stiffening the outer edges of the two-point lever.
  • the welded-on side plates are formed continuously beyond the at least two bearing points. Because the welded-in side plates protrude beyond the bearing points, in particular the bearing rings or bearing eyes, they are connected to one another by a cohesive, rolled material layer. In order to connect the side plates to the bearing rings or bearing eyes of the bearing points, welds are advantageously provided.
  • the cavity-forming section is formed from metal sheets welded together.
  • a cavity-forming section can be produced very simply and inexpensively by welding metal sheets.
  • a box profile is preferably made from four metal sheets placed next to one another, which are connected to one another via weld seams.
  • the invention also relates to a large manipulator which has a mast arm which has already been described in more detail above and below.
  • a mast arm according to the invention is shown in the figures with the reference number 1.
  • the mast arm 1 is in Figure 1 shown mounted on a large manipulator 2.
  • the representation according to Figure 1 shows a large manipulator 2 with a mast arm 1, which has a turntable 4 rotatable about a vertical axis 3 and a plurality of mast arm segments 5, 5a, 5b.
  • the mast arm segments 5, 5a, 5b can be pivoted by means of articulated joints 6, 6a, 6b about articulated axes relative to an adjacent mast arm segment 5, 5a, 5b or the turntable 4 by means of a drive unit 7, 7a, 7b each.
  • the mast arm 1 is shown folded up so that the large manipulator 2, which is designed as a vehicle, can drive to the place of use in road traffic.
  • the drive units 7, 7a, 7b are attached to the mast arm segments 5, 5a, 5b and act via lever gears 8 on another mast arm segment 5, 5a, 5b or the turntable 4 a two-point lever 9.
  • a two-point lever 9 is shown, which is subject to a high tensile load at the beginning of the unfolding process.
  • the two-point lever 9 shown is supported by bolts on the first mast arm segment 5 and on the reversing lever 19 on which the first drive unit 7 acts.
  • the other articulated joints 6a, 6b also include lever gears 8 on which two-point levers 9 are provided in order to transmit tensile and compressive forces between the mast arm segment 5 and the deflection lever 19 on the drive unit 7a, 7b when the mast arm 1 is folded in and out.
  • FIG 2 shows a schematic view of a mast arm 1 according to the invention in one embodiment.
  • the mast arm 1 has a first 5 and a second 5a mast arm segment, which is attached to an articulated joint 6a around a horizontal
  • the articulation axis can be pivoted with respect to the adjacent mast arm segment 5, 5a by means of a drive unit 7, 7a.
  • the drive unit 7a which is preferably a hydraulic cylinder, is attached to the first mast arm segment 5 and acts on the second mast arm segment 5a via a lever mechanism 8.
  • the lever mechanism 8 preferably has two levers, one lever being designed as a two-point lever 9 and the other lever as a reversing lever 19.
  • a lever mechanism 8, on which the first drive unit 7 acts, is also provided between the first mast arm segment 5 and the turntable 4.
  • the lever mechanism 8 arranged on the first articulated joint 6 also has a two-point lever 9 in addition to the deflection lever 19, which is exposed to the maximum pressure in the mast arm position shown, since the first drive unit 7 acts on the deflection lever 19 on the first articulated joint 6 in the position shown Exerts tensile load.
  • the two-point lever 9 on the second articulated joint 6a is pivoted by the mast arm 1 in such a way that the weight of the two-point lever 9 exerts a large load moment on the turntable 4.
  • the load moment exerted by the two-point lever 9 can be reduced in the position shown, so that the supports 18 ( Figure 1 ) do not have to be extended as far to prevent the large manipulator 2 ( Figure 1 ) to prevent.
  • the supports 18 ( Figure 1 ) can therefore also be dimensioned shorter. This makes the installation of the large manipulator ( Figure 1 ) also more flexible at the place of use, since a smaller support width is required to safely support the large manipulator 2.
  • FIG 3a shows a schematic view of a two-point lever 9 in a first embodiment not according to the invention.
  • a two-point lever 9 can be used in a lever mechanism 8 ( Figure 1 and 2 ) of a mast arm 1 ( Figure 1 and 2 ) are used and save weight here and reduce the load torque which is exerted on the turntable 4 by the weight of the two-point lever 9.
  • a two-point lever 9 is shown which is assembled from several components in order to form a cavity 10. The assembled components are two bearing rings which form the bearing points 11, 12 of the two-point lever 9.
  • a section 13 is formed between the bearing rings 11, 12 and consists of a round tube that is rolled, for example. This round tube 13 forms a cavity 10, which in Figure 3b you can see.
  • the two-point lever 9 is made from the components 11, 12, 13, as in FIG Figure 3a shown, put together. This results in a two-point lever 9 that is easy to manufacture and offers a significant reduction in weight compared to conventional two-point levers 9.
  • the Figure 4a shows a further embodiment of a two-point lever 9, not according to the invention, made of a rolled tube 13, for example.
  • the section 13 between the bearing rings, which form the bearing points 11, 12, is formed by a square tube 13 in the exemplary embodiment shown here.
  • the square tube 13 forms a cavity 10 between the two bearing points 11, 12.
  • the square cross-sectional contour of the rolled tube 13 being particularly suitable to ensure sufficient buckling resistance for pressure loads, since the area moment of inertia of the lever 9 is increased by the enlarged external dimensions.
  • the tube 13 is connected to the further components, or to the bearing rings 11, 12 of the two-point lever 9, preferably via welded connections.
  • the Figure 5a shows a further embodiment of the two-point lever 9 according to the invention.
  • the two-point lever 9 is assembled from several components, the assembled components forming the cavity 10.
  • a cavity-forming cutout 14 is provided in the section 13 forming the cavity 10.
  • the cavity 10 can also be produced, for example, by burning out material from the component 20.
  • the one-piece central component 20 of the two-point lever 9 has a corresponding cavity-forming cutout 14 or burnout 14.
  • the cavity forming portion 13 also includes welded side plates 16, 16a in Figure 5b shown separately.
  • the side plates 16 16a are formed continuously beyond the bearing points 11, 12 and thereby offer additional stability for the two-point lever 9 formed in this way Figure 5a
  • the two-point lever 9 shown, the side plates 16, 16a are welded onto the central component 20 so that the cavity-forming cutout 14 is covered by the side plates 16, 16a.
  • the side plates 16, 16a increase the buckling rigidity of the two-point lever 9.
  • the Figure 6a shows a two-point lever 9 according to the invention in a further embodiment.
  • a central component 20 is provided, which has a cutout 14 or burnout 14 that forms a cavity in the region of the cavity-forming section 13 between the bearing points 11, 12, as is also the case in FIG Figure 6b can be seen.
  • the side plates 21, 22 welded to the central component 20 are constructed in several parts and have a web 21 and sheet metal rings 22 covering the bearing rings 11, 12 14 or burnout 14 before.
  • the two-point lever 9 shown not according to the invention, has a cavity 10 through which the two-point lever 9 saves significantly in weight compared to levers made of solid material.
  • the two-point lever 9 shown here is composed of several components 11, 12, 16, 16a, 16b, 16c assembled, the components 11, 12, 16, 16a, 16b, 16c assembled including a cavity 10, which in a section 13 is formed between the bearing points 11, 12.
  • the cavity-forming section 13 is formed from sheets 16, 16a, 16b, 16c welded together.
  • the cavity-forming section 13 has welded-on side plates 16, 16a, which are formed continuously beyond the at least two bearing points 11, 12.
  • the bearing rings 11, 12, which form the bearing points 11, 12 are surrounded by the welded-in side plates 16, 16a, which results in a stable and kink-resistant two-point lever 9 with a reduced dead weight.
  • the Figures 8a and 8b show a two-point lever 9, not according to the invention, which is also assembled from several components 11, 12, 16, 16a, 16b, 16c, the components 11, 12, 16, 16a, 16b, 16c together forming a cavity 10, which is in a section 13 is formed between the bearing points 11, 12.
  • the cavity-forming section 13 has welded-on side plates 16, 16a, which are formed continuously beyond the at least two bearing points 11, 12.
  • the bearing rings 11, 12, which form the bearing points 11, 12, are surrounded by the welded-in side plates 16, 16a.
  • the cavity-forming section 13 comprises further sheets 16b, 16c, which are welded together with the side sheets 16, 16a to form an edge profile in order to form the cavity 10.
  • bearing rings 11, 12 of the bearing points 11, 12 have a projection 23 for screwing the anti-rotation device of the hinge pin received in the bearing rings 11, 12 (not shown).
  • This anti-rotation device is in Figure 8c shown in more detail. It can be seen here that the bearing ring 12 has a further projection 24 for positioning and for securing the weld pool.
  • a rotation lock 25 of the bolt is indicated by dashed lines.
  • the further bearing ring 11 is also designed accordingly.
  • FIGS 9a, 9b and 9c show a two-point lever 9, not according to the invention, wherein a cavity 10 is formed in a section 13 between the bearing points 11, 12 in that a plurality of cavity-forming bores 15 are provided in the section 13. These introduced bores 13 are shown in the sectional views according to FIG Figures 9b and 9c can be seen very well and run between the two bearing points 11, 12 along the cavity-forming section 13.
  • FIGS. 10a, 10b and 10c show a two-point lift 9 not according to the invention, a cavity 10 also being formed here in a section 13 between the bearing points 11, 12, a cutout 14 being provided in the cavity-forming section 13 for this purpose.
  • This milled recess 14 is shown in the sectional views according to FIG Figures 10b and 10c can be seen very well and runs between the two bearing points 11, 12 along the cavity-forming section 13.
  • the representation according to Figure 11 shows a two-point lever 9 not according to the invention, which is designed in particular for a buckling load in the lever plane. Due to the shape of the lever 9, in particular the cavity-forming section 13, the lever 9 is particularly adapted to its buckling shape, so that the lever 9 can optimally absorb a buckling load in the lever plane with the least possible use of material.
  • the two-point lever 9 acts like a buckling rod according to Euler case 2.
  • the representation according to Figure 12 shows a two-point lever 9 not according to the invention, which is designed in particular for a buckling load perpendicular to the lever plane.
  • the description for the Figure 11 Shall apply accordingly.
  • the two-point lever 9 acts like a buckling rod according to Euler case 4.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Manipulator (AREA)
  • Vehicle Body Suspensions (AREA)
  • Jib Cranes (AREA)

