EP3759294A1 - Grossmanipulator mit schwingungsdämpfer - Google Patents
Grossmanipulator mit schwingungsdämpferInfo
- Publication number
- EP3759294A1 EP3759294A1 EP19708414.8A EP19708414A EP3759294A1 EP 3759294 A1 EP3759294 A1 EP 3759294A1 EP 19708414 A EP19708414 A EP 19708414A EP 3759294 A1 EP3759294 A1 EP 3759294A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- mast
- determined
- damping
- vertical
- boom
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- 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
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
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- 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
Definitions
- the invention relates to a large-scale manipulator for concrete pumps with a distributor boom, comprising a folding mast with a mast top and several joints for pivoting the mast arms relative to the mast bracket or an adjacent mast arm, which is accommodated on a mast block and composed of several mutually articulated mast arms. as well as with a control device for controlling the movement of the articulated mast with the aid of drive unit actuators for the articulated joints respectively associated drive units.
- the girder can be arranged on a frame and rotatable about a vertical axis.
- the invention also relates to a method for damping mechanical vibrations of a distributor mast of a large manipulator for concrete pumps.
- EP 1 319 1 10 B1 Such a large manipulator and such a method for damping mechanical vibrations of the distributor mast of a large manipulator for concrete pumps is known from EP 1 319 1 10 B1.
- the large manipulator of EP 1 319 1 10 B1 has a placing boom with a folding mast composed of at least three mast arms, the mast arms of which are each limited to a horizontal, mutually parallel bending axes by means of a respective drive unit.
- This large manipulator contains a control device for the mast movement with the aid of actuators assigned to the individual drive units and means for damping mechanical vibrations in the articulated mast.
- a time-dependent measured quantity derived from the mechanical oscillation of the relevant boom arm is determined in the large manipulator, which is processed in an evaluation unit to form a dynamic damping signal and switched to an actuator driving the relevant drive unit.
- the distribution boom of such a large manipulator is in its construction an elastically oscillatory system that can be excited to natural oscillations. A resonant excitation of such vibrations can cause the mast tip to vibrate with amplitudes of one meter and more. Vibration excitation is possible, for example, by the pulsating operation of a concrete pump and by the resulting periodic acceleration and deceleration of the concrete column forced through the delivery line. As a result, the concrete can no longer be evenly distributed and the worker carrying the end hose is endangered.
- the object of the invention is to provide a large-scale manipulator for concrete pumps with a damping behavior that is more stable than known large manipulators and to provide a method for damping the mechanical vibrations of large manipulators, which enables efficient damping of unwanted vibrations independently of the poses of the large manipulator.
- the large manipulator for concrete pumps specified in claim 1 has a distribution boom with a recorded on a mast block, composed of several articulated mast arms mast articulated mast with a mast top and with multiple joints for pivoting the mast arms relative to the mast block or an adjacent mast arm.
- the large manipulator has a control device for controlling the movement of the articulated mast with the aid of drive unit actuators for the articulated joints.
- the vertical speed of a mast arm location is understood to mean the speed of the mast arm location in the direction of gravity.
- the control device controls the movement of the articulated mast by providing positioning manipulated variables SD for the actuators of the drive units derived from a vertical speed vn of the boom arm location and by means of the device determined by means for determining a vertical speed of a boom arm location for determining the joint angles of the joints determined joint angles e, the joints as well as by means of an operable by a mast guide control device generated control signals S for adjusting the distribution boom.
- the control device has a controller module coupled to the device for determining the vertical speed of a mast arm point and to the device for determining the joint angles of the joints for controlling the actuators, which entails a distributor mast damping routine - stops.
- the distributor boom damping routine here determines a damping force F D H from a vertical speed vn of the boom arm location determined by the means for determining the speed and divides the determined damping force in the individual joints associated component damping forces.
- the known physical dimensions of the distributor boom preferably include the joint kinematics of the joints of the distributor boom and the geometry of the boom arms, in particular their length.
- the device for determining the speed of a mast arm position on at least one mast arm in the large manipulator can, in particular, be designed to determine the vertical speed vn of the mast top of the articulated mast.
- the distributor boom damping routine can generate a component desired damping force FD to be generated by means of the drive assembly assigned to the joint from the component damping force associated with a joint and from the determined joint angle e, of the joint, or a drive unit assigned to the joint Component nominal damping torque MD, determined.
- the large manipulator may include a device for determining an actual force Fi generated by means of the drive unit assigned to the joint or for determining an actual moment M generated by means of the drive unit associated with the joint.
- the distributor boom damping routine has a control stage which, for the drive unit damping control variables DS, for damping the distributor boom from a comparison of the actual force F generated by the drive unit with the component target damping force FD to be generated, or from a comparison of the actual torque M generated by means of the drive unit with the component setpoint damping torque MD to be generated.
- This component desired damping force FD, or this component nominal damping torque MD is then generated by means of the drive unit associated with the joint.
- the control device in the large manipulator can in this case contain a control unit which supplies the controller module with control signals S, wherein the controller module then preferably has a Vermaschinemnastpo- sensollwertroutine which translates the control signals S in Posensollept PS, in the form of nominal values of the joint angle e, the joints of the distribution boom ,
- the controller module contains a distributor mast control routine consisting of actual position values PI, the actual values of the joint angles e, the joints of the distributor mast and the position setpoint PS, the positioning manipulated variables SD, for the Determined actuators of the drive units.
- the distribution routine can, for. B. the difference of Posenist staple PI, and Posensollagonist PS, determine, process this difference in a zero-order-fold filter and feed as a control variable to a designed as a PI controller control stage, which outputs the Position istsstellieren SD.
- the controller module has an overlay routine for superimposing the damping manipulated variables DS, and the positioning manipulated variables SD, to control signals SW, for the actuators of the drive assemblies.
- the overlay routine is formed as an adding routine that adds up the positioning manipulated variables SD, the damping manipulated variables DS.
