EP3957808A1 - Large manipulator with decentralized hydraulic system - Google Patents

Large manipulator with decentralized hydraulic system Download PDF

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Publication number
EP3957808A1
EP3957808A1 EP21195714.7A EP21195714A EP3957808A1 EP 3957808 A1 EP3957808 A1 EP 3957808A1 EP 21195714 A EP21195714 A EP 21195714A EP 3957808 A1 EP3957808 A1 EP 3957808A1
Authority
EP
European Patent Office
Prior art keywords
mast
control
manipulator
controlled
drive unit
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
Application number
EP21195714.7A
Other languages
German (de)
French (fr)
Inventor
Johannes HENIKL
Reiner VIERKOTTEN
Andreas Lehmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Friedrich Wilhelm Schwing GmbH
Original Assignee
Friedrich Wilhelm Schwing GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Friedrich Wilhelm Schwing GmbH filed Critical Friedrich Wilhelm Schwing GmbH
Publication of EP3957808A1 publication Critical patent/EP3957808A1/en
Pending legal-status Critical Current

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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
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/027—Check valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/0416—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor with means or adapted for load sensing
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
    • F15B13/0444—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors with rotary electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
    • F15B15/20—Other details, e.g. assembly with regulating devices
    • F15B15/202—Externally-operated valves mounted in or on the actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/008—Reduction of noise or vibration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30505—Non-return valves, i.e. check valves
    • F15B2211/30515—Load holding valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/32—Directional control characterised by the type of actuation
    • F15B2211/327—Directional control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/63—Electronic controllers
    • F15B2211/6303—Electronic controllers using input signals
    • F15B2211/6306—Electronic controllers using input signals representing a pressure
    • F15B2211/6313—Electronic controllers using input signals representing a pressure the pressure being a load pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8613—Control during or prevention of abnormal conditions the abnormal condition being oscillations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/8633—Pressure source supply failure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/8636—Circuit failure, e.g. valve or hose failure