Description

Die Erfindung betrifft einen Mastarm für einen Großmanipulator, wobei der Mastarm einen um eine Hochachse drehbaren Drehschemel und eine Mehrzahl von Mastarmsegmenten aufweist, wobei die Mastarmsegmente an Knickgelenken jeweils um Knickachsen gegenüber einem benachbarten Mastarmsegment oder dem Drehschemel mittels je eines Antriebsaggregates verschwenkbar sind, wobei wenigstens eines der Antriebsaggregate an einem ersten Mastarmsegment befestigt ist und über ein Hebelgetriebe auf ein zweites Mastarmsegment oder den Drehschemel wirkt, wobei das Hebelgetriebe wenigstens einen Zweipunkthebel umfasst.The invention relates to a mast arm for a large manipulator, the mast arm having a turntable that can be rotated about a vertical axis and a plurality of mast arm segments, the mast arm segments on articulated joints each being pivotable about articulated axes relative to an adjacent mast arm segment or the turntable by means of a drive unit each, with at least one the drive unit is attached to a first mast arm segment and acts on a second mast arm segment or the turntable via a lever mechanism, the lever mechanism comprising at least one two-point lever.

Mastarme für Großmanipulatoren sind aus dem Stand der Technik, beispielsweise aus CN 205 743 025 U , CN 103 216 096 A , CN 203 613 805 U oder WO 2014/032840 A1 , bekannt. Solche Mastarme umfassen wenigstens zwei Mastarmsegmente, die an Knickgelenken um jeweils horizontale Knickachsen gegenüber einem benachbarten Mastarmsegment mittels je eines Antriebselements, insbesondere mittels eines Hydraulikzylinders, insbesondere begrenzt zwischen einer Einfaltstellung und einer Arbeitsstellung verschwenkbar sind.Mast arms for large manipulators are from the prior art, for example from CN 205 743 025 U , CN 103 216 096 A , CN 203 613 805 U or WO 2014/032840 A1 , known. Such mast arms comprise at least two mast arm segments which can be pivoted at articulated joints around horizontal articulation axes relative to an adjacent mast arm segment by means of a drive element each, in particular by means of a hydraulic cylinder, in particular limited between a folded position and a working position.

Die Anforderungen an die Reichweite von Großmanipulatoren wachsen immer weiter. Indem jedoch die Maße bzw. das Gewicht der Großmanipulatoren aufgrund gesetzlicher Regelungen bestimmte Grenzen nicht ohne weiteres überschreiten dürfen, bedarf es spezieller Überlegungen, um den größeren Reichweitenanforderungen gerecht zu werden, ohne dabei gesetzliche Bestimmungen zu verletzen.The requirements for the range of large manipulators are growing all the time. However, since the dimensions or weight of the large manipulators may not easily exceed certain limits due to legal regulations, special considerations are required in order to deal with the larger ones To meet range requirements without violating legal regulations.

Aus dem Stand der Technik sind Großmanipulatoren, insbesondere Autobetonpumpen, bekannt, bei denen die miteinander gelenkig verbundenen Mastarmsegmente über Hebelgeometrien miteinander verbunden sind, so dass sie gegeneinander ein- bzw. ausgefaltet werden können. Hierbei wirkt in der Regel ein Hydraulikzylinder über Umlenkhebel auf die Mastarmsegmente. In der Regel sind die Hebel als gerade Stangen ausgebildet. Bei Autobetonpumpen kann die Verlegung der Betonförderleitung durch die Knickgelenke vorgesehen sein. Dann sind die Hebel oft gebogen ausgebildet, um beim Bewegen der Mastarmsegmente eine Kollision zwischen Umlenkhebel und der Betonförderleitung zu verhindern. Die bekannten Umlenkhebel weisen aber insgesamt das Problem auf, dass sie aufgrund der großen zu übertragenden Belastungen und aufgrund der gekrümmten Form ein sehr hohes Eigengewicht aufweisen.Large manipulators, in particular truck-mounted concrete pumps, are known from the prior art, in which the mast arm segments that are articulated to one another are connected to one another via lever geometries so that they can be folded in and out of one another. In this case, a hydraulic cylinder usually acts on the mast arm segments via deflection levers. As a rule, the levers are designed as straight rods. With truck-mounted concrete pumps, the laying of the concrete delivery line can be provided through the articulated joints. The levers are then often curved in order to prevent a collision between the deflection lever and the concrete delivery line when the mast arm segments are moved. The known deflection levers, however, have the overall problem that they have a very high dead weight due to the large loads to be transmitted and due to the curved shape.

Aus diesem Grund schlägt die WO 2016/078706 A1 vor, Vertiefungen oder Durchbrüche in den Zweipunkthebeln vorzusehen. Allerdings vergrößern die Vertiefungen oder Durchbrüche nicht die Knicksteifigkeit. Zur Vergrößerung der Knicksteifigkeit müssten die Hebel dicker ausgeführt werden, wodurch sich deren Gewicht erhöht.For this reason, the WO 2016/078706 A1 propose to provide recesses or breakthroughs in the two-point levers. However, the depressions or breakthroughs do not increase the buckling resistance. To increase the buckling rigidity, the levers would have to be made thicker, which increases their weight.