- the invention proposes that the device for determining the vertical speed vn a Mastarmstelle on at least one mast arm arranged on the mast arm speed sensor and / or an acceleration sensor and / or a position of the mast arm to the direction of gravity detecting angle sensor contains ,
- the large-scale manipulator can have a device for calculating the actual forces Fi or actual moments M 1, generated by the drive units, wherein the control device contains a controller module with a distributor boom vertical damping routine, which determines the Actual forces Fi or actual moments M ,, generated by means of the drive units as well as the determined vertical speed vy of the mast arm point and the determined joint angles e, the buckling joints are supplied continuously.
- the distributor boom vertical damping routine determines from the applied actual forces F, or actual moments M, and the joint angles e, of the joints and known physical variables of the distributor boom, a vertical force Fy acting on the boom arm.
- the transfer boom vertical dampening routine converts the vertical force Fy acting on the boom arbor to a desired vertical velocity v soii of the boom arm location. From the vertical target velocity vysoii of the mast arm posts and the determined vertical velocity vy of the mast arm position, the submitter vertical attenuation routine determines a vertical comparison value Avy.
- This vertical comparison value Avy is then converted by backward transformation into a backward transformation angular velocity ⁇ ⁇ K ⁇ ; 1 ⁇ of the articulated joints on the basis of the joint angles e, joints and known physical variables of the distributor boom.
- the distributor boom vertical dampening routine includes a divider boom control routine which compares the backward transformation angular velocity ⁇ ⁇ K ⁇ ; 1 ⁇ of the articulated joints with an actual angular velocity ⁇ ⁇ of the articulations fed to the divider boom control routine, and the positioning manipulated variables SD from this comparison , determined for the actuators of the drive units.
- control unit supplies control signals to the controller module S, which are translated in the controller module into setpoint desired values PS, in the form of nominal values of the joint angles e, of the articulated joints of the distributor boom.
- the device for determining the vertical speed of a mast arm at least one mast arm is preferably designed here for determining the speed of the mast top of the articulated mast.
- the device for determining the vertical speed v of a mast arm position on at least one mast arm includes a speed sensor and / or acceleration sensor arranged on the mast arm and / or an angular sensor which detects the position of the mast arm in the direction of gravity can.
- the invention also extends to a large manipulator in which the mast is mounted on a rack and can be rotated about a vertical axis, the control means for controlling rotary movement of the mast truss about the vertical axis by means of at least one actuator for a drive unit associated with the mast is designed, wherein a device for determining the horizontal speed VL of a mast arm in a plane perpendicular to the vertical axis and in a referenced to the frame coordinate system and means for Ermit the rotation angle eib of the mast block around the vertical axis provided and wherein the control means controls the movement of the articulated mast by providing positioning manipulated variables SDgo for the at least one actuator for the mast block-associated prime mover, which one of the mast arm locations means of determining the horizontal speed VL average horizontal speed V-L of the Mastarm- steep and depend on means of the means for determining the angle of rotation eib of the mast block about the vertical axis and by means of an operable by a mast guide control unit control signals S for
- Such a large manipulator may be one with the device for determining the horizontal speed VL and with the means for determining the Joint angle e, the articulated joint controller assembly for controlling the actuators having a distributor boom dampening routine that generates a damping force FD from the horizontal speed of the portion of the at least one boom arm determined by means for determining horizontal velocity VJ. L and determined from this damping force FD-L and from the determined with the means for determining the joint angle e, the articulated joints e, as well as from known physical sizes of the distributor boom for the mast block associated drive unit for damping the Knickmasts Dämpfungsstell- sizes DS, determines which are received in the positioning control variables SDgo for driving the at least one actuator for the mast block associated drive unit.
- the large manipulator may have a device for calculating the actual force F, or actual torque M generated by means of the drive unit assigned to the floating axle, wherein the control device has a controller module with a distributor boom horizon.
- Valley-damping routine contains, the determined, generated by means of the vertical axis associated drive unit actual force F, or the determined, generated by means of the vertical axis associated drive unit actual moment M, as well as the determined horizontal speed vL of Mastarmstelle and the determined Joint angle e, which are fed continuously to articulated joints, wherein the distribution boom horizontal damping routine of the supplied actual force F, or the supplied actual torque M, and the supplied joint angles e, the joints and known physical sizes of the distribution boom a horizontal force FL acting on the mast arm is true, transferred to the Mastarmstelle horizontal force FL in a hori zontal target speed VJ-S O II of Mastarmstelle, from the horizontal target speed VJ-S O II of Mastarmstelle and the determined horizontal speed VL of Mastarmstelle a
- the Mastarmstelle can be a mast top of Knickmasts. It should be noted that the device for determining the horizontal speed VL of the mast arm point on at least one mast arm detects a speed sensor and / or acceleration sensor arranged on the mast arm and / or detects the angle of rotation of the mast block about the vertical axis Can contain angle sensor.
- the invention also extends to a method for damping mechanical oscillations of a folding mast of a large manipulator for concrete pumps with a mast mounted on a girder, composed of several articulated mast arms articulated mast with a mast top and with multiple articulated joints for pivoting the Mast arms about respective horizontal, mutually parallel bending axes relative to the mast block or an adjacent mast arm and with a control device for controlling the movement of the articulated mast with the aid of actuators for the articulated joints respectively associated drive units.
- the vertical velocity is determined vn a Mastarmstelle in a plane parallel to the articulated mast and in a reference to the frame coordinate system, the joint angle of the articulated joints are determined and there are Stell istsstellgentn SD, generated for the actuators of the drive units, by a means of Device for determining a vertical speed vn a Mastarmstelle determined vertical Speed vn the Mastarmstelle and determined by means of the means for determining the joint angle of the joints joint angles e, the joints as well as by means of an operable by a mast guide control device generated control signals S for adjusting the distribution boom.
- a damping force FDH is determined from the determined vertical speed vn of the mast arm location, the determined damping force FD is divided into component damping forces assigned to the individual articulated joints, and from the component damping forces and from the determined joint angles e, for the drive assemblies assigned to the articulated joints and known physical variables of the distributor boom for damping the boom arms, damping control variables DS are provided for controlling the drive unit actuators for damping the articulated mast which are incorporated into the positioning manipulated variables SD for the actuators of the drive assemblies received.