Definitions

  • the invention relates to a manipulator, in particular a large manipulator for truck-mounted concrete pumps, with an articulated mast that has a turntable that can be rotated about a vertical axis and a plurality of mast segments, the mast segments being limited at articulated joints in each case by means of a drive unit in relation to a neighboring mast segment or the turntable by means of a drive unit can be pivoted, and with a remote control device having at least one control lever, with the control lever being adjustable in a plurality of setting directions, with a travel command being able to be generated by moving the control lever in at least one setting direction, which command indicates a desired movement of the mast tip of the articulated mast or of an end hose attached thereto , And with a control device for controlling the drive units, wherein the control unit converts the driving command into movement specifications for the drive units, and the drive units each using an ele ktrisch controlled proportional valve can be actuated, which is connected to hydraulic working lines of the respective drive unit for its control.
  • Such a manipulator is out EP 2 347 988 A1 famous. From the EP 0 686 224 B1 another manipulator is known. These manipulators are usually controlled via a hydraulic control circuit with a central mast control block and lowering brake valves attached to the individual drive units to ensure the load holding function.
  • This configuration is disadvantageous, in particular with regard to the response behavior of the manipulator. Due to the considerable line lengths between the lowering brake valves and the control valves in the central Mast control block, as well as due to the dynamic behavior of the lowering brake valves, there are noticeable delays in these hydraulic control circuits between the adjustment of the control lever in one direction and the execution of a movement by the drive units on the individual articulated joints.
  • This delay is generally not the same for all articulated joints, but there are differences due to the different line lengths between the lowering brake valves and the control valves and due to the pressure conditions and the required movement speed. Especially at the beginning of a movement of the manipulator, initiated by the adjustment of the control lever in an actuating direction, these delays are of great disadvantage, especially if several articulated joints are moved simultaneously during this initiated movement in order to carry out the requested movement. The differences in the response behavior of the individual articulated joints can then produce undesirable pivoting movements of the mast in unintended directions, particularly at the beginning of a movement.
  • a manipulator according to claim 1.
  • the proportional valves are arranged directly on an associated drive unit to be controlled, ie at the attachment location of the drive unit.
  • the proportional valves can be arranged on the drive units to be controlled in such a way that the proportional valves together with the drive units on mast segments of the articulated mast change their position relative to the turntable or the concrete pump.
  • the at least one proportional valve can be controlled with a stepper motor. This allows a manipulator to be implemented that ensures excellent response behavior of the mast segments.
  • proportional valves that can be controlled with a stepper motor are significantly lighter and smaller than similarly powerful conventional valves with proportional magnets, which enables significant weight savings and a reduction in the required installation space. Due to the particularly small size and the low weight of the at least one proportional valve, this is particularly suitable for a decentralized hydraulic control circuit.
  • the at least one proportional valve has a housing which contains a valve piston, a return spring and the stepping motor.
  • a proportional valve has a simple design and is not susceptible to faults, which is of particular advantage when used in manipulators.
  • the proportional valve is arranged directly on the associated drive unit to be controlled, where the proportional valve can be difficult to access for repairs.
  • valves used for the load holding function are designed as hydraulically pilot-operated check valves. This offers great dynamic advantages, especially for the implementation of active vibration damping, since these valves offer particularly good response.
  • the position of the check valves can be changed by the first control unit and/or a further control unit independently of the position of the at least one proportional valve arranged directly on an assigned drive unit to be controlled. This makes it possible to significantly improve the response behavior of the large manipulator, particularly when implementing the load-holding function. It has been shown that electronic control of the check valves ensures a defined opening state even at low pivoting speeds in the articulated joints.
  • the manipulator has a hydraulic emergency circuit parallel to the at least one proportional valve, with the emergency circuit preferably having at least one controllable switching valve which is arranged directly on or in the immediate vicinity of the drive unit to be controlled and is preferably supplied via its own pressure supply line , as well as hydraulically operated check valves or lowering brake valves to achieve a load holding function. This allows the manipulator to be controlled even if the proportional valve fails.
  • a configuration in which the control unit is set up for active vibration damping is particularly advantageous, with the control unit generating control signals for the drive units for damping vibrations of the articulated mast. This has particular advantages when operating the manipulator, since vibrations of the articulated mast can be dampened better than in the prior art by direct activation of the at least one proportional valve by the control unit.
  • the movement specifications are converted into control signals for the at least one proportional valve arranged directly on an assigned drive unit to be controlled by a local control unit. This significantly reduces the amount of electrical wiring and the utilization of the BUS system used.
  • a manipulator 1 in particular a large manipulator for truck-mounted concrete pumps, is shown schematically, with an articulated mast 2 which can be folded out, which has a turntable 5 rotatable about a vertical axis 4 and a plurality of mast segments 6, 6a, 6b, 6c.
  • the mast segments 6, 6a, 6b, 6c are articulated at articulated joints 7, 7a, 7b in each case about bending axes relative to an adjacent mast segment 6, 6a, 6b, 6c or the turntable 5 by means of a drive unit 11 ( 2 ) limited pivoting.
  • a Control lever 8 on a remote control device 9 which can be adjusted in several directions, can be used to transmit movement specifications to a central control unit 10.
  • the control lever 8 is adjusted in one direction and the central control unit 10 receives the generated driving command.
  • the central control unit 10 converts the travel command into movement specifications for the individual drive units 11 ( 2 ) around.
  • the central control unit 10 processes the measured position of the manipulator 1, which can be implemented, for example, by inclination sensors on the mast segments 6, 6a, 6b, 6c or angle of rotation sensors in the articulated joints 7, 7a, 7b.
  • the figure 2 shows a schematic representation of an electrohydraulic control circuit 17 for controlling a hydraulically actuated drive unit 11, by means of which a mast segment 6, 6a, 6b, 6c ( 1 ) of manipulator 1 ( 1 ) is adjustable in terms of its orientation, with an electrically controlled proportional valve 12, which is connected to the hydraulic working lines 13, 14 of the drive unit 11 to control it.
  • a control circuit 17 for a drive unit 11 is shown, with at least one articulated joint or in the in 2 illustrated embodiment of the invention on each articulated joint, one drive unit 11 each with its own control circuit 17 is provided.
  • the proportional valves 12 assigned to the individual drive units 11 are arranged parallel to one another on the first pressure supply (P1) 24 and on the first return (T1) 25 .
  • the proportional valve 12 can be controlled with a stepping motor 15 , the proportional valve 12 having a housing which contains a valve piston, a restoring spring and the stepping motor 15 .
  • the valve piston on the proportional valve 12 is actuated via a toothed rack by means of the stepping motor 15.
  • a monitoring unit is located on the stepping motor 15 for monitoring the values generated by the stepping motor 15 carried out adjustment steps provided.
  • a memory is also provided for storing the adjustment steps of the stepper motor 15 that have been carried out. Activation by means of the stepper motor 15 enables precise adjustment of the proportional valve 12 independently of the flow forces that occur, which is a particularly allows precise control of the drive unit 11 and the response of the manipulator 1 ( 1 ) sustainably improved.
  • the electrically controlled proportional valve 12 can also be seen, with which the drive unit 11, in particular the hydraulic cylinder, can be moved by the proportional valve 12 applying a pressure difference to the working lines 13, 14 assigned to the drive unit 11.
  • the working lines 13, 14 are optionally connected to a first pressure supply (P1) 24 or a first return (T1) 25 through the proportional valve 12.
  • the proportional valve 12 is controlled via an associated stepping motor 15 by a local electronic control device ECU (electronic control unit) 10a. This monitors and controls the state of the local electro-hydraulic control circuit 17 together with the associated drive unit 11, enables the implementation of complex algorithms, offers an interface for external communication via a BUS system (e.g.
  • control device 10a receives the data transmitted by the central control device 10 ( 1 ) transmitted motion specification, which the central control device 10 ( 1 ) based on the adjustment of the control lever 8 ( 1 ) Generated drive command is calculated for the associated drive unit and processes this into a control signal for the proportional valve 12, which is thereby switched and the drive unit 11 is actuated.
  • a supply pressure assigned to the pressure supply (P1) 24 is switched to a working line 13 or 14 of the assigned drive assembly 11.
  • the check valves 16, 16a perform a load holding function when the Control circuit 17 is in an inactive state or safe state. These check valves 16, 16a are designed as hydraulically piloted check valves 16, 16a, which can be opened and closed independently of the position of the proportional valve 12 by the local control device 10a.
  • the check valve 23 also has a safety function, in particular it prevents the check valves or check valves 16, 16a from being pressed open in the event of a jammed valve piston outside the central position in the proportional valve 12.
  • the sensors 18, 18a, 18b measure the supply pressure of the feed line P1, by sensor 18, in the active state of the electrohydraulic control circuit 17, and the pressures in the working lines 13, 14, by sensors 18a, 18b, to the hydraulic drive unit 11 are measured.
  • the electrohydraulic control circuit 17 also includes an optional hydraulic emergency circuit connected in parallel with the proportional valve 12 for emergency operation. This emergency circuit enables the drive unit 11 to be moved if the components assigned to the proportional valve 12 (upstream or downstream) fail.
  • Each proportional valve 12 for controlling a drive unit 11 is preferably assigned its own emergency circuit.
  • the emergency circuit includes a control valve 21 for controlling the direction of travel of the drive unit 11 in emergency operation and two mutually coupled valves 20, 20a, which are designed as hydraulically piloted check valves or lowering brake valves 20, 20a in a classic configuration.
  • the drive unit 11, in particular the hydraulic cylinder can be moved in emergency operation in that the control valve 11 for the emergency operation applies a pressure difference to the working lines 13, 14 assigned to the drive unit 11.
  • the working lines 13, 14 are optionally connected to a second pressure supply (P2) 26 or a second return (T2) 27 from the control valve 21.
  • the drive unit 11 is preferably supplied with pressure via the separate pressure supply (P2) 26 and the separate return (T2) 27, so that if there is a leak in the pressure supply (P1) 24 or the return (T1) 25, the drive unit 11 can still be controlled.
  • the control valves 21 assigned to each proportional valve 12 are arranged parallel to one another on the separate pressure supply (P2) 26 and on the separate return (T2) 27 .
  • the local electronic control device 10a also monitors the status and behavior of the control circuit 17 using the available sensors. As soon as the local electronic control device 10a detects an error, it automatically switches the control circuit 17 to a safe state.
  • the tasks of the local control units 10a could be taken over directly by the central control unit 10, so that the local control units 10a can be dispensed with.
  • this has the disadvantage that the electrical wiring effort and the utilization of the BUS system used is significantly increased. It would also be conceivable as a compromise to combine several local control units so that they each take over the control of more than one drive unit.
  • check valves switch to a defined opening state.
  • the manipulator can be easily and safely operated by the user on the control lever, even at low pivoting speeds in the individual articulated joints.
  • the individual drive units 11 By minimizing and shortening the hydraulic working lines between the proportional valves 12 and the hydraulic drive unit 11 and the defined opening state of the valves 16, 16a for the load holding function, which is independent of the position of the proportional valve 12 and the pressure conditions that occur, the individual drive units 11 an optimal response with minimized delay time between the adjustment of the control lever 8 in a Adjusting direction and the execution of a movement by the drive units 11 achieved.
  • this delay time is approximately identical for all drive units 11 of the articulated mast 2, so that when a movement of the articulated mast 2 is initiated with the simultaneous actuation of several drive units 11, the movement can be implemented very precisely without undesired pivoting movements of the articulated mast 2 occurring at the beginning of the movement intended directions are generated.