Es ist daher Aufgabe der Erfindung, einen Mastarm der oben genannten Art bereitzustellen, der den gewachsenen Anforderungen an die Reichweite von Großmanipulatoren gerecht wird, ohne dass damit Beeinträchtigungen in anderer Hinsicht einhergehen. Insbesondere soll das Gewicht bzw. die Masse des Mastarms im Verhältnis zur Reichweite des Masts verringert werden, ohne die Knicksteifigkeit des Zweipunkthebels zu reduzieren.It is therefore the object of the invention to provide a mast arm of the type mentioned above, which meets the growing demands on the range of large manipulators without being associated with impairments in other respects. In particular, the weight or the mass of the mast arm should be reduced in relation to the reach of the mast without reducing the buckling rigidity of the two-point lever.

Gelöst wird diese Aufgabe durch einen Mastarm mit den Merkmalen des Anspruchs 1, sowie einen Großmanipulator mit den Merkmalen des Anspruchs 4.This object is achieved by a mast arm with the features of claim 1 and a large manipulator with the features of claim 4.

Dadurch, dass der Zweipunkthebel wenigstens einen Hohlraum umschließt, kann eine Gewichtsersparnis erreicht werden, ohne die Knicksteifigkeit des Zweipunkthebels zu reduzieren. Durch den Hohlraum im Zweipunkthebel kann zugleich die Außenabmessung leicht vergrößert werden, wodurch sich das Flächenträgheitsmoment, also die Knicksteifigkeit, des Hebels bei gleichem Gewicht erhöht. Andererseits lässt sich hierdurch das Gewicht des Zweipunkthebels reduzieren, ohne die Knicksteifigkeit zu beeinträchtigen. Die Zweipunkthebel an den Mastarmsegmenten sind hohen Zug und Druckkräften ausgesetzt. Insbesondere durch die Druckbelastung und die daraus resultierende Knickgefahr, werden die Zweipunkthebel in der Regel sehr breit ausgeführt und haben so ein hohes Gewicht. Ein im Betrieb des Mastarmes weit vom Drehschemel verschwenkter Zweipunkthebel erzeugt daher ein hohes Lastmoment auf den Großmanipulator, was die Gefahr des Kippens der gesamten Maschine in sich birgt. Um dies zu verhindern, sind wiederum große Abstützweiten an dem Fahrzeuggestell nötig, was die Aufstellung des Fahrzeugs bzw. Großmanipulators am Einsatzort einschränkt. Mit einem hohl ausgeführten Zweipunkthebel kann eine Gewichtsersparnis erreicht werden, die auch bei geringer Wandstärke des den Hohlraum umgebenden Zweipunkthebels eine hohe Knicksteifigkeit bei Druckbelastungen sicherstellt und erforderliche Abstützweiten reduziert. Besonders wenn die maximal wirkende Druckbelastung auf den Zweipunkthebel wesentlich größer ist als die maximal wirkende Zugkraft kann durch einen hohl ausgeführten Zweipunkthebel erheblich Gewicht eingespart werden. Die Wandstärke des hohl ausgeführten Zweipunkthebels muss auf die maximal wirkende Zugkraft angepasst sein, da bei einer Zugbelastung die Querschnittsfläche des Zweipunkthebels zwischen den Zugpunkten entscheidend ist.Because the two-point lever encloses at least one cavity, a weight saving can be achieved without reducing the buckling rigidity of the two-point lever. Due to the cavity in the two-point lever, the outer dimensions can be increased slightly at the same time, which increases the area moment of inertia, i.e. the buckling rigidity, of the lever with the same weight. On the other hand, this allows the weight of the two-point lever to be reduced without impairing the buckling rigidity. The two-point levers on the mast arm segments are exposed to high tensile and compressive forces. In particular, due to the pressure load and the resulting risk of kinking, the two-point levers are usually very wide and are therefore very heavy. A two-point lever pivoted far from the turntable when the mast arm is in operation therefore generates a high load torque on the large manipulator, which harbors the risk of the entire machine tipping over. In order to prevent this, large support widths are again necessary on the vehicle frame, which restricts the installation of the vehicle or large manipulator at the place of use. With a hollow two-point lever, a weight saving can be achieved which, even with a small wall thickness of the two-point lever surrounding the cavity, ensures a high level of buckling resistance under pressure loads and reduces the required support widths. Particularly when the maximum pressure load acting on the two-point lever is significantly greater than the maximum tensile force, a hollow two-point lever can save considerable weight. The wall thickness of the hollow two-point lever must be adapted to the maximum effective tensile force, since the cross-sectional area of the two-point lever between the tensile points is decisive in the event of a tensile load.

Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen.Advantageous refinements and developments of the invention emerge from the dependent claims.

Erfindungsgemäß ist vorgesehen, dass der Zweipunkthebel mindestens zwei Lagerpunkte aufweist, wobei der Hohlraum in einem Abschnitt zwischen den Lagerpunkten gebildet ist. Die Lagerpunkte des Zweipunkthebels sind vorzugsweise durch Lagerringe bzw. Lageraugen gebildet, durch die jeweils ein Bolzen greift und den Zweipunkthebel drehbar am Mastarmsegment, Umlenkhebel oder Drehschemel lagert. Zwischen diesen Lagerpunkten ist ein Hohlraum bildender Abschnitt im Zweipunkthebel gebildet, der den gewichtseinsparenden Hohlraum bildet. Dadurch, dass der Hohlraum zwischen den Lagerpunkten gebildet ist, sind die Lagerpunkte selbst zur Aufnahme von Zug- und Druckkräften ausreichend stark dimensioniert. Die die Lagerpunkte bildenden Lagerringe bzw. Lageraugen sind hierzu vorzugsweise als massive Stahlringe ausgebildet.According to the invention it is provided that the two-point lever has at least two bearing points, the cavity being formed in a section between the bearing points. The bearing points of the two-point lever are preferably formed by bearing rings or bearing eyes, through which a bolt engages in each case and the two-point lever is rotatably mounted on the mast arm segment, deflection lever or turntable. A cavity-forming section is formed in the two-point lever between these bearing points and forms the weight-saving cavity. Because the cavity is formed between the bearing points, the bearing points themselves are sufficiently large to absorb tensile and compressive forces. The bearing rings or bearing eyes forming the bearing points are preferably designed as solid steel rings for this purpose.

Eine besonders vorteilhafte Ausführungsform, welche aber keinen Teil der Erfindung darstellt, sieht vor, dass der hohlraumausbildende Abschnitt als Rohr ausgebildet ist. Ein solches Rohr, das üblicherweise gewalzt aber auch gezogen oder geschweißt ist, kann einen runden oder eckigen Querschnitt aufweisen. Ein Rohr als hohlraumausbildender Abschnitt zwischen den Lagerringen bzw. Lageraugen ermöglicht, dass lediglich zwischen dem Rohr und den Lagerringen bzw. Lageraugen Schweißnähte zur Bildung des Zweipunkthebels erforderlich sind, sodass die Schwachstellen insbesondere für Zugbelastungen auf den Zweipunkthebel begrenzt sind.A particularly advantageous embodiment, which does not form part of the invention, provides that the cavity-forming section is designed as a tube. Such a tube, which is usually rolled but also drawn or welded, can have a round or angular cross section. A tube as a cavity-forming section between the bearing rings or bearing eyes makes it possible that weld seams are only required between the tube and the bearing rings or bearing eyes to form the two-point lever, so that the weak points are limited in particular for tensile loads on the two-point lever.