- the actual forces F, or actual moments M generated by the drive units can be determined, the vertical speed vy of a mast arm location to be determined on at least one mast arm, and the joint angle e, which determines buckling joints be determined, wherein from the supplied actual forces F, or actual moments M, and the supplied joint angles e, the joints as well as from known physical sizes of the distribution mast one at the Mastarmstelle acting vertical force Fy is determined, which at the Mastarmstelle attacking vertical force Fy is transferred to a desired vertical velocity vysoii the Mastarmstelle, from the vertical target velocity vysoii the Mastarmstelle and the determined vertical velocity vy of the Mastarmstelle a vertical comparison value Av is determined, the vertical comparison value Avy by a reverse transformation Based on the supplied joint angle e, the joints and on the basis of known physical variables of the distributor boom into a reverse transformation angular velocity ⁇ ⁇ K ⁇ (1) of the articulated joints is transferred, and wherein the obtained by reverse
- the vertical speed vn of the mast tip can be determined as the vertical speed vn of a boom arm point.
- the invention also extends to a method for damping mechanical vibrations of a kink mast in a large-scale manipulator for concrete pumps, having a mast block arranged on a frame and rotatable about a vertical axis on the frame, with a mast block received on the mast block , articulated with a mast top and with multiple articulated joints for pivoting the mast arms about each horizontal, parallel axes of articulation with respect to the mast bracket or an adjacent mast arm, and with a control device for controlling the movement of the Knickmasts around the vertical axis by means of an actuator of the vertical axis associated drive unit, in which the horizontal velocity VL of a Mastarmstelle is determined in a plane perpendicular to the vertical axis and in a referenced to the frame coordinate system, and wherein the joint angle of coats
- the movement of the articulated mast is controlled by providing positioning manipulated variables SD90 for the at least one actuator for the mast block associated drive unit, which is determined by means of the device for determining the horizontal speed VL
- a damping force FD-L is determined from the determined horizontal speed v ⁇ and from this damping force FD-L and from the determined joint angles e, for the driving forces associated with the articulated joints. aggregates and from known physical variables of the distributor boom for damping the buckling mast damping adjustment variables DS, are determined, which go into the positioning variables SDgo for the at least one actuator for the mast block associated drive unit.
- the actual force F generated by means of the drive unit associated with the floating axle or the actual torque M 1, generated by means of the drive unit assigned to the floating axle to be the horizontal speed V L of a mast arm location on at least one mast - Arm and the joint angle e, the articulated joints and the rotation angle eib of the mastbuck are determined around the Flochachse, wherein the actual force F, or the supplied actual torque M, and the supplied joint angles e, the joints and known physical quantities the distributor mast is determined at the Mastarmstelle attacking horizontal force FL, the transferred to the Mastarmstelle horizontal force FL transferred to a horizontal target speed V-LS O N of Mastarmstelle, from the horizontal target speed V-LS O N of Mastarmstelle and the determined horizontal speed VL of the mast arm point is a horizontal comparison value AV-L b e- is true, the horizontal comparison value AV-L converted by a reverse transformation on the basis of the supplied joint angle e, the joints and on the basis of the known physical dimensions of the distributor boom in
- FIG. 1 is a side view of a large manipulator of a car concrete pump with a folded distributor boom.
- FIG. 3 shows the large manipulator according to FIG. 1 with the distributor boom in different working positions
- Fig. 5 is a diagram of a first control device for controlling the
- FIG. 7 shows a first distributor boom damping routine in the controller assembly
- FIG. 8 shows a further distributor mast damping routine in the controller module
- FIG. 9 shows a distributor boom control routine in the controller assembly
- FIG. 11 shows a first distributor boom damping routine in the controller assembly
- FIG. 12 shows another distributor boom damping routine in the controller module
- Fig. 13 is a diagram of another control device for controlling the
- FIG. 14 shows a partial view of the second control device with the controller module
- FIGS. 15 and 16 are flowcharts of variables processed in the controller assembly
- FIG. 17 shows a distribution boom vertical damping routine in the controller assembly
- FIG. 18 shows a horizontal distribution boom damping routine in the controller assembly.
- FIG. 1 shows a large manipulator in a truck-mounted concrete pump 10.
- the autoclaved concrete pump 10 comprises a transport vehicle 12 and contains a z. B. designed as a two-cylinder piston pump pulsating sludge pump 14.
- a z. B. designed as a two-cylinder piston pump pulsating sludge pump 14.
- the large manipulator has a distributor mast 20 rotatable about a vehicle-fixed vertical axis 18 on a rotary joint 28.
- This distributor boom 20 carries a concrete delivery line 22.
- liquid concrete which is continuously introduced into a charging container 24 during concreting, can be conveyed via the delivery line 22 to one from the location of the vehicle 12 removed concreting 25 are promoted.
- the large manipulator basically not only on a transport vehicle to a vehicle-fixed frame, but alternatively also on a stationary frame z. B. can be arranged on a construction site.
- the concrete delivery line received on the distributor mast of the large manipulator is connected to a preferably mobile concrete pump.
- the distribution boom 20 comprises a rotatable mast bracket 30, which can be rotated about the axis of rotation forming a vertical vertical axis 18 of the rotary joint 28 by means of a drive unit 26 which is designed as a hydraulic rotary drive.
- the distribution boom 20 includes a pivotable on the mast bracket 30 articulated mast 32 which is continuously adjustable to variable range and height difference between the vehicle 12 and the concreting 25.
- the articulated mast 32 has in the illustrated embodiment five by articulated joints 34, 36, 38, 40, 42 articulated mast arms 44, 46, 48, 50, 52 which are parallel to each other and at right angles to the vertical axis 18 of the mast bracket 30 extending Joint axes 54, 56, 58, 60, 62 are pivotable.
- the large manipulator For moving the mast arms about the joint axes 54, 56, 58, 60 and 62 of the articulated joints 34, 36, 38, 40, 42, the large manipulator has drive units 68, 78, 80, 82 and 84 associated with the articulated joints.
- the articulated mast 32 has a mast tip 64, to which an end hose 66 is arranged, can be discharged through the liquid concrete from the feed line 22 of the distributor boom 20 to the concreting 25.