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

Abstract

Die Erfindung betrifft einen Manipulator (1), insbesondere Großmanipulator für Autobetonpumpen, mit einem ausfaltbaren Knickmast (2), der einen um eine Hochachse (4) drehbaren Drehschemel (5) und eine Mehrzahl von Mastsegmenten (6, 6a, 6b, 6c) aufweist, wobei die Mastsegmente (6, 6a, 6b, 6c) an Knickgelenken (7, 7a, 7b) jeweils um Knickachsen gegenüber einem benachbarten Mastsegment (6, 6a, 6b, 6c) oder dem Drehschemel (5) mittels je eines Antriebsaggregates (11) begrenzt verschwenkbar sind, und mit einer mindestens einen Steuerhebel (8) aufweisenden Fernsteuereinrichtung (9), wobei der Steuerhebel (8) in mehrere Stellrichtungen verstellbar ist, wobei ein Fahrbefehl durch eine Verstellung des Steuerhebels (8) in wenigstens eine Stellrichtung erzeugbar ist, der eine gewünschte Bewegung der Mastspitze (3) des Knickmastes oder eines daran angebrachten Endschlauchs angibt, und mit einer Steuereinrichtung (10) zur Ansteuerung der Antriebsaggregate (11), wobei die Steuereinheit (10) den Fahrbefehl in Bewegungsvorgaben für die Antriebsaggregate (11) umsetzt, und wobei die Antriebsaggregate (11) mittels jeweils eines elektrisch angesteuerten Proportionalventils (12) betätigbar sind, welches mit hydraulischen Arbeitsleitungen (13, 14) des jeweiligen Antriebsaggregates (11) zu dessen Ansteuerung verbunden ist. Aufgabe der Erfindung ist, einen Manipulator anzugeben, der eine einfache Bedienung und ein hervorragendes Ansprechverhalten ermöglicht. Diese Aufgabe löst die Erfindung dadurch, dass alle Proportionalventile (12) direkt an oder in unmittelbarer Nähe zu den zu steuernden Antriebsaggregaten (11) angeordnet sind, wobei der Fahrbefehl eine gewünschte Bewegung der Mastspitze (3) des Knickmastes oder eines daran angebrachten Endschlauchs in Richtung kartesischer oder Polar-Koordinaten angibt.The invention relates to a manipulator (1), in particular a large manipulator for truck-mounted concrete pumps, with an articulated mast (2) that can be folded out, which has a turntable (5) that can be rotated about a vertical axis (4) and a plurality of mast segments (6, 6a, 6b, 6c). , wherein the mast segments (6, 6a, 6b, 6c) on articulated joints (7, 7a, 7b) are each about buckling axes relative to an adjacent mast segment (6, 6a, 6b, 6c) or the turntable (5) by means of a drive unit (11 ) can be pivoted to a limited extent, and with a remote control device (9) having at least one control lever (8), the control lever (8) being adjustable in a number of adjustment directions, a travel command being able to be generated by adjusting the control lever (8) in at least one adjustment direction, indicating a desired movement of the mast tip (3) of the articulated mast or an end hose attached thereto, and with a control device (10) for controlling the drive units (11), the control unit (10) driving command into movement specifications for the drive units (11), and wherein the drive units (11) can each be actuated by means of an electrically controlled proportional valve (12), which is connected to hydraulic working lines (13, 14) of the respective drive unit (11) for its control . The object of the invention is to specify a manipulator that allows easy operation and excellent response. The invention solves this problem in that all the proportional valves (12) are arranged directly on or in the immediate vicinity of the drive units (11) to be controlled, with the travel command triggering a desired movement of the mast tip (3) of the articulated mast or an end hose attached thereto in the direction Cartesian or polar coordinates.

Description

Die Erfindung betrifft einen Manipulator, insbesondere Großmanipulator für Autobetonpumpen, mit einem ausfaltbaren Knickmast, der einen um eine Hochachse drehbaren Drehschemel und eine Mehrzahl von Mastsegmenten aufweist, wobei die Mastsegmente an Knickgelenken jeweils um Knickachsen gegenüber einem benachbarten Mastsegment oder dem Drehschemel mittels je eines Antriebsaggregates begrenzt verschwenkbar sind, und mit einer mindestens einen Steuerhebel aufweisenden Fernsteuereinrichtung, wobei der Steuerhebel in mehrere Stellrichtungen verstellbar ist, wobei ein Fahrbefehl durch eine Verstellung des Steuerhebels in wenigstens eine Stellrichtung erzeugbar ist, der eine gewünschte Bewegung der Mastspitze des Knickmastes oder eines daran angebrachten Endschlauchs angibt, und mit einer Steuereinrichtung zur Ansteuerung der Antriebsaggregate, wobei die Steuereinheit den Fahrbefehl in Bewegungsvorgaben für die Antriebsaggregate umsetzt, und wobei die Antriebsaggregate mittels jeweils eines elektrisch angesteuerten Proportionalventils betätigbar sind, welches mit hydraulischen Arbeitsleitungen des jeweiligen Antriebsaggregates zu dessen Ansteuerung verbunden ist.The invention relates to a manipulator, in particular a large manipulator for truck-mounted concrete pumps, with an articulated mast that has a turntable that can be rotated about a vertical axis and a plurality of mast segments, the mast segments being limited at articulated joints in each case by means of a drive unit in relation to a neighboring mast segment or the turntable by means of a drive unit can be pivoted, and with a remote control device having at least one control lever, with the control lever being adjustable in a plurality of setting directions, with a travel command being able to be generated by moving the control lever in at least one setting direction, which command indicates a desired movement of the mast tip of the articulated mast or of an end hose attached thereto , And with a control device for controlling the drive units, wherein the control unit converts the driving command into movement specifications for the drive units, and the drive units each using an ele ktrisch controlled proportional valve can be actuated, which is connected to hydraulic working lines of the respective drive unit for its control.