Von besonderem Vorteil ist gemäß einer Ausgestaltung, dass der hohlraumausbildende Abschnitt mindestens eine hohlraumbildende Ausfräsung aufweist. Der hohlraumausbildende Abschnitt kann auch eine Ausbrennung aufweisen, bei der Material zur Bildung des Hohlraumes aus einer Komponente des Zweipunkthebels herausgebrannt wurde. Die Bildung des Hohlraumes durch Ausfräsung oder Ausbrennung stellt eine einfache Möglichkeit dar, das Gewicht des Zweipunkthebels durch einen geometrisch genau vorgebbaren Hohlraum zu reduzieren.According to one embodiment, it is particularly advantageous that the cavity-forming section has at least one cavity-forming cutout. The cavity-forming section can also have a burn-out in which material for forming the cavity was burned out of a component of the two-point lever. The formation of the cavity by milling or burning out is a simple way of doing that To reduce the weight of the two-point lever through a geometrically precisely predeterminable cavity.

Eine vorteilhafte Ausführung ist, dass der hohlraumausbildende Abschnitt mindestens eine hohlraumbildende Bohrung aufweist. Mit der Bildung eines Hohlraumes durch eine oder mehrere in den Zweipunkthebel eingebrachte Bohrungen kann das Gewicht des Zweipunkthebels einfach reduziert werden, ohne die Knicksteifigkeit zu beeinträchtigen. Durch präzise und geeignete Anordnung der hohlraumbildenden Bohrung lässt sich gezielt Gewicht an dem Zweipunkthebel einsparen.An advantageous embodiment is that the cavity-forming section has at least one cavity-forming bore. With the formation of a cavity through one or more bores made in the two-point lever, the weight of the two-point lever can be easily reduced without impairing the buckling rigidity. Through a precise and suitable arrangement of the cavity-forming bore, weight on the two-point lever can be saved in a targeted manner.

Erfindungsgemäß umfasst der hohlraumausbildende Abschnitt angeschweißte Seitenbleche. Die Anschweißung von Seitenblechen im hohlraumausbildenden Abschnitt erhöht die Knicksteifigkeit des Zweipunkthebels bei Druckbelastung durch eine Versteifung an den Außenkanten des Zweipunkthebels.According to the invention, the cavity-forming section comprises welded-on side plates. The welding of side plates in the cavity-forming section increases the buckling rigidity of the two-point lever when subjected to pressure by stiffening the outer edges of the two-point lever.

In einer Option der Erfindung ist vorgesehen, dass die angeschweißten Seitenbleche durchgehend über die mindestens zwei Lagerpunkte hinaus ausgebildet sind. Dadurch, dass die eingeschweißten Seitenbleche über die Lagerpunkte, insbesondere die Lagerringe bzw. Lageraugen, hinausragen, werden diese durch eine zusammenhängende, gewalzte Materialschicht miteinander verbunden. Zur Verbindung der Seitenbleche mit den Lagerringen bzw. Lageraugen der Lagerpunkte sind vorteilhaft Verschweißungen vorgesehen.In one option of the invention it is provided that the welded-on side plates are formed continuously beyond the at least two bearing points. Because the welded-in side plates protrude beyond the bearing points, in particular the bearing rings or bearing eyes, they are connected to one another by a cohesive, rolled material layer. In order to connect the side plates to the bearing rings or bearing eyes of the bearing points, welds are advantageously provided.

Von besonderem Vorteil ist, dass der hohlraumausbildende Abschnitt aus zusammengeschweißten Blechen gebildet ist. Durch das Verschweißen von Blechen lässt sich ein hohlraumausbildender Abschnitt sehr einfach und kostengünstig herstellen. Hierbei wird vorzugsweise ein Kastenprofil aus vier aneinander gesetzten Blechen hergestellt, die über Schweißnähte miteinander verbunden sind Diese Ausführungsform stellt jedoch keinen Teil der Erfindung dar.It is particularly advantageous that the cavity-forming section is formed from metal sheets welded together. A cavity-forming section can be produced very simply and inexpensively by welding metal sheets. In this case, a box profile is preferably made from four metal sheets placed next to one another, which are connected to one another via weld seams.

Ferner betrifft die Erfindung einen Großmanipulator, der einen bereits zuvor und im Folgenden näher beschriebenen Mastarm aufweist.The invention also relates to a large manipulator which has a mast arm which has already been described in more detail above and below.

Weitere Merkmale, Einzelheiten und Vorteile der Erfindung ergeben sich aufgrund der nachfolgenden Beschreibung sowie anhand der Zeichnungen. Ausführungsbeispiele der Erfindung sind in den folgenden Zeichnungen rein schematisch dargestellt und werden nachfolgend näher beschrieben. Einander entsprechende Gegenstände sind in allen Figuren mit den gleichen Bezugszeichen versehen. Es zeigen:

Figur 1
erfindungsgemäßer Großmanipulator,
Figur 2
erfindungsgemäßer Mastarm,
Figur 3a, 3b
Zweipunkthebel aus einem Rundrohr (nicht erfindungsgemäß),
Figur 4a, 4b
Zweipunkthebel aus einem Vierkantrohr (nicht erfindungsgemäß),
Figur 5a, 5b
erfindungsgemäßer Zweipunkthebel aus mehreren verschweißten Komponenten,
Figur 6a, 6b
erfindungsgemäßer Zweipunkthebel aus mehreren verschweißten Komponenten,
Figur 7a, 7b
Zweipunkthebel aus mehreren verschweißten Komponenten (nicht erfindungsgemäß),
Figur 8a, 8b
Zweipunkthebel aus mehreren verschweißten Komponenten (nicht erfindungsgemäß),
Figur 8c
Detailansicht zu Zweipunkthebel aus mehreren verschweißten Komponenten (nicht erfindungsgemäß),
Figur 9a, 9b, 9c
Zweipunkthebel mit Bohrung (nicht erfindungsgemäß),
Figur 10a, 10b
Zweipunkthebel mit Ausfräsung (nicht erfindungsgemäß),
Figur 10c
Zweipunkthebel mit Ausfräsung (nicht erfindungsgemäß),
Figur 11
Zweipunkthebel mit Knickbelastung in Hebelebene (nicht erfindungsgemäß),
Figur 12
Zweipunkthebel mit 'Knickbelastung senkrecht zur Hebelebene (nicht erfindungsgemäß),
Further features, details and advantages of the invention emerge on the basis of the following description and on the basis of the drawings. Embodiments of the invention are shown purely schematically in the following drawings and are described in more detail below. Objects that correspond to one another are provided with the same reference symbols in all figures. Show it:
Figure 1
large manipulator according to the invention,
Figure 2
mast arm according to the invention,
Figure 3a, 3b
Two-point lever made from a round tube (not according to the invention),
Figure 4a, 4b
Two-point lever made of a square tube (not according to the invention),
Figure 5a, 5b
two-point lever according to the invention made of several welded components,
Figure 6a, 6b
two-point lever according to the invention made of several welded components,
Figure 7a, 7b
Two-point lever made of several welded components (not according to the invention),
Figures 8a, 8b
Two-point lever made of several welded components (not according to the invention),
Figure 8c
Detailed view of the two-point lever made of several welded components (not according to the invention),
Figures 9a, 9b, 9c
Two-point lever with bore (not according to the invention),
Figure 10a, 10b
Two-point lever with milling (not according to the invention),
Figure 10c
Two-point lever with milling (not according to the invention),
Figure 11
Two-point lever with buckling load in the lever plane (not according to the invention),
Figure 12
Two-point lever with 'buckling load perpendicular to the lever plane (not according to the invention),