- the large manipulator of the truck-mounted concrete pump 10 forms together with the transport vehicle 12 a vibratory system that can be excited in operation by the pulsating working thick matter pump 14 to forced oscillations. These vibrations can lead to deflections of the mast tip 64 and the end hose 66 hanging there with oscillation amplitudes of up to one meter or even more, the frequencies of these vibrations being between 0.5 Flz and a few Flz.
- the large manipulator of the truck-mounted concrete pump 10 includes a control device having a mechanism that actively damps such vibrations by generating additional forces or additional torques by the drive assemblies 26, 68, 78, 80, 82, 84 in the large manipulator. These additional forces or additional torques produce a damping force acting on the distributor boom 20.
- This damping force is preferably one, z. B. on the mast tip 64 vertically and in the horizontal direction acting damping force FD-L, by means of which the rotational vibrations of the distributor boom 20 are attenuated about the axis of rotation 18 (see Fig. 3) and / or a Damping force FDH, which acts on the articulated mast 32 of the distributor boom 20 in the vertical direction (see FIG. 2), by means of which the vibrations of the distributor boom 20 in the plane defined by the rotation axis 18 and the mast tip 64 are weakened.
- the additional forces or additional torques generated result in a damping force corresponding to a point spaced from the mast tip 64 on the distributor mast 20 attacks, z. B. on the first, second, third or fourth mast arm 44, 46, 48, 50, preferably in the region of the articulated joints 36, 38, 40 or 42.
- a plurality of additional forces and / or additional torques by means of the drive units 26, 68, 78, 80, 82, 84 are generated in the distribution boom 20, which attack the same at the same time to dampen it.
- Fig. 4 shows the articulated joint 40 with a portion of the mast arm 48 and a portion of the mast arm 50.
- the placing boom 20 has a hydraulic raulikzylinder as Hyd trained drive unit 68, the cylinder part 70 is connected to the mast arm 48 and the cylinder rod 72 acts on a hinged to the mast arm 50 Flebelelement 74 which is pivotally connected via a link member 76 with the mast arm 48.
- the large manipulator has a control device 86 explained below with reference to FIG. 5.
- the control device 86 controls the movement of the articulated mast 32 by means of actuators 90, 92, 94, 96, 98. 100 for the articulated joints 34, 36, 38, 40, 42 and the rotary joint 28 associated drive units 26, 68, 78, 80, 82 and 84th
- the mast guide controls the distribution boom 20 z.
- the control device 87 is embodied as a remote control and contains operating elements 83 for adjusting the distributor mast 20 with the articulated mast 32, which generates control signals S, that of a controller assembly 89 are fed.
- the control signals S are transmitted via a radio link 91 to a vehicle-mounted radio receiver 93, the output side via a z. B. formed as a CAN bus bus system 95 is connected to the controller module 89 is sen.
- the control device 86 includes a device 102 for determining the vertical mast tip speed vn in the plane defined by the rotation axis 18 and the mast tip 64 and parallel to the kink mast 32 in a coordinate system 104 which is referenced to the frame 16.
- the device 102 for determining the vertical mast tip speed vn has an acceleration sensor 106 arranged on the mast arm 52, which is combined with an evaluation stage 108. From the signal v ' n of the acceleration sensor 106 is in the controller assembly 89 by means of integration Over time, the vertical mast tip speed vn is determined in the generally vertical plane parallel to the bucking mast 32, in which the axis of rotation 18 of the mast bracket 30 and the mast tip 64 lie.
- control device 86 contains a device 110 for determining the horizontal mast tip speed V-L in the plane perpendicular to the axis of rotation 18 of the mast block 30, in which the mast tip 64 is located.
- the device 1 10 for determining the horizontal mast tip speed V-L has an acceleration sensor 1 12 arranged on the mast arm 52, which is combined with an evaluation stage 14. From the signal W of the acceleration sensor 1 12, the mast tip speed w- in the plane perpendicular to the axis of rotation 18 of the mast 30 is determined in the controller module 89, which is generally horizontal.
- the controller assembly 89 receives the speed of a section of a boom arm determined by a device for determining the speed of a boom arm location of a boom arm, e.g. For example, the speed of the mast tip without having to be calculated in the controller module 89.
- the controller assembly 89 is used to drive the actuators 90, 92, 94, 96, 98, 100 of the drive units 26, 68, 78, 80, 82 and 84.
- the Stellglie the 90, 92, 94, 96, 98, 100 are as Proportional exchange valves are formed, which are connected with their output lines 101, 103 on the bottom side and rod side to the designed as a double-acting hydraulic cylinder or as a hydraulic motor drive units 68, 78, 80, 82 and 84.
- Angle of rotation e, i 18 of the mast bracket 30 about the axis of rotation 18 by driving the actuators 90, 92, 94, 96, 98, 100 regulated by the control module 85 predetermined values Wsoii.
- the input routine 152 also continuously receives the signals psi, rki of the pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148. By means of the input routine 152, the control signals S are also output from the control module. Group 85 read.
- the controller assembly 89 includes a first distributor mast dampening routine 154 and a further distributor mast damping routine 155 parallel thereto.
- the mast damming routine 154 determines a target damping force from a mast peak velocity vn determined by the mast tip velocity determining means 102 in the plane parallel to the kink mast 32
- a setpoint damping torque MD-L V-L D-L is determined from the horizontal mast tip speed V-L ascertained by means 1 10 in the plane perpendicular to the axis of rotation 18 of the mast block 30.
- the size D-L is a suitably chosen damping constant.
- the controller assembly 89 includes a master bus control routine 156 and a master bus position setpoint routine 158.
- the distributor boom control routine 156 is supplied by the input routine 152 with actual values PI, in the form of the actual values of the angles e detected by means of the angle sensors 118, 120, 122, 124, 126, 129.
- FIG. 6 shows the controller module 89 with the processor clock 192.