Ein solcher Manipulator ist aus EP 2 347 988 A1 bekannt. Aus der EP 0 686 224 B1 ist ein weiterer Manipulator bekannt. Üblicherweise werden diese Manipulatoren über einen hydraulischen Steuerkreis mit einem zentralen Maststeuerblock sowie an den einzelnen Antriebsaggregaten angebrachten Senkbremsventilen zur Gewährleistung der Lasthaltefunktion gesteuert. Diese Ausgestaltung ist jedoch nachteilig, insbesondere im Hinblick auf das Ansprechverhalten des Manipulators. Aufgrund der erheblichen Leitungslängen zwischen den Senkbremsventilen und den Steuerventilen im zentralen Maststeuerblock, sowie aufgrund des dynamischen Verhaltens der Senkbremsventile kommt es bei diesen hydraulischen Steuerkreisen zu merkbaren Verzögerungen zwischen der Verstellung des Steuerhebels in eine Stellrichtung und der Ausführung einer Bewegung durch die Antriebsaggregate an den einzelnen Knickgelenken. Diese Verzögerung ist im Allgemeinen nicht für alle Knickgelenke gleich, sondern es ergeben sich Unterschiede bedingt durch die unterschiedlichen Leitungslängen zwischen den Senkbremsventilen und den Steuerventilen sowie aufgrund der Druckverhältnisse und der angeforderten Bewegungsgeschwindigkeit. Besonders zu Beginn einer Bewegung des Manipulators, eingeleitet durch die Verstellung des Steuerhebels in eine Stellrichtung, sind diese Verzögerungen von großem Nachteil, insbesondere wenn bei dieser eingeleiteten Bewegung mehrere Knickgelenke gleichzeitig verfahren werden, um die angeforderte Bewegung auszuführen. Die Unterschiede hinsichtlich des Ansprechverhaltens der einzelnen Knickgelenke können dann besonders zu Beginn einer Bewegung unerwünschte Verschwenkbewegungen des Mastes in nicht beabsichtigte Richtungen erzeugen. Insbesondere bei kleinen Verschwenkgeschwindigkeiten der einzelnen Knickgelenke führen die üblichen Senkbremsventile oft zu einer ungleichförmigen, undefinierten Bewegung, da bei diesen geringen Geschwindigkeiten der Öffnungszustand der Senkbremsventile nicht eindeutig ist. In diesem Fall entspricht die ausgeführte Bewegung nicht der Vorgabe durch den Steuerhebel. Hierdurch sind das Ansprechverhalten und die Genauigkeit insbesondere bei kleinen Verschwenkgeschwindigkeiten erheblich beeinträchtigt.Such a manipulator is out EP 2 347 988 A1 famous. From the EP 0 686 224 B1 another manipulator is known. These manipulators are usually controlled via a hydraulic control circuit with a central mast control block and lowering brake valves attached to the individual drive units to ensure the load holding function. However, this configuration is disadvantageous, in particular with regard to the response behavior of the manipulator. Due to the considerable line lengths between the lowering brake valves and the control valves in the central Mast control block, as well as due to the dynamic behavior of the lowering brake valves, there are noticeable delays in these hydraulic control circuits between the adjustment of the control lever in one direction and the execution of a movement by the drive units on the individual articulated joints. This delay is generally not the same for all articulated joints, but there are differences due to the different line lengths between the lowering brake valves and the control valves and due to the pressure conditions and the required movement speed. Especially at the beginning of a movement of the manipulator, initiated by the adjustment of the control lever in an actuating direction, these delays are of great disadvantage, especially if several articulated joints are moved simultaneously during this initiated movement in order to carry out the requested movement. The differences in the response behavior of the individual articulated joints can then produce undesirable pivoting movements of the mast in unintended directions, particularly at the beginning of a movement. In particular, at low pivoting speeds of the individual articulated joints, the usual lowering brake valves often lead to a non-uniform, undefined movement, since the opening state of the lowering brake valves is not clear at these low speeds. In this case, the movement performed does not correspond to that specified by the control lever. As a result, the response behavior and the accuracy are significantly impaired, especially at low pivoting speeds.

Aufgabe der Erfindung ist es daher, einen Manipulator anzugeben, der die beschriebenen Nachteile behebt und eine einfache Bedienung und ein hervorragendes Ansprechverhalten ermöglicht.It is therefore the object of the invention to specify a manipulator which eliminates the disadvantages described and enables simple operation and excellent response behavior.

Gelöst wird diese Aufgabe durch einen Manipulator gemäß Anspruch 1. Dadurch, dass alle Proportionalventile direkt an oder in unmittelbarer Nähe zu den zu steuernden Antriebsaggregaten angeordnet sind, wobei der Fahrbefehl eine gewünschte Bewegung der Mastspitze des Knickmastes oder eines daran angebrachten Endschlauchs in Richtung kartesischer oder Polar-Koordinaten angibt, lässt sich ein Manipulator realisieren, der ein hervorragendes Ansprechverhalten gewährleistet. Außerdem ist eine besonders einfache Bedienung des Manipulators möglich. Die Proportionalventile sind direkt an einem zugeordneten, zu steuernden Antriebsaggregat, d.h. am Anbringungsort des Antriebsaggregates, angeordnet. So können die Proportionalventile an den zu steuernden Antriebsaggregaten derart angeordnet sein, dass die Proportionalventile zusammen mit den Antriebsaggregaten an Mastsegmenten des Knickmastes ihre Position gegenüber dem Drehschemel bzw. der Betonpumpe ändern. Durch die direkte Anordnung der Proportionalventile an den zugeordneten, zu steuernden Antriebsaggregaten kann die Länge der Arbeitsleitungen zwischen den Proportionalventilen und den Antriebsaggregaten deutlich reduziert werden, wodurch das Ansprechverhalten des Manipulators verbessert wird und sich dieser agiler und dynamischer verfahren lässt.This object is achieved by a manipulator according to claim 1. The fact that all proportional valves are arranged directly on or in the immediate vicinity of the drive units to be controlled, the driving command being a desired movement of the mast tip of the articulated mast or an end hose attached thereto in the Cartesian or Polar direction coordinates, a manipulator can be realized that ensures excellent response. In addition, a particularly simple Operation of the manipulator possible. The proportional valves are arranged directly on an associated drive unit to be controlled, ie at the attachment location of the drive unit. The proportional valves can be arranged on the drive units to be controlled in such a way that the proportional valves together with the drive units on mast segments of the articulated mast change their position relative to the turntable or the concrete pump. By arranging the proportional valves directly on the assigned drive units to be controlled, the length of the working lines between the proportional valves and the drive units can be significantly reduced, which improves the response behavior of the manipulator and allows it to be moved more agilely and dynamically.