In den Figuren mit dem Bezugszeichen 1 bezeichnet ist ein erfindungsgemäßer Mastarm dargestellt. Der Mastarm 1 ist in Figur 1 auf einem Großmanipulator 2 montiert dargestellt. Die Darstellung gemäß Figur 1 zeigt einen Großmanipulator 2 mit Mastarm 1, der einen um eine Hochachse 3 drehbaren Drehschemel 4 und eine Mehrzahl von Mastarmsegmenten 5, 5a, 5b aufweist. Die Mastarmsegmente 5, 5a, 5b lassen sich über Knickgelenke 6, 6a, 6b jeweils um Knickachsen gegenüber einem benachbarten Mastarmsegment 5, 5a, 5b oder dem Drehschemel 4 mittels je eines Antriebsaggregates 7, 7a, 7b verschwenken. In der gezeigten Darstellung ist der Mastarm 1 zusammengefaltet dargestellt, sodass der als Fahrzeug ausgebildete Großmanipulator 2 im Straßenverkehr zum Einsatzort fahren kann. Bei Ausfaltung des Mastarmes 1 entsteht ein Kippmoment, welches über die am Fahrzeuggestell 17 angeordneten ausklappbaren und ausfahrbaren Stützen 18 abgestützt wird. Zum Ein- und Ausfalten des Mastarmes 1 sind die Antriebsaggregate 7, 7a, 7b an den Mastarmsegmenten 5, 5a, 5b befestigt und wirken über Hebelgetriebe 8 auf ein anderes Mastarmsegment 5, 5a, 5b oder den Drehschemel 4. Hierzu weisen die Hebelgetriebe 8 wenigstens einen Zweipunkthebel 9 auf. Am ersten Knickgelenk 6 ist ein Zweipunkthebel 9 gezeigt, der zu Beginn des Ausfaltvorganges einer hohen Zugbelastung unterliegt. Der gezeigte Zweipunkthebel 9 ist über Bolzen am ersten Mastarmsegment 5 und an dem Umlenkhebel 19 gelagert, auf den das erste Antriebsaggregat 7 wirkt. Auch die weiteren Knickgelenke 6a, 6b umfassen Hebelgetriebe 8 an denen Zweipunkthebel 9 vorgesehen sind, um zwischen dem Mastarmsegment 5 und dem Umlenkhebel 19 am Antriebsaggregat 7a, 7b Zug- und Druckkräfte beim Ein- und Ausfaltvorgang des Mastarmes 1 zu übertragen.A mast arm according to the invention is shown in the figures with the reference number 1. The mast arm 1 is in Figure 1 shown mounted on a large manipulator 2. The representation according to Figure 1 shows a large manipulator 2 with a mast arm 1, which has a turntable 4 rotatable about a vertical axis 3 and a plurality of mast arm segments 5, 5a, 5b. The mast arm segments 5, 5a, 5b can be pivoted by means of articulated joints 6, 6a, 6b about articulated axes relative to an adjacent mast arm segment 5, 5a, 5b or the turntable 4 by means of a drive unit 7, 7a, 7b each. In the illustration shown, the mast arm 1 is shown folded up so that the large manipulator 2, which is designed as a vehicle, can drive to the place of use in road traffic. When the mast arm 1 is unfolded, a tilting moment arises which is supported by the fold-out and extendable supports 18 arranged on the vehicle frame 17. To fold the mast arm 1 in and out, the drive units 7, 7a, 7b are attached to the mast arm segments 5, 5a, 5b and act via lever gears 8 on another mast arm segment 5, 5a, 5b or the turntable 4 a two-point lever 9. On the first articulated joint 6, a two-point lever 9 is shown, which is subject to a high tensile load at the beginning of the unfolding process. The two-point lever 9 shown is supported by bolts on the first mast arm segment 5 and on the reversing lever 19 on which the first drive unit 7 acts. The other articulated joints 6a, 6b also include lever gears 8 on which two-point levers 9 are provided in order to transmit tensile and compressive forces between the mast arm segment 5 and the deflection lever 19 on the drive unit 7a, 7b when the mast arm 1 is folded in and out.

Figur 2 zeigt eine schematische Ansicht eines erfindungsgemäßen Mastarmes 1 in einer Ausführungsform. Der Mastarm 1 weist ein erstes 5 und ein zweites 5a Mastarmsegment auf, die an einem Knickgelenk 6a um eine horizontale Knickachse gegenüber dem benachbarten Mastarmsegment 5, 5a mittels eines Antriebsaggregates 7, 7a verschwenkbar sind. Das Antriebsaggregat 7a, bei dem es sich bevorzugt um einen Hydraulikzylinder handelt, ist an dem ersten Mastarmsegment 5 befestigt und wirkt über ein Hebelgetriebe 8 auf das zweite Mastarmsegment 5a. Das Hebelgetriebe 8 weist bevorzugt zwei Hebel auf, wobei ein Hebel als Zweipunkthebel 9 und der andere Hebel als Umlenkhebel 19 ausgebildet ist. Auch zwischen dem ersten Mastarmsegment 5 und dem Drehschemel 4 ist ein Hebelgetriebe 8 vorgesehen, auf welches das erste Antriebsaggregat 7 wirkt. Das an dem ersten Knickgelenk 6 angeordnete Hebelgetriebe 8 weist neben dem Umlenkhebel 19 ebenfalls einen Zweipunkthebel 9 auf, der in der gezeigten Mastarmstellung dem maximalen Druck ausgesetzt ist, da das erste Antriebsaggregat 7 auf den Umlenkhebel 19 am ersten Knickgelenk 6 in der gezeigten Stellung eine starke Zugbelastung ausübt. In der gezeigten Stellung ist der Zweipunkthebel 9 am zweiten Knickgelenk 6a derart durch den Mastarm 1 verschwenkt, dass das Gewicht des Zweipunkthebels 9 ein großes Lastmoment auf den Drehschemel 4 ausübt. Durch Reduzierung des Gewichts am Zweipunkthebel 9 lässt sich das durch den Zweipunkthebel 9 ausgeübte Lastmoment in der gezeigten Stellung reduzieren, sodass die Stützen 18 (Figur 1) weniger weit ausgefahren werden müssen, um ein Umkippen des Großmanipulators 2 (Figur 1) zu verhindern. Die Stützen 18 (Figur 1) können somit auch kürzer dimensioniert werden. Dies macht die Aufstellung des Großmanipulators (Figur 1) am Einsatzort außerdem flexibler, da eine geringere Abstützweite erforderlich ist, um den Großmanipulator 2 sicher abzustützen. Figure 2 shows a schematic view of a mast arm 1 according to the invention in one embodiment. The mast arm 1 has a first 5 and a second 5a mast arm segment, which is attached to an articulated joint 6a around a horizontal The articulation axis can be pivoted with respect to the adjacent mast arm segment 5, 5a by means of a drive unit 7, 7a. The drive unit 7a, which is preferably a hydraulic cylinder, is attached to the first mast arm segment 5 and acts on the second mast arm segment 5a via a lever mechanism 8. The lever mechanism 8 preferably has two levers, one lever being designed as a two-point lever 9 and the other lever as a reversing lever 19. A lever mechanism 8, on which the first drive unit 7 acts, is also provided between the first mast arm segment 5 and the turntable 4. The lever mechanism 8 arranged on the first articulated joint 6 also has a two-point lever 9 in addition to the deflection lever 19, which is exposed to the maximum pressure in the mast arm position shown, since the first drive unit 7 acts on the deflection lever 19 on the first articulated joint 6 in the position shown Exerts tensile load. In the position shown, the two-point lever 9 on the second articulated joint 6a is pivoted by the mast arm 1 in such a way that the weight of the two-point lever 9 exerts a large load moment on the turntable 4. By reducing the weight on the two-point lever 9, the load moment exerted by the two-point lever 9 can be reduced in the position shown, so that the supports 18 ( Figure 1 ) do not have to be extended as far to prevent the large manipulator 2 ( Figure 1 ) to prevent. The supports 18 ( Figure 1 ) can therefore also be dimensioned shorter. This makes the installation of the large manipulator ( Figure 1 ) also more flexible at the place of use, since a smaller support width is required to safely support the large manipulator 2.