- the input routine 152 in the controller module 89 converts the angles detected by the angle sensors 1 18, 120, 122, 124, 126 and 129 of the devices 1 16, 128 the joints of the distributor boom 20, the signals of the devices 102, 110 with the acceleration sensors 106, 112, the signals of the pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148 and the torque sensor 150 and the control signal S of the control module 85 is detected in regular time intervals Ats predetermined by the processor clock 192.
- the control signal S communicated to the input routine 152 by the control module 85 is output to the distributor mast pos setpoint routine 158.
- FIG. 7 is a block diagram of the first distribution pad damping routine 154 in the controller assembly 89 as a block diagram.
- the mast loss control routine 154 includes a computing stage 164 for calculating the vertical mast peak velocity v in the plane parallel to the axis of rotation 18 of the mast 20 and its crosstie 32 from the signal from the device 102.
- a damping force calculation stage 166 on the basis of an empirically determined damping constant Du supplied to the distribution boom damping routine 154, the damping force F D H is calculated.
- , i 34, 36, 38, 40, 42 of individual component target damping forces F D IM, where:
- FIG. 8 is a block diagram of the further distribution damping damper routine 155 in the controller assembly 89.
- the distribution assistance damping routine 155 there is a calculation stage 182 for calculating the horizontal mast tip velocity VL in relation to the rotation axis 18 of the distribution mast 20 vertical plane in which the mast tip 64 is arranged.
- the damping force FD-L is calculated on the basis of an empirically determined damping constant D 1 supplied to the distributor mast damping routine 155.
- FIG. 9 is a block diagram of the distributor boom control routine 156 in the controller assembly 89.
- the scheduler control routine 156 has a difference routine 194 which supplies the difference of the pose actual values PI, and the setpoint PS, a zero order hold filter 196, which discretizes this difference by multiplication with a sampling function and as a controlled variable of a PI controller. Controller outputs advanced control stage 198, which outputs the positioning control variable SD.
- the zero-order-fold filter 196 has the effect that only when the deviation of a pose actual value PI from a position setpoint PS exceeds a threshold does the control stage 198 obtain a control variable different from the value zero and only then a corresponding positioning manipulated variable SD for which poses correction.
- the distributor boom damping routine 154, 155 continuously regulate the damping force F D H or Fü-L for damping mast oscillations by providing the damping control variables DS.
- the positioning manipulated variable SD generated by the divider control routine 156 from the setpoint desired values PS, and the pose actual values PI, are combined in the overlay routines 160 and 161, respectively, with the damping manipulated variables DS, the distributor dam attenuation routines 154, 155 and then as the control signal SW, to the output routine 162 given to the actuators 90, 92, 94, 96, 98, 100, the corresponding control signal SW, respectively.
- the overlay routines 160 and 161 are embodied as an adding routine which adds the damping manipulated variables DS to the drive signals.
- the mast dampening routines 154, 155, the augmentation routine 156, and the mast set position setpoint routine 158 operate in time with the processor clock 192 and are called in the controller board 89.
- a call of the distributor bus setpoint setpoint routine 158 takes place at times t3 only after multiple calls to the distributor mast damping routines 154, 155, in which case the distributor boom damping routines 154, 155 are called at the times t1 ⁇ t3.
- the divider boom control routine 156 is called at times t2 only after multiple calls to the diverter damper routines 154, 155, but two scheduler pole setpoint routines 158 are called. The following applies: t1 t2 t3.
- FIG. 10 shows a controller assembly 89 'for use in the control device 86.
- the modules and elements for coordinating the setpoint generation for Verteilermastposen the regulation of these poses and the active damping of vibrations of the Vermaschinemnasts with in the controller assembly 89' generated Actuating signals to the modules and elements for coordinating the setpoint generation for distribution mast poses, the regulation of these poses and the active damping of vibrations of the distribution with gestural generated in the controller module 89 control signals functionally, these are identified by the same numbers as reference numerals.
- controller integration is implemented in a serial structure in the controller module 89 '.
- FIGS. 11 and 12 show the first distribution pad damping routine 154 'and the further distribution pad damping routine 155' in FIG Controller module 89 'each as a block diagram.
- the distribution boom damping routine 154 ', 155' corresponds to the distribution boom damping routine 154 or 155 explained with reference to FIGS. 7 and 8, these are indicated by the same numbers as reference symbols.
- the distribution boom damping routine 154 has a calculation stage 164 for calculating the vertical mast tip velocity v in the plane parallel to the rotation axis 18 of the distributor boom 20 and its articulated mast 32 from the signal of the device 102.
- the damping force FDH is calculated on the basis of an empirically determined damping constant Du supplied to the distributor mast damping routine 154.
- the calculated damping force FDH is then converted by means of a decomposition algorithm, which is continuously optimized in an optimization stage 168 designed as a dynamic adaptation stage, in a decomposition stage 170 into a linear combination F D
- the damping force FD-L is calculated on the basis of an empirically determined damping constant DL supplied to the distributor boom damping routine 155.
- FIG. 13 shows a diagram of an alternative to the above-described first control device further control device 86 'for controlling the movement of the Verteilermasts 20 with a controller assembly 89' in a further large manipulator, the structure of the structure with reference to FIGS Fig. 4 described large manipulator corresponds.
- This large manipulator also contains a folding mast 32, which is pivotable on a mast block 30 and which is received on a vehicle-fixed frame 16 and which can be rotated about a vehicle-fixed vertical axis 18 on a rotary joint 28.
- the modules and elements of the further control device 86 ' correspond to the modules and elements of the first control device 86, these are identified by the same reference numerals.
- the further control device 86 ' also serves to control the movement of the mast arms of the articulated mast 32.
- the further control device 86' controls the movement of the articulated mast 32 by means of actuators 90, 92, 94, 96, 98, 100 for the the articulated joints 34, 36, 38, 40, 42 and the rotary joint 28 associated drive units 26, 68, 78, 80, 82 and 84th
- the mast guide also controls the distribution boom 20 z.
- the control unit 87 is embodied as a remote control and contains control elements 83 for adjusting the distributor boom 20 with the articulated mast 32, which generates control signals S which can be fed to a controller module 89.