Der Effekt, den die Erfindung bewirkt ist am stärksten, da alle Proportionalventile in der Nähe der zu steuernden Antriebsaggregate angeordnet sind. Es ist aber schon mit der Anordnung mindestens eines Proportionalventiles in der Nähe eines zu steuernden Antriebsaggregates oft schon eine sehr deutliche Verbesserung des Ansprechverhaltens des Manipulators gegeben. Je mehr Proportionalventile in der Nähe der zu steuernden Antriebsaggregate angeordnet sind, desto besser ist letztendlich aber das Ansprechverhalten des Manipulators auf Steuerbefehle.The effect brought about by the invention is greatest since all the proportional valves are arranged in the vicinity of the drive units to be controlled. However, with the arrangement of at least one proportional valve in the vicinity of a drive assembly to be controlled, there is often already a very significant improvement in the response behavior of the manipulator. The more proportional valves are arranged in the vicinity of the drive units to be controlled, the better the response of the manipulator to control commands.

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

Besonders vorteilhaft ist, dass das mindestens eine Proportionalventil mit einem Schrittmotor ansteuerbar ist. Hierdurch lässt sich ein Manipulator realisieren, der ein hervorragendes Ansprechverhalten der Mastsegmente gewährleistet. Zudem sind mit einem Schrittmotor ansteuerbare Proportionalventile deutlich leichter und kleiner als ähnlich leistungsfähige konventionelle Ventile mit Proportionalmagneten, was eine deutliche Gewichtseinsparung und eine Reduzierung des erforderlichen Bauraums ermöglicht. Aufgrund der besonders geringen Größe und des geringen Gewichts des mindestens einen Proportionalventils eignet sich dieses besonders für einen dezentralen hydraulischen Steuerkreis.It is particularly advantageous that the at least one proportional valve can be controlled with a stepper motor. This allows a manipulator to be implemented that ensures excellent response behavior of the mast segments. In addition, proportional valves that can be controlled with a stepper motor are significantly lighter and smaller than similarly powerful conventional valves with proportional magnets, which enables significant weight savings and a reduction in the required installation space. Due to the particularly small size and the low weight of the at least one proportional valve, this is particularly suitable for a decentralized hydraulic control circuit.

Gemäß einer vorteilhaften Ausgestaltung der Erfindung ist vorgesehen, dass das mindestens eine Proportionalventil ein Gehäuse aufweist, welches einen Ventilkolben, eine Rückstellfeder und den Schrittmotor enthält. Ein derartiges Proportionalventil ist einfach und störungsunanfällig aufgebaut, was insbesondere beim Einsatz in Manipulatoren von besonderem Vorteil ist. Insbesondere wenn das Proportionalventil direkt an dem zugeordneten, zu steuernden Antriebsaggregat angeordnet ist, wo das Proportionalventil für Reparaturen schlecht erreichbar sein kann.According to an advantageous embodiment of the invention, it is provided that the at least one proportional valve has a housing which contains a valve piston, a return spring and the stepping motor. Such a proportional valve has a simple design and is not susceptible to faults, which is of particular advantage when used in manipulators. In particular, when the proportional valve is arranged directly on the associated drive unit to be controlled, where the proportional valve can be difficult to access for repairs.

Eine besonders vorteilhafte Ausführungsform der Erfindung sieht vor, dass zur Lasthaltefunktion verwendete Ventile als hydraulische entsperrbare Rückschlagventile ausgebildet sind. Dies bietet insbesondere für die Umsetzung einer aktiven Schwingungsdämpfung große dynamische Vorteile, da diese Ventile ein besonders gutes Ansprechverhalten bieten.A particularly advantageous embodiment of the invention provides that valves used for the load holding function are designed as hydraulically pilot-operated check valves. This offers great dynamic advantages, especially for the implementation of active vibration damping, since these valves offer particularly good response.

Weiter vorteilhaft ist eine mögliche Ausgestaltung, bei der die Stellung der Rückschlagventile unabhängig von der Stellung des mindestens einen direkt an einem zugeordneten, zu steuernden Antriebsaggregat angeordneten Proportionalventils durch die erste Steuereinheit und oder eine weitere Steuereinheit veränderbar ist. Hierdurch ist es möglich, das Ansprechverhalten des Großmanipulators, insbesondere bei der Realisierung der Lasthaltefunktion, deutlich zu verbessern. Es hat sich gezeigt dass eine elektronische Ansteuerung der Rückschlagventile einen definierten Öffnungszustand auch bei kleinen Verschwenkgeschwindigkeiten in den Knickgelenken sicherstellt.Also advantageous is a possible embodiment in which the position of the check valves can be changed by the first control unit and/or a further control unit independently of the position of the at least one proportional valve arranged directly on an assigned drive unit to be controlled. This makes it possible to significantly improve the response behavior of the large manipulator, particularly when implementing the load-holding function. It has been shown that electronic control of the check valves ensures a defined opening state even at low pivoting speeds in the articulated joints.

Von besonderem Vorteil ist, wenn der Manipulator einen zu dem mindestens einen Proportionalventil parallelen hydraulischen Notkreis aufweist, wobei der Notkreis bevorzugt zumindest ein steuerbares Schaltventil, welches direkt an oder in unmittelbarer Nähe zu dem zu steuerndem Antriebsaggregat angeordnet ist und vorzugsweise über eine eigene Druckversorgungsleitung versorgt ist, sowie hydraulisch entsperrbare Rückschlagventile oder Senkbremsventile zum Erreichen einer Lasthaltefunktion enthält. Hierdurch lässt sich der Manipulator auch noch bei Ausfall des Proportionalventils steuern.It is particularly advantageous if the manipulator has a hydraulic emergency circuit parallel to the at least one proportional valve, with the emergency circuit preferably having at least one controllable switching valve which is arranged directly on or in the immediate vicinity of the drive unit to be controlled and is preferably supplied via its own pressure supply line , as well as hydraulically operated check valves or lowering brake valves to achieve a load holding function. This allows the manipulator to be controlled even if the proportional valve fails.