Figur 3a zeigt eine schematische Ansicht eines Zweipunkthebels 9 in einer ersten nicht erfindungsgemäßen Ausgestaltung. Ein solcher Zweipunkthebel 9, aber auch die im Folgenden beschriebenen Zweipunkthebel, können in einem Hebelgetriebe 8 (Figur 1 und 2) eines Mastarmes 1 (Figur 1 und 2) zum Einsatz kommen und hier Gewicht einsparen und das Lastmoment reduzieren, welches durch das Gewicht der Zweipunkthebel 9 auf den Drehschemel 4 ausgeübt wird. In Figur 3a ist ein Zweipunkthebel 9 gezeigt, der aus mehreren Komponenten zusammengefügt ist, um einen Hohlraum 10 zu bilden. Bei den zusammengefügten Komponenten handelt es sich um zwei Lagerringe welche die Lagerpunkte 11, 12, des Zweipunkthebels 9 bilden. Durch diese Lagerringe 11, 12 wird jeweils ein Gelenkbolzen geführt, um den Zweipunkthebel 9 an dem Umlenkhebel 19 (Figur 1 und 2) und dem Mastarmsegment 5, 5a, 5b (Figur 1 und 2) oder Drehschemel 4 drehbar zu lagern. Zwischen den Lagerringen 11, 12 ist ein Abschnitt 13 gebildet, der aus einem beispielsweise gewalztem Rundrohr besteht. Dieses Rundrohr 13 bildet einen Hohlraum 10, der in Figur 3b zu sehen ist. Durch Verschweißen der Lagerringe 11, 12 an dem Rundrohr 13 wird der Zweipunkthebel 9 aus den Komponenten 11, 12, 13, wie in Figur 3a gezeigt, zusammengefügt. Hierdurch ist ein einfach herzustellender Zweipunkthebel 9 gegeben, der eine deutliche Gewichtsreduzierung gegenüber üblichen Zweipunkthebeln 9 bietet. Figure 3a shows a schematic view of a two-point lever 9 in a first embodiment not according to the invention. Such a two-point lever 9, but also the two-point lever described below, can be used in a lever mechanism 8 ( Figure 1 and 2 ) of a mast arm 1 ( Figure 1 and 2 ) are used and save weight here and reduce the load torque which is exerted on the turntable 4 by the weight of the two-point lever 9. In Figure 3a a two-point lever 9 is shown which is assembled from several components in order to form a cavity 10. The assembled components are two bearing rings which form the bearing points 11, 12 of the two-point lever 9. Through these bearing rings 11, 12 a hinge pin is guided in each case in order to connect the two-point lever 9 to the reversing lever 19 ( Figure 1 and 2 ) and the mast arm segment 5, 5a, 5b ( Figure 1 and 2 ) or turntable 4 to be rotatably mounted. A section 13 is formed between the bearing rings 11, 12 and consists of a round tube that is rolled, for example. This round tube 13 forms a cavity 10, which in Figure 3b you can see. By welding the bearing rings 11, 12 to the round tube 13, the two-point lever 9 is made from the components 11, 12, 13, as in FIG Figure 3a shown, put together. This results in a two-point lever 9 that is easy to manufacture and offers a significant reduction in weight compared to conventional two-point levers 9.

Die Figur 4a zeigt eine weitere Ausgestaltung eines nicht erfindungsgemäßen Zweipunkthebels 9 aus einem beispielsweise gewalzten Rohr 13. Der Abschnitt 13 zwischen den Lagerringen, welche die Lagerpunkte 11, 12 bilden, ist im hier gezeigten Ausführungsbeispiel durch ein Vierkantrohr 13 gebildet. In Figur 4b ist zu erkennen, dass das Vierkantrohr 13 einen Hohlraum 10 zwischen den beiden Lagerpunkten 11, 12 bildet. Hierdurch ist eine erhebliche Gewichtsreduzierung erreichbar, wobei insbesondere die Vierkantquerschnittskontur des gewalzten Rohres 13 besonders geeignet ist, um eine ausreichende Knicksteifigkeit für Druckbelastungen zu gewährleisten, da das Flächenträgheitsmoment des Hebels 9 durch die vergrößerten Außenabmessungen erhöht ist. Auch in dem hier gezeigten Ausführungsbeispiel ist das Rohr 13 mit den weiteren Komponenten, bzw. den Lageringen 11, 12 des Zweipunkthebels 9, vorzugsweise über Schweißverbindungen, verbunden.The Figure 4a shows a further embodiment of a two-point lever 9, not according to the invention, made of a rolled tube 13, for example. The section 13 between the bearing rings, which form the bearing points 11, 12, is formed by a square tube 13 in the exemplary embodiment shown here. In Figure 4b it can be seen that the square tube 13 forms a cavity 10 between the two bearing points 11, 12. In this way, a considerable weight reduction can be achieved, the square cross-sectional contour of the rolled tube 13 being particularly suitable to ensure sufficient buckling resistance for pressure loads, since the area moment of inertia of the lever 9 is increased by the enlarged external dimensions. In the exemplary embodiment shown here, too, the tube 13 is connected to the further components, or to the bearing rings 11, 12 of the two-point lever 9, preferably via welded connections.

Die Figur 5a zeigt eine weitere Ausgestaltung des erfindungsgemäßen Zweipunkthebels 9. Auch im hier gezeigten Beispiel ist der Zweipunkthebel 9 aus mehreren Komponenten zusammengefügt, wobei die zusammengefügten Komponenten den Hohlraum 10 bilden. In einer der Komponenten 20 ist im Hohlraum 10 ausbildenden Abschnitt 13 eine hohlraumbildende Ausfräsung 14 vorgesehen. Der Hohlraum 10 kann beispielsweise auch durch Ausbrennen von Material aus der Komponente 20 hergestellt werden. In Figur 5a ist zu erkennen, dass die einteilige Mittelkomponente 20 des Zweipunkthebels 9 eine entsprechende hohlraumbildende Ausfräsung 14 oder Ausbrennung 14 aufweist. Der hohlraumausbildende Abschnitt 13 umfasst außerdem angeschweißte Seitenbleche 16, 16a die in Figur 5b separat gezeigt sind. Die Seitenbleche 16 16a sind durchgehend über die Lagerpunkte 11, 12 hinaus ausgebildet und bieten hierdurch eine zusätzliche Stabilität für den so gebildeten Zweipunkthebel 9. Zur Herstellung des in Figur 5a gezeigten Zweipunkthebels 9 werden die Seitenbleche 16, 16a auf die Mittelkomponente 20 aufgeschweißt, sodass die hohlraumbildende Ausfräsung 14 durch die Seitenbleche 16, 16a abgedeckt ist. Die Seitenbleche 16, 16a erhöhen die Knicksteifigkeit des Zweipunkthebels 9.The Figure 5a shows a further embodiment of the two-point lever 9 according to the invention. In the example shown here, the two-point lever 9 is assembled from several components, the assembled components forming the cavity 10. In one of the components 20, a cavity-forming cutout 14 is provided in the section 13 forming the cavity 10. The cavity 10 can also be produced, for example, by burning out material from the component 20. In Figure 5a it can be seen that the one-piece central component 20 of the two-point lever 9 has a corresponding cavity-forming cutout 14 or burnout 14. The cavity forming portion 13 also includes welded side plates 16, 16a in Figure 5b shown separately. The side plates 16 16a are formed continuously beyond the bearing points 11, 12 and thereby offer additional stability for the two-point lever 9 formed in this way Figure 5a The two-point lever 9 shown, the side plates 16, 16a are welded onto the central component 20 so that the cavity-forming cutout 14 is covered by the side plates 16, 16a. The side plates 16, 16a increase the buckling rigidity of the two-point lever 9.