- the control signals S are transmitted via a radio link 91 to a vehicle-mounted radio receiver 93, the output side via a z. B. formed as a CAN bus bus system 95 is connected to the controller module 89 is sen.
- the control device 86 includes a device 102, shown in FIG. 13, for determining the vertical mast tip velocity v in the plane defined by the rotation axis 18 and the mast tip 64, which is parallel to the kink mast 32, in a coordinate system 104 that leads to the frame 16 is referenced.
- the device 102 for determining the vertical mast top speed vy has an acceleration sensor 106 arranged on the mast arm 52, which is combined with an evaluation stage 108. From the signal v 'of the acceleration sensor 106, the vertical mast top speed vy is determined in the controller assembly 89' by means of integration over time, in the vertical plane which is parallel to the articulated mast 32 and in which the axis of rotation 18 of the mast bracket 30 and the mast tip 64 are located.
- control device 86 contains a device 110 for determining the horizontal mast tip speed V-L in the plane perpendicular to the axis of rotation 18 of the mast block 30, in which the mast tip 64 is located.
- the device 110 for determining the horizontal mast tip speed V-L has an acceleration sensor 1 12 arranged on the mast arm 52, which is combined with an evaluation stage 14. From the signal v of the acceleration sensor 112, the horizontal mast tip speed v-un of the plane perpendicular to the axis of rotation 18 of the mast block 30 is determined in the controller assembly 89 ', which is generally horizontal.
- means 102, 110 for determining the mast top speed means may also be provided for determining the speed of one of Mastspitze 64 of the articulated mast 32 different Mastarmstelle one of the mast arms is used. It should also be noted that in principle also several devices can be provided, which serve for determining the speed of a mast arm point of one of the mast arms which differs from the mast tip 64 of the articulated mast 32.
- the large manipulator for this acceleration sensors 106 ', 112' which are arranged on the mast arms 44, 46, 48 and 50 of the articulated mast 32 (see Fig. 2).
- the controller assembly 89 ' obtains the velocity of a portion of a mast arm determined by means for determining the speed of a mast arm of a mast arm, e.g. , For example, the speed of the mast top without having to be calculated in the controller assembly 89 '.
- the control device 86 ' there are pressure sensors 130, 132, 134, 136, 138, 140 , 142, 144, 146, 148, which are assigned to the drive units 26, 68, 78, 80, 82 and 84 designed as hydraulic cylinders.
- the controller assembly 89 ' is used to drive the actuators 90, 92, 94, 96, 98, 100 of the power units 26, 68, 78, 80, 82 and 84.
- the Stellglie of 90, 92, 94, 96, 98, 100 are designed as proportional changeover valves, which are connected with their output lines 101, 103 on the bottom side and rod side to the drive units 68, 78, 80, 82 and 84 designed as double-acting hydraulic cylinders or as hydraulic motors.
- the cycle time t1 is much smaller than the characteristic period TG of a fundamental vibration of the distributor boom. It is advantageous if the cycle time t1 is also much smaller than a characteristic period T n of a first, second, third or even higher harmonic of the distributor boom.
- the input routine 152 also continuously receives the rod and piston side pressures psi, rki as signals from the pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148. By means of the input routine 152, the control signals S are also read from the control module 85.
- the controller assembly 89 ' also includes a routine complex 153 including a vertical loader damping routine 1 154 and a dumbbell horizontal dodge routine 1 155 and a duplexer routine 1 156.
- the mast padding routines 1 154, 1 155 and the routines in the routine complex 153 with the marshalling control routine 1 156 operate in time with the processor clock 192 and are called in the controller board 89 '.
- the scheduler control routine 1 156 supplies the output routine 162 with regulated pose values PGi.
- FIG. 6 is an enlarged view of the controller assembly 89 '.
- FIGS. 7, 8, 9, and 10 are illustrative of the control algorithm of the submitter vertical attenuation routine 1 154 and the distributor mast floral attenuation routine 1 155 in the controller assembly 89 '.
- the submitter vertical attenuation routine 1 154 receives from the input routine 152 at clock time t2> t1 the signals psi, rki of the pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148.
- the clock time t2 satisfies the following relation: TG »t2.
- the distribution boom vertical damping routine 1 154 also stored in a data storage configuration data of the large manipulator from the group rod-side cylindrical surfaces Aki and bottom-side Zylinderflä surfaces Asi with the clock time t2> t1 fed from the input routine 152.
- the means 176 for calculating the actual force F receives for this purpose the signals psi, rki of the pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148 and calculates from these on the basis of the bar and bottom Cylinder surfaces Aki, Asi the piston in the hydraulic cylinders each of the drive unit 26, 68, 78, 80, 82 and 84 provided actual force F ,.
- the distributor boom vertical damping routine 1 154 includes a target speed calculation stage 1 166.
- the target speed calculation stage 1 166 converts the calculated vertical force Fy acting on the mast tip 64 into a vertical setpoint by dividing it by an empirical constant Dy. Speed vysoii of the mast top 64.
- the distribution boom vertical damping routine 1 154 also includes a difference routine 1 177.
- the vertical target velocity vysoii of the mast tip 64 becomes a comparison with the vertical one Mast top speed vy, which in the distribution boom vertical damping routine 1 154 either by a temporal integration of the signal v '
- of the acceleration sensor 106 is calculated as the value of the mast peak acceleration in the integration stage 181 or supplied to the distribution mast vertical damping routine 1 154 as a measured quantity.
- the difference routine 1 177 forms the vertical comparison value Avy from the vertical target velocity vysoii of the mast tip 64 and the vertical mast tip velocity vy as the difference between the vertical target velocity vysoii of the mast tip 64 and the vertical mast tip velocity vy.
- the vertical comparison value Av is then supplied in the controller module 89 'to a difference element 165 in the routine complex 153.
- the differential link 165 receives the default vertical mast tip speed vv set by the mast guide on the operator 83 of the control unit 85 at the tact time t2> t1 from the input routine 152.
- the difference element 165 is tasked with the default vertical mast tip speed vyv and the above-defined vertical comparison value Avy, and to supply this quantity as a vertical default mast top target speed vyv-soLL to a vertical reverse transformation routine 157 in the routine complex 153 of the controller board 89.