Besonders vorteilhaft ist eine Ausgestaltung, bei der die Steuereinheit zur aktiven Schwingungsdämpfung eingerichtet ist, wobei die Steuereinheit Ansteuersignale für die Antriebsaggregate zur Dämpfung von Schwingungen des Knickmastes erzeugt. Dies hat besondere Vorteile bei der Bedienung des Manipulators, da Schwingungen des Knickmastes durch eine direkte Ansteuerung des mindestens einen Proportionalventils durch die Steuereinheit gegenüber dem Stand der Technik besser gedämpft werden können.A configuration in which the control unit is set up for active vibration damping is particularly advantageous, with the control unit generating control signals for the drive units for damping vibrations of the articulated mast. This has particular advantages when operating the manipulator, since vibrations of the articulated mast can be dampened better than in the prior art by direct activation of the at least one proportional valve by the control unit.

Gemäß einer vorteilhaften Ausgestaltung der Erfindung ist vorgesehen, dass die Umsetzung der Bewegungsvorgaben in Ansteuersignale für das mindestens eine direkt an einem zugeordneten, zu steuernden Antriebsaggregat angeordnete Proportionalventil durch eine lokale Steuereinheit erfolgt. Hierdurch wird der elektrische Verkabelungsaufwand bzw. die Auslastung des verwendeten BUS-Systems wesentlich reduziert.According to an advantageous embodiment of the invention, it is provided that the movement specifications are converted into control signals for the at least one proportional valve arranged directly on an assigned drive unit to be controlled by a local control unit. This significantly reduces the amount of electrical wiring and the utilization of the BUS system used.

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

Figur 1
einen erfindungsgemäßen Manipulator und
Figur 2
einen Schaltplan eines Steuerkreises für ein hydraulisches Antriebsaggregat des Manipulators.
Further features, details and advantages of the invention result from the following description and from the drawings. An embodiment of the invention is shown purely schematically in the following drawings and is described in more detail below. Corresponding objects are provided with the same reference symbols in all figures. Show it:
figure 1
a manipulator according to the invention and
figure 2
a circuit diagram of a control circuit for a hydraulic drive unit of the manipulator.

In Figur 1 schematisch dargestellt ist ein erfindungsgemäßer Manipulator 1, insbesondere Großmanipulator für Autobetonpumpen, mit einem ausfaltbaren Knickmast 2, der einen um eine Hochachse 4 drehbaren Drehschemel 5 und eine Mehrzahl von Mastsegmenten 6, 6a, 6b, 6c aufweist. Die Mastsegmente 6, 6a, 6b, 6c sind an Knickgelenken 7, 7a, 7b jeweils um Knickachsen gegenüber einem benachbarten Mastsegment 6, 6a, 6b, 6c oder dem Drehschemel 5 mittels je eines Antriebsaggregates 11 (Fig. 2) begrenzt verschwenkbar. Mit einem Steuerhebel 8 an einer Fernsteuereinrichtung 9, der in mehrere Stellrichtungen verstellbar ist, lassen sich Bewegungsvorgaben an eine zentrale Steuereinheit 10 übermitteln. Dies kann beispielsweise eine gewünschte Bewegung der Mastspitze 3 des Knickmastes 2 oder eines daran angebrachten Endschlauchs sein. Hierzu wird der Steuerhebel 8 in eine Stellrichtung verstellt und die zentrale Steuereinheit 10 empfängt den generierten Fahrbefehl. Die zentrale Steuereinheit 10 setzt den Fahrbefehl in Bewegungsvorgaben für die einzelnen Antriebsaggregate 11 (Fig. 2) um. Hierfür wird von der zentralen Steuereinheit 10 die messtechnisch erfasste Stellung des Manipulators 1, was beispielsweise durch Neigungssensoren an den Mastsegmenten 6, 6a, 6b, 6c oder Drehwinkelsensoren in den Knickgelenken 7, 7a, 7b umgesetzt sein kann, verarbeitet.In figure 1 a manipulator 1 according to the invention, in particular a large manipulator for truck-mounted concrete pumps, is shown schematically, with an articulated mast 2 which can be folded out, which has a turntable 5 rotatable about a vertical axis 4 and a plurality of mast segments 6, 6a, 6b, 6c. The mast segments 6, 6a, 6b, 6c are articulated at articulated joints 7, 7a, 7b in each case about bending axes relative to an adjacent mast segment 6, 6a, 6b, 6c or the turntable 5 by means of a drive unit 11 ( 2 ) limited pivoting. With a Control lever 8 on a remote control device 9, which can be adjusted in several directions, can be used to transmit movement specifications to a central control unit 10. This can be, for example, a desired movement of the mast tip 3 of the articulated mast 2 or an end hose attached thereto. For this purpose, the control lever 8 is adjusted in one direction and the central control unit 10 receives the generated driving command. The central control unit 10 converts the travel command into movement specifications for the individual drive units 11 ( 2 ) around. For this purpose, the central control unit 10 processes the measured position of the manipulator 1, which can be implemented, for example, by inclination sensors on the mast segments 6, 6a, 6b, 6c or angle of rotation sensors in the articulated joints 7, 7a, 7b.

Die Figur 2 zeigt eine schematische Darstellung eines elektrohydraulischen Steuerkreises 17 zum Ansteuern eines hydraulisch betätigten Antriebsaggregates 11, mittels dessen ein Mastsegment 6, 6a, 6b, 6c (Fig. 1) des Manipulators 1 (Fig. 1) hinsichtlich seiner Orientierung verstellbar ist, mit einem elektrisch angesteuerten Proportionalventil 12, welches mit den hydraulischen Arbeitsleitungen 13, 14 des Antriebsaggregates 11 zu dessen Ansteuerung verbunden ist. Zur besseren Übersicht ist in Figur 2 lediglich der Steuerkreis 17 für ein Antriebsaggregat 11 gezeigt, wobei an mindestens einem Knickgelenk bzw. in der in Fig. 2 dargestellten Ausführungsform der Erfindung an jedem Knickgelenk, je ein Antriebsaggregat 11 mit eigenem Steuerkreis 17 vorgesehen ist.the figure 2 shows a schematic representation of an electrohydraulic control circuit 17 for controlling a hydraulically actuated drive unit 11, by means of which a mast segment 6, 6a, 6b, 6c ( 1 ) of manipulator 1 ( 1 ) is adjustable in terms of its orientation, with an electrically controlled proportional valve 12, which is connected to the hydraulic working lines 13, 14 of the drive unit 11 to control it. For a better overview, in figure 2 only the control circuit 17 for a drive unit 11 is shown, with at least one articulated joint or in the in 2 illustrated embodiment of the invention on each articulated joint, one drive unit 11 each with its own control circuit 17 is provided.

Im Folgenden wird die Erfindung anhand dieser Ausführungsform beschrieben.In the following, the invention is described based on this embodiment.