Die Figur 6a zeigt einen erfindungsgemäßen Zweipunkthebel 9 in einer weiteren Ausgestaltung. Auch hier ist eine Mittelkomponente 20 vorgesehen, die eine hohlraumausbildende Ausfräsung 14 oder Ausbrennung 14 im Bereich des hohlraumausbildenden Abschnitts 13 zwischen den Lagerpunkten 11, 12 aufweist, wie es auch in Figur 6b zu erkennen ist. Die an die Mittelkomponente 20 angeschweißten Seitenbleche 21, 22 sind mehrteilig aufgebaut und verfügen über einen Steg 21 sowie die Lagerringe 11, 12 abdeckende Blechringe 22. Die Abdeckung der Seitenbleche 21, 22 erhöht die Knicksteifigkeit des Zweipunkthebels 9 und beugt der Korrosionen in der hohlraumausbildenden Ausfräsung 14 oder Ausbrennung 14 vor.The Figure 6a shows a two-point lever 9 according to the invention in a further embodiment. Here, too, a central component 20 is provided, which has a cutout 14 or burnout 14 that forms a cavity in the region of the cavity-forming section 13 between the bearing points 11, 12, as is also the case in FIG Figure 6b can be seen. The side plates 21, 22 welded to the central component 20 are constructed in several parts and have a web 21 and sheet metal rings 22 covering the bearing rings 11, 12 14 or burnout 14 before.

Auch der in den Figuren 7a und 7b gezeigte nicht erfindungsgemäße Zweipunkthebel 9 weist einen Hohlraum 10 auf, durch den der Zweipunkthebel 9 deutlich an Gewicht gegenüber Hebeln aus Vollmaterial einspart. Wie an der Schnittdarstellung gemäß Figur 7a zu erkennen ist, ist der hier gezeigte Zweipunkthebel 9 aus mehreren Komponenten 11, 12, 16, 16a, 16b, 16c zusammengefügt, wobei die Komponenten 11, 12, 16, 16a, 16b, 16c zusammengefügt einen Hohlraum 10 einschließen, der in einem Abschnitt 13 zwischen den Lagerpunkten 11, 12 gebildet ist. Der hohlraumausbildende Abschnitt 13 ist aus zusammengeschweißten Blechen 16, 16a, 16b, 16c gebildet. Der hohlraumausbildende Abschnitt 13 weist angeschweißte Seitenbleche 16, 16a auf, die durchgehend über die mindestens zwei Lagerpunkte 11, 12 hinaus ausgebildet sind. Hierdurch sind die Lagerringe 11, 12, die die Lagerpunkte 11, 12 bilden, von den eingeschweißten Seitenblechen 16, 16a umfasst, wodurch ein stabiler und knickfester Zweipunkthebel 9 mit reduziertem Eigengewicht gegeben ist.Even the one in the Figures 7a and 7b The two-point lever 9 shown, not according to the invention, has a cavity 10 through which the two-point lever 9 saves significantly in weight compared to levers made of solid material. As in the sectional view according to Figure 7a As can be seen, the two-point lever 9 shown here is composed of several components 11, 12, 16, 16a, 16b, 16c assembled, the components 11, 12, 16, 16a, 16b, 16c assembled including a cavity 10, which in a section 13 is formed between the bearing points 11, 12. The cavity-forming section 13 is formed from sheets 16, 16a, 16b, 16c welded together. The cavity-forming section 13 has welded-on side plates 16, 16a, which are formed continuously beyond the at least two bearing points 11, 12. As a result, the bearing rings 11, 12, which form the bearing points 11, 12, are surrounded by the welded-in side plates 16, 16a, which results in a stable and kink-resistant two-point lever 9 with a reduced dead weight.

Die Figuren 8a und 8b zeigen einen nicht erfindungsgemäßen Zweipunkthebel 9 der ebenfalls aus mehreren Komponenten 11, 12, 16, 16a, 16b, 16c zusammengefügt ist, wobei die Komponenten 11, 12, 16, 16a, 16b, 16c zusammen einen Hohlraum 10 bilden, der in einem Abschnitt 13 zwischen den Lagerpunkten 11, 12 gebildet ist. Der hohlraumausbildende Abschnitt 13 weist angeschweißte Seitenbleche 16, 16a auf, die durchgehend über die mindestens zwei Lagerpunkte 11, 12 hinaus ausgebildet sind. Hierdurch sind die Lagerringe 11, 12, welche die Lagerpunkte 11, 12 bilden, von den eingeschweißten Seitenblechen 16, 16a umfasst. Außerdem umfasst der hohlraumausbildende Abschnitt 13 weitere Bleche 16b, 16c, die mit den Seitenblechen 16, 16a zu einem Kantenprofil zusammengeschweißt sind, um den Hohlraum 10 zu bilden. Zusätzlich verfügen die Lagerringe 11, 12 der Lagerpunkte 11, 12 über einen Vorsprung 23 zur Verschraubung der Verdrehsicherung des in den Lagerringen 11, 12 aufgenommenen Gelenksbolzens (nicht gezeigt). Diese Verdrehsicherung ist in Figur 8c detaillierter dargestellt. Hier ist zu erkennen, dass der Lagerring 12 einen weiteren Vorsprung 24 zur Positionierung und zur Schweißbadsicherung aufweist. Außerdem ist eine Verdrehsicherung 25 des Bolzens gestrichelt angedeutet. Auch der weitere Lagerring 11 ist entsprechend ausgestaltet.The Figures 8a and 8b show a two-point lever 9, not according to the invention, which is also assembled from several components 11, 12, 16, 16a, 16b, 16c, the components 11, 12, 16, 16a, 16b, 16c together forming a cavity 10, which is in a section 13 is formed between the bearing points 11, 12. The cavity-forming section 13 has welded-on side plates 16, 16a, which are formed continuously beyond the at least two bearing points 11, 12. As a result, the bearing rings 11, 12, which form the bearing points 11, 12, are surrounded by the welded-in side plates 16, 16a. In addition, the cavity-forming section 13 comprises further sheets 16b, 16c, which are welded together with the side sheets 16, 16a to form an edge profile in order to form the cavity 10. In addition, the bearing rings 11, 12 of the bearing points 11, 12 have a projection 23 for screwing the anti-rotation device of the hinge pin received in the bearing rings 11, 12 (not shown). This anti-rotation device is in Figure 8c shown in more detail. It can be seen here that the bearing ring 12 has a further projection 24 for positioning and for securing the weld pool. In addition, a rotation lock 25 of the bolt is indicated by dashed lines. The further bearing ring 11 is also designed accordingly.

Die Figuren 9a, 9b und 9c zeigen einen nicht erfindungsgemäßen Zweipunkthebel 9 wobei ein Hohlraum 10 in einem Abschnitt 13 zwischen den Lagerpunkten 11, 12 gebildet ist, indem mehrere hohlraumbildende Bohrungen 15 in dem Abschnitt 13 vorgesehen sind. Diese eingebrachten Bohrungen 13 sind in den Schnittdarstellungen gemäß der Figuren 9b und 9c sehr gut zu erkennen und verlaufen zwischen den beiden Lagerpunkten 11, 12 entlang des hohlraumbildenden Abschnitts 13.The Figures 9a, 9b and 9c show a two-point lever 9, not according to the invention, wherein a cavity 10 is formed in a section 13 between the bearing points 11, 12 in that a plurality of cavity-forming bores 15 are provided in the section 13. These introduced bores 13 are shown in the sectional views according to FIG Figures 9b and 9c can be seen very well and run between the two bearing points 11, 12 along the cavity-forming section 13.