- the vertical reverse transformation routine 157 converts the default mast top target speed vyv-soLL from the joint angle e, the joints and known physical quantities of the distributor boom 20, in particular the length l, supplied with the cycle time t2> t1 from the input routine 152 Mast arms 44, 46, 48, 50 and 52 and, based on the vertical default mast top speed vyv set by the mast guide on the operating element 83 of the control module 85, into a corresponding rearward transformation angular speed ⁇ ⁇ K ⁇ ; 1 ⁇ of the articulated joints 34, 36 38, 40, 42.
- These setpoints of the angles e, the mast arms 44, 46, 48, 50 and 52 define mast poses of the distributor boom 20.
- the distributor boom horizontal damping routine 1155 includes a desired speed calculation stage 1166.
- the target speed calculation stage 1166 transfers the calculated horizontal force FL acting on the mast tip 64 by division by an empirically determined constant DL to a target horizontal velocity VJ -S OII of the mast top 64.
- the distributor mast horizontal dodge routine 1 155 also includes a difference routine 179.
- the horizontal target speed V-LS O N of the mast top 64 is subjected to a comparison with the horizontal mast top speed VL that is in the vertical boom damping routine 1 154 either by time integration of the signal vT of the acceleration sensor 1 12 is calculated as the value of the mast peak acceleration in the integration stage 181, or alternatively, it is fed to the distributor boom vertical damping routine 1 154 as a measured quantity.
- the difference routine 179 forms the horizontal comparison value AV-L as the difference between the horizontal target speed VJ-S O II of the mast top 64 and the horizontal mast peak from the horizontal target speed VJ-S O II of the mast top 64 and the horizontal mast top speed VL - zen exactly VL.
- the horizontal comparison value AV-L is then supplied in the controller module 89 'to a further difference element 165' in the routine complex 153.
- the difference element 165 ' receives the horizontal default mast tip speed VL V set by the mast guide on the operating element 83 of the control module 85 with the cycle time t2> t1 from the input routine 152.
- the task of the further difference element 165 ' is to form the difference from the horizontal default mast peak velocity VL V provided by the input routine 152 with the cycle time t2> t1 and the horizontal comparison value AV-L defined above, and this variable, the a circular arc velocity of the mast tip 64 is to supply as a horizontal default mast tip target velocity VL V- SOLL to a horizontal-reverse transformation routine 159 in the routine complex 153 of the controller assembly 89 '.
- the horizontal reverse transformation routine 159 converts the default mast top target speed VL V- SOLL into a corresponding reverse transformation based on the joint angle e, the joints and known physical quantities of the distributor boom 20, supplied from the input routine 152 with the cycle time t2> t1 Angular velocity ⁇ 18 K ⁇ (1 des of the pivot 28 about the vertical axis 18.
- This inverse transform angular velocity ( ⁇ 18K ⁇ ; 1 ⁇ is then supplied to the controller assembly 89 'further formed as integration stage angular velocity calculation stage 163' in the routine complex 153, which the inverse transform angular velocity ⁇ is back over a constant time interval At to a target angle EisRück inte grated to then also store it in the setpoint memory 193.
- the distribution boom control routine 1 156 receives from the input routine 152 actual actual values PI, in the form of the actual values of the angles e,..., Detected by means of the angle sensors 1 18, 120, 122, 124, 126, 129.
- routines in the routine complex 153 receive only every nth signal provided by the input routine 152 with the clock time t1 from the group of actual actual values PI, Signals psi, rki of the pressure sensors, vertical default mast tip speed vv, joint angle e, of the joints, etc. are taken into account.
- a large manipulator for concrete pumps has a distributor mast 20.
- the distributor mast 20 has a mast bracket 30, which is made up of several articulated mast arms 44, 46, 48, 50, 52 together. with a mast tip 64 and with a plurality of joints 34, 36, 38, 40, 42 for pivoting the mast arms 44, 46, 48, 50, 52 relative to the mast bracket 30 or an adjacent mast arm 44, 46, 48; 50, 52 and includes a control device 86 for controlling the movement of the articulated mast 32 by means of Antriebaggregatstellgliedern 90, 92, 94, 96, 98 100 for the articulated joints 34, 36, 38, 40, 42 respectively associated drive units 68, 78, 80, 82, 94.
- the large manipulator contains a device 102 for determining the vertical speed vn and / or horizontal speed v ⁇ a Mastarmstelle at least one mast arm 44, 46, 48, 50, 52 in a reference to the frame 16 coordinate system 104. It also has a means for determining the joint angle 116 of the joints 34, 36, 38th , 40, 42.