Die den einzelnen Antriebsaggregaten 11 zugeordneten Proportionalventile 12 sind auf der ersten Druckversorgung (P1) 24 und auf dem ersten Rücklauf (T1) 25 parallel zueinander angeordnet. Das Proportionalventil 12 ist mit einem Schrittmotor 15 ansteuerbar, wobei das Proportionalventil 12 ein Gehäuse aufweist, welches einen Ventilkolben, eine Rückstellfeder und den Schrittmotor 15 enthält. Die Ansteuerung des Ventilkolbens am Proportionalventil 12 erfolgt über eine Zahnstange mittels des Schrittmotors 15. An dem Schrittmotor 15 ist eine Überwachungseinheit zur Überwachung der von dem Schrittmotor 15 durchgeführten Stellschritte vorgesehen. Um nachvollziehen zu können, in welcher Stellung sich das Proportionalventil 12 befindet, ist zudem ein Speicher vorgesehen für die Speicherung der durchgeführten Stellschritte des Schrittmotors 15. Die Ansteuerung mittels Schrittmotor 15 ermöglicht eine präzise Einstellung des Proportionalventils 12 unabhängig von den auftretenden Strömungskräften, was eine besonders genaue Steuerung des Antriebsaggregates 11 ermöglicht und das Ansprechverhalten des Manipulators 1 (Fig. 1) nachhaltig verbessert.The proportional valves 12 assigned to the individual drive units 11 are arranged parallel to one another on the first pressure supply (P1) 24 and on the first return (T1) 25 . The proportional valve 12 can be controlled with a stepping motor 15 , the proportional valve 12 having a housing which contains a valve piston, a restoring spring and the stepping motor 15 . The valve piston on the proportional valve 12 is actuated via a toothed rack by means of the stepping motor 15. A monitoring unit is located on the stepping motor 15 for monitoring the values generated by the stepping motor 15 carried out adjustment steps provided. In order to be able to understand the position in which the proportional valve 12 is located, a memory is also provided for storing the adjustment steps of the stepper motor 15 that have been carried out. Activation by means of the stepper motor 15 enables precise adjustment of the proportional valve 12 independently of the flow forces that occur, which is a particularly allows precise control of the drive unit 11 and the response of the manipulator 1 ( 1 ) sustainably improved.