Die Figuren 10a, 10b und 10c zeigen einen nicht erfindungsgemäßen Zweipunkthebe 9, wobei auch hier ein Hohlraum 10 in einem Abschnitt 13 zwischen den Lagerpunkten 11, 12 gebildet ist, wobei hierzu eine Ausfräsung 14 in dem hohlraumbildenden Abschnitt 13 vorgesehen ist. Diese eingebrachte Ausfräsung 14 ist in den Schnittdarstellungen gemäß Figur 10b und 10c sehr gut zu erkennen und verläuft zwischen den beiden Lagerpunkten 11, 12 entlang des hohlraumbildenden Abschnitts 13.The Figures 10a, 10b and 10c show a two-point lift 9 not according to the invention, a cavity 10 also being formed here in a section 13 between the bearing points 11, 12, a cutout 14 being provided in the cavity-forming section 13 for this purpose. This milled recess 14 is shown in the sectional views according to FIG Figures 10b and 10c can be seen very well and runs between the two bearing points 11, 12 along the cavity-forming section 13.

Die Darstellung gemäß Figur 11 zeigt einen nicht erfindungsgemäßen Zweipunkthebel 9, der insbesondere für eine Knickbelastung in Hebelebene ausgelegt ist. Durch die Formgebung des Hebels 9, insbesondere des hohlraumbildenden Abschnitts 13, ist der Hebel 9 seiner Knickfigur besonders angepasst, so dass der Hebel 9 eine Knickbelastung in der Hebelebene bei geringstmöglichem Materialeinsatz optimal aufnehmen kann. In diesem Fall wirkt der Zweipunkthebel 9 wie ein Knickstab nach Euler Fall 2.The representation according to Figure 11 shows a two-point lever 9 not according to the invention, which is designed in particular for a buckling load in the lever plane. Due to the shape of the lever 9, in particular the cavity-forming section 13, the lever 9 is particularly adapted to its buckling shape, so that the lever 9 can optimally absorb a buckling load in the lever plane with the least possible use of material. In this case the two-point lever 9 acts like a buckling rod according to Euler case 2.

Die Darstellung gemäß Figur 12 zeigt einen nicht erfindungsgemäßen Zweipunkthebel 9, der insbesondere für eine Knickbelastung senkrecht zur Hebelebene ausgelegt ist. Die Beschreibung zur Figur 11 gilt entsprechend. In diesem Fall wirkt der Zweipunkthebel 9 wie ein Knickstab nach Euler Fall 4.The representation according to Figure 12 shows a two-point lever 9 not according to the invention, which is designed in particular for a buckling load perpendicular to the lever plane. The description for the Figure 11 Shall apply accordingly. In this case the two-point lever 9 acts like a buckling rod according to Euler case 4.

BezugszeichenlisteList of reference symbols

11
MastarmMast arm
22
GroßmanipulatorLarge manipulator
33
HochachseVertical axis
44th
DrehschemelTurntable
5 5a 5b5 5a 5b
MastarmsegmenteMast arm segments
6 6a 6b6 6a 6b
KnickgelenkeArticulations
7 7a 7b7 7a 7b
AntriebsaggregateDrive units
88th
HebelgetriebeLever gear
99
ZweipunkthebelTwo-point lever
1010
Hohlraumcavity
1111
Lagerpunkt ABearing point A
1212th
Lagerpunkt BBearing point B
1313th
hohlraumausbildender Abschnittvoiding section
1414th
Ausfräsung, AusbrennungMilling, burnout
1515th
Bohrungdrilling
1616
16a Seitenbleche, 16b 16c weitere Bleche16a side plates, 16b 16c further plates
1717th
FahrzeuggestellVehicle frame
1818th
StützenSupport
1919th
UmlenkhebelReversing lever
2020th
MittelkomponenteMiddle component
2121
Stegweb
2222nd
BlechringeSheet metal rings
2323
Vorsprung (Verdrehsicherung)Projection (anti-twist device)
2424
Vorsprung (Schweißbadsicherung)Projection (weld pool protection)
2525th
VerdrehsicherungAnti-twist device

Claims (4)

  1. A mast arm (1) for a large manipulator (2), wherein the mast arm (1) comprises a turntable (4) which is rotatable about a vertical axis (3) and a plurality of mast arm segments (5, 5a, 5b), wherein the mast arm segments (5, 5a, 5b) are pivotable at articulated joints (6, 6a, 6b) in each case about articulation axes relative to an adjacent mast arm segment (5, 5a, 5b) or the turntable (4) by means of one drive unit (7, 7a, 7b) in each case, wherein at least one of the drive units (7, 7a, 7b) is fastened to a first mast arm segment (5, 5a, 5b) and acts via a lever mechanism (8) on a second mast arm segment (5, 5a) or the turntable (4), wherein the lever mechanism (8) comprises at least one two-point lever (9), wherein the two-point lever (9) encloses at least one cavity (10), wherein the two-point lever (9) comprises two bearing points (11, 12), wherein the cavity (10) is formed in a portion (13) between the bearing points (11, 12), characterised in that
    a middle component (20) which is in one part with the two bearing points (11, 12) is provided which comprises the cavity-forming portion (13) between the bearing points (11, 12), wherein the cavity-forming portion (13) comprises metal side plates (16, 16a, 21, 22) welded onto the middle component (20), and in that the welded-on metal side plates (16, 16a, 21, 22) are either designed to be continuous beyond the two bearing points (11, 12), or are constructed in multiple parts, with one crosspiece (21) in each case and sheet metal rings (22) covering the two bearing points (11, 12).
  2. A mast arm (1) according to claim 1, characterised in that the cavity-forming portion (13) comprises at least one cavity-forming cut-out portion (14).
  3. A mast arm (1) according to claim 1, characterised in that the cavity-forming portion (13) comprises at least one cavity-forming bore (15).
  4. A large manipulator (2), in particular truck-mounted concrete pump, with a mast arm (1) according to one of the preceding claims.
EP18201908.3A 2017-10-26 2018-10-23 Hollow two point lever Active EP3477018B1 (en)

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DE102017125145.6A DE102017125145A1 (en) 2017-10-26 2017-10-26 Hollow two-point lever

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EP3477018B1 true EP3477018B1 (en) 2021-04-07

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US (1) US20190127998A1 (en)
EP (1) EP3477018B1 (en)
CN (1) CN109707168A (en)
DE (1) DE102017125145A1 (en)

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CN112267682A (en) * 2020-09-28 2021-01-26 湖南响箭重工科技有限公司 Novel boom luffing mechanism and concrete pump truck with same
CN115947246A (en) * 2023-03-10 2023-04-11 山东力达智能车辆产业技术研究院有限公司 A pull equipment of lifting by crane for car as a house sends transportation

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DE102009007310A1 (en) * 2009-02-03 2010-08-05 Putzmeister Concrete Pumps Gmbh Concrete spreading device for use in stationary and mobile concrete pump, has end hose downwardly suspended at mast arm, and computerized-evaluation circuit operated in response to output signal of measuring arrangement
US8684198B2 (en) * 2010-02-01 2014-04-01 Kobelco Construction Machinery Co., Ltd. Working machine
CN102392539B (en) * 2011-11-30 2013-11-06 中联重科股份有限公司 Concrete pumping equipment, bent connecting rod device thereof and manufacturing method of bent connecting rod device
CN103216096A (en) * 2012-01-21 2013-07-24 徐工集团工程机械股份有限公司 Telescopic distribution rod mechanism and concrete pump truck with same
CN202829373U (en) * 2012-06-12 2013-03-27 北京市三一重机有限公司 Jib and engineering machinery
DE102012215469A1 (en) * 2012-08-31 2014-03-06 Putzmeister Engineering Gmbh Concrete placing boom
CN203613805U (en) * 2013-11-12 2014-05-28 华菱星马汽车（集团）股份有限公司 Pump truck cantilever crane mechanism and concrete pump truck
CN103953196B (en) * 2014-05-12 2016-07-06 航天材料及工艺研究所 A kind of concrete pump truck arm composite joint
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CN205743025U (en) * 2016-06-03 2016-11-30 青岛九合重工机械有限公司 A kind of Novel arm support motion
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DE102017125145A1 (en) 2019-05-02

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