- the control device 86 controls the movement of the articulated mast 32 by providing positioning manipulated variables SD, for the actuators 90, 92, 94, 96, 98, 100 of the drive units 68, 78, 80, 82, 84 determined by means of the means 102 for determining a vertical speed vn a Mastarmstelle determined vertical speed vn and / or horizontal speed VL of the mast arm and by means of the means 116 for determining the joint angles of the joints 34, 36, 38, 40th , 42 determined joint angles e, the joints 34, 36, 38, 40, 42 and / or of a rotation angle eib of the mast bracket 30 about a vertical axis 18 and by means of an operable by a mast guide Steuerger t 87 control signals generated depend S for adjusting the distribution boom 20th
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- Geology (AREA)
- Automation & Control Theory (AREA)
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Abstract
Description
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Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102018104491.7A DE102018104491A1 (de) | 2018-02-27 | 2018-02-27 | Großmanipulator mit Schwingungsdämpfer |
PCT/EP2019/054392 WO2019166330A1 (de) | 2018-02-27 | 2019-02-21 | Grossmanipulator mit schwingungsdämpfer |
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EP3759294A1 true EP3759294A1 (de) | 2021-01-06 |
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EP19708414.8A Pending EP3759294A1 (de) | 2018-02-27 | 2019-02-21 | Grossmanipulator mit schwingungsdämpfer |
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US (1) | US11840426B2 (de) |
EP (1) | EP3759294A1 (de) |
JP (1) | JP7186235B2 (de) |
KR (1) | KR102607528B1 (de) |
CN (1) | CN112041520B (de) |
DE (1) | DE102018104491A1 (de) |
WO (1) | WO2019166330A1 (de) |
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DE102018104491A1 (de) * | 2018-02-27 | 2019-08-29 | Putzmeister Engineering Gmbh | Großmanipulator mit Schwingungsdämpfer |
DE102019214034A1 (de) * | 2019-09-13 | 2021-03-18 | Putzmeister Engineering Gmbh | Verfahren zum Betreiben einer Arbeitsmaschine und Arbeitsmaschine |
DE102019135680B3 (de) * | 2019-12-23 | 2020-12-10 | Putzmeister Engineering Gmbh | Drehantrieb zum Verschwenken von zwei gelenkig miteinander verbundenen Mastarmen |
CN112870595B (zh) * | 2020-12-30 | 2022-07-08 | 国电南瑞科技股份有限公司 | 一种举高消防机器人控制方法、装置及系统 |
Family Cites Families (22)
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JP3079498B2 (ja) * | 1992-02-24 | 2000-08-21 | 石川島建機株式会社 | ブーム付コンクリートポンプ車のブーム振動抑制制御装置 |
JP3443018B2 (ja) * | 1994-01-31 | 2003-09-02 | 極東開発工業株式会社 | 流体輸送用ブーム装置 |
JP2000170380A (ja) | 1998-12-10 | 2000-06-20 | Mitsubishi Heavy Ind Ltd | ブーム制振装置 |
DE10046546A1 (de) | 2000-09-19 | 2002-03-28 | Putzmeister Ag | Großmanipulator mit Schwingungsdämpfer |
DE10101570B4 (de) * | 2001-01-15 | 2008-12-04 | Schwing Gmbh | Großmanipulator mit Schwingungsdämpfung |
DE10240180A1 (de) * | 2002-08-27 | 2004-03-11 | Putzmeister Ag | Vorrichtung zur Betätigung eines Knickmasts |
US8352129B2 (en) * | 2008-10-16 | 2013-01-08 | Eaton Corporation | Motion control of work vehicle |
US8801938B2 (en) * | 2010-07-03 | 2014-08-12 | Dana R. Allen | Method and device for underwater recovery of products or pollutants |
WO2012051234A1 (en) * | 2010-10-12 | 2012-04-19 | Boh Brothers Construction Co., Llc | An excavation system |
US9651112B2 (en) * | 2011-10-20 | 2017-05-16 | Zoomlion Heavy Industry Science And Technology Co., Ltd. | Vibration suppression method, controller, device of boom and pump truck |
CN202689566U (zh) * | 2011-12-29 | 2013-01-23 | 中联重科股份有限公司 | 一种用于臂架的避障系统及包括该系统的工程机械设备 |
AT514116A1 (de) * | 2013-04-09 | 2014-10-15 | Ttcontrol Gmbh | Regelsystem und Verfahren zum Steuern der Orientierung eines Segments eines Manipulators |
CN103234002B (zh) * | 2013-04-28 | 2014-12-24 | 中联重科股份有限公司 | 抑制臂架回转振动的设备、方法、系统及工程机械 |
CA2851685A1 (en) * | 2013-05-14 | 2014-11-14 | Cory Albers | Methods, apparatus and systems for pond remediation |
DE202013105036U1 (de) * | 2013-11-08 | 2015-02-10 | Daimler Ag | Erfassungseinrichtung |
US20150321594A1 (en) * | 2014-05-10 | 2015-11-12 | Gary Ward Harms, JR. | Long-Reach Vacuum Extraction |
DE102015200355B3 (de) * | 2015-01-02 | 2016-01-28 | Siemens Aktiengesellschaft | Medizinische roboterartige Vorrichtung mit Kollisionsdetektion und Verfahren zur Kollisionsdetektion einer medizinischen roboterartigen Vorrichtung |
DE102015102368A1 (de) * | 2015-02-19 | 2016-08-25 | Schwing Gmbh | Positionsregelung Mastspitze |
DE102015105836B3 (de) * | 2015-04-16 | 2016-03-10 | Reschwitzer Saugbagger Produktions Gmbh | Saugbagger mit Strömungsumkehr sowie Verfahren zu dessen Steuerung |
DE102015208577A1 (de) * | 2015-05-08 | 2016-11-10 | Putzmeister Engineering Gmbh | Verfahren zur Ansteuerung eines Knickmasts in einem Großmanipulator |
DE102016106427B3 (de) * | 2016-04-08 | 2017-03-23 | Reschwitzer Saugbagger Produktions Gmbh | Verfahren zur Steuerung der Bewegung eines Gelenkschlauchträgers eines Saugbaggers |
DE102018104491A1 (de) * | 2018-02-27 | 2019-08-29 | Putzmeister Engineering Gmbh | Großmanipulator mit Schwingungsdämpfer |
-
2018
- 2018-02-27 DE DE102018104491.7A patent/DE102018104491A1/de active Pending
-
2019
- 2019-02-21 EP EP19708414.8A patent/EP3759294A1/de active Pending
- 2019-02-21 KR KR1020207027688A patent/KR102607528B1/ko active IP Right Grant
- 2019-02-21 JP JP2020545132A patent/JP7186235B2/ja active Active
- 2019-02-21 WO PCT/EP2019/054392 patent/WO2019166330A1/de unknown
- 2019-02-21 CN CN201980028622.6A patent/CN112041520B/zh active Active
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2020
- 2020-08-26 US US17/002,841 patent/US11840426B2/en active Active
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JP2021515855A (ja) | 2021-06-24 |
CN112041520A (zh) | 2020-12-04 |
CN112041520B (zh) | 2022-03-11 |
WO2019166330A1 (de) | 2019-09-06 |
US11840426B2 (en) | 2023-12-12 |
KR102607528B1 (ko) | 2023-11-28 |
US20200385242A1 (en) | 2020-12-10 |
DE102018104491A1 (de) | 2019-08-29 |
KR20200135795A (ko) | 2020-12-03 |
JP7186235B2 (ja) | 2022-12-08 |
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