In Figur 2 ist weiterhin das elektrisch angesteuerte Proportionalventil 12 erkennbar, mit welchem das Antriebsaggregat 11, insbesondere der Hydraulikzylinder, verfahren werden kann, indem das Proportionalventil 12 die dem Antriebsaggregat 11 zugeordneten Arbeitsleitungen 13, 14 mit einer Druckdifferenz beaufschlagt. Hierfür werden die Arbeitsleitungen 13, 14 wahlweise jeweils mit einer ersten Druckversorgung (P1) 24 oder einem ersten Rücklauf (T1) 25 durch das Proportionalventil 12 verbunden. Die Ansteuerung des Proportionalventils 12 erfolgt über einen zugeordneten Schrittmotor 15 durch eine lokale elektronische Steuereinrichtung ECU (electronic control unit) 10a. Diese überwacht und steuert den Zustand des lokalen elektrohydraulischen Steuerkreises 17 samt zugehörigem Antriebsaggregat 11, ermöglicht die Implementierung komplexer Algorithmen, bietet eine Schnittstelle zur Kommunikation nach außen über ein BUS-System (beispielsweise CAN) sowie die Möglichkeit, eine Vielzahl von Sensoren, wie z.B. Neigungssensoren an den Mastsegmenten, Drehwinkelsensoren in den Knickgelenken oder Drucksensoren zur Erfassung der Drücke in den Arbeitsleitungen mit dieser zu verbinden. Außerdem empfängt die Steuereinrichtung 10a die durch die zentrale Steuereinrichtung 10 (Fig. 1) übermittelte Bewegungsvorgabe, welche von der zentralen Steuereinrichtung 10 (Fig. 1) anhand des durch die Verstellung des Steuerhebels 8 (Fig. 1) generierten Fahrbefehls berechnet wird, für das zugehörige Antriebsaggregat und verarbeitet diesen in ein Ansteuersignal für das Proportionalventil 12, wobei dieses hierdurch geschaltet wird und das Antriebsaggregat 11 betätigt. Abhängig von der Stellung des Proportionalventils 12 wird ein der Druckversorgung (P1) 24 zugeordneter Versorgungsdruck auf eine Arbeitsleitung 13 oder 14 des zugeordneten Antriebsaggregates 11 geschaltet. Die Sperrventile 16, 16a erfüllen eine Lasthaltefunktion, wenn sich der Steuerkreis 17 in einem inaktiven Zustand oder sicheren Zustand befindet. Diese Sperrventile 16, 16a sind als hydraulisch entsperrbare Rückschlagventile 16, 16a ausgebildet, welche unabhängig von der Stellung des Proportionalventils 12 durch die lokale Steuereinrichtung 10a geöffnet und geschlossen werden können. Das Sperrventil 23 hat ebenfalls eine Sicherheitsfunktion, insbesondere verhindert es ein Aufdrücken der Sperrventile bzw. Rückschlagventile 16, 16a im Falle eines klemmenden Ventilkolbens außerhalb der Mittellage im Proportionalventil 12. Darüber hinaus werden mit den Sensoren 18, 18a, 18b der Versorgungsdruck der Zuleitung P1, durch Sensor 18, im aktiven Zustand des elektrohydraulischen Steuerkreises 17 und die Drücke in den Arbeitsleitungen 13, 14, durch Sensoren 18a, 18b, zu dem hydraulischen Antriebsaggregat 11 gemessen. Diese Messungen werden von der lokalen Steuerung 10a zur Ermittlung jener Sollstellung des Proportionalventils 12 herangezogen, welche quasistatisch zu einem gewünschten Volumenstrom bzw. der Umsetzung der von der zentralen Steuerung 10 übermittelten Bewegungsvorgabe für das hydraulischen Antriebsaggregat 11 führt. Der elektrohydraulische Steuerkreis 17 umfasst in der dargestellten Ausführung außerdem einen optionalen dem Proportionalventil 12 parallel geschalteten hydraulischen Notkreis für den Notbetrieb. Dieser Notkreis ermöglicht ein Verfahren des Antriebsaggregates 11 bei Ausfall der dem Proportionalventil 12 zugeordneten (vor- bzw. nachgeschalteten) Bauteile. Jedem Proportionalventil 12 zur Steuerung eines Antriebsaggregates 11 ist vorzugsweise ein eigener Notkreis zugeordnet. Der Notkreis umfasst ein Steuerventil 21 zur Steuerung der Verfahrrichtung des Antriebsaggregates 11 im Notbetrieb sowie zwei gegenseitig verkoppelte Ventile 20, 20a, welche als hydraulisch entsperrbare Rückschlagventile oder Senkbremsventile 20, 20a in klassischer Verschaltung ausgeführt sind. Mit den nachgeschalteten einstellbaren Drosseln 19, 19a kann die Verfahrgeschwindigkeit im Notbetrieb begrenzt werden. Das Antriebsaggregat 11, insbesondere der Hydraulikzylinder, kann so im Notbetrieb verfahren werden, indem das Steuerventil 11 für den Notbetrieb die dem Antriebsaggregat 11 zugeordneten Arbeitsleitungen 13, 14 mit einer Druckdifferenz beaufschlagt. Hierfür werden die Arbeitsleitungen 13, 14 wahlweise jeweils mit einer zweiten Druckversorgung (P2) 26 oder einem zweiten Rücklauf (T2) 27 von dem Steuerventil 21 verbunden. Im Notbetrieb erfolgt die Druckversorgung des Antriebsaggregates 11 vorzugsweise über die separate Druckversorgung (P2) 26 und den separaten Rücklauf (T2) 27, sodass bei einer Undichtigkeit der Druckversorgung (P1) 24 oder des Rücklaufs (T1) 25 weiterhin eine Steuerung des Antriebsaggregates 11 möglich ist. Hierdurch kann sichergestellt werden, dass bei Ausfall der regulären Maststeuerung samt Proportionalventil 12 der Mast 2 (Fig. 1) noch verfahren werden kann, um beispielsweise den Mast 2 (Fig. 1) einzufahren und gegebenenfalls den Restbeton aus der Betonpumpe und den Förderrohren herauszupumpen. Die jedem Proportionalventil 12 zugeordneten Steuerventile 21 sind auf der separaten Druckversorgung (P2) 26 und auf dem separaten Rücklauf (T2) 27 parallel zueinander angeordnet. Die lokale elektronische Steuereinrichtung 10a überwacht zudem den Zustand und das Verhalten des Steuerkreises 17 mittels der zur Verfügung stehenden Sensoren. Sobald die lokale elektronische Steuereinrichtung 10a einen Fehler erkennt, schaltet sie den Steuerkreis 17 automatisch in einen sicheren Zustand.In figure 2 the electrically controlled proportional valve 12 can also be seen, with which the drive unit 11, in particular the hydraulic cylinder, can be moved by the proportional valve 12 applying a pressure difference to the working lines 13, 14 assigned to the drive unit 11. For this purpose, the working lines 13, 14 are optionally connected to a first pressure supply (P1) 24 or a first return (T1) 25 through the proportional valve 12. The proportional valve 12 is controlled via an associated stepping motor 15 by a local electronic control device ECU (electronic control unit) 10a. This monitors and controls the state of the local electro-hydraulic control circuit 17 together with the associated drive unit 11, enables the implementation of complex algorithms, offers an interface for external communication via a BUS system (e.g. CAN) and the possibility of using a large number of sensors, such as inclination sensors on the mast segments, to connect angle of rotation sensors in the articulated joints or pressure sensors to record the pressures in the working lines. In addition, the control device 10a receives the data transmitted by the central control device 10 ( 1 ) transmitted motion specification, which the central control device 10 ( 1 ) based on the adjustment of the control lever 8 ( 1 ) Generated drive command is calculated for the associated drive unit and processes this into a control signal for the proportional valve 12, which is thereby switched and the drive unit 11 is actuated. Depending on the position of the proportional valve 12, a supply pressure assigned to the pressure supply (P1) 24 is switched to a working line 13 or 14 of the assigned drive assembly 11. The check valves 16, 16a perform a load holding function when the Control circuit 17 is in an inactive state or safe state. These check valves 16, 16a are designed as hydraulically piloted check valves 16, 16a, which can be opened and closed independently of the position of the proportional valve 12 by the local control device 10a. The check valve 23 also has a safety function, in particular it prevents the check valves or check valves 16, 16a from being pressed open in the event of a jammed valve piston outside the central position in the proportional valve 12. In addition, the sensors 18, 18a, 18b measure the supply pressure of the feed line P1, by sensor 18, in the active state of the electrohydraulic control circuit 17, and the pressures in the working lines 13, 14, by sensors 18a, 18b, to the hydraulic drive unit 11 are measured. These measurements are used by the local controller 10a to determine that setpoint position of the proportional valve 12 which leads quasi-statically to a desired volumetric flow or the implementation of the movement specification for the hydraulic drive unit 11 transmitted by the central controller 10 . In the illustrated embodiment, the electrohydraulic control circuit 17 also includes an optional hydraulic emergency circuit connected in parallel with the proportional valve 12 for emergency operation. This emergency circuit enables the drive unit 11 to be moved if the components assigned to the proportional valve 12 (upstream or downstream) fail. Each proportional valve 12 for controlling a drive unit 11 is preferably assigned its own emergency circuit. The emergency circuit includes a control valve 21 for controlling the direction of travel of the drive unit 11 in emergency operation and two mutually coupled valves 20, 20a, which are designed as hydraulically piloted check valves or lowering brake valves 20, 20a in a classic configuration. With the downstream adjustable throttles 19, 19a, the travel speed can be limited in emergency operation. The drive unit 11, in particular the hydraulic cylinder, can be moved in emergency operation in that the control valve 11 for the emergency operation applies a pressure difference to the working lines 13, 14 assigned to the drive unit 11. For this purpose, the working lines 13, 14 are optionally connected to a second pressure supply (P2) 26 or a second return (T2) 27 from the control valve 21. In emergency operation, the drive unit 11 is preferably supplied with pressure via the separate pressure supply (P2) 26 and the separate return (T2) 27, so that if there is a leak in the pressure supply (P1) 24 or the return (T1) 25, the drive unit 11 can still be controlled. This ensures that if the regular mast control fails, including the proportional valve 12, the mast 2 ( 1 ) can still be moved, for example to remove mast 2 ( 1 ) to retract and, if necessary, to pump out the residual concrete from the concrete pump and the delivery pipes. The control valves 21 assigned to each proportional valve 12 are arranged parallel to one another on the separate pressure supply (P2) 26 and on the separate return (T2) 27 . The local electronic control device 10a also monitors the status and behavior of the control circuit 17 using the available sensors. As soon as the local electronic control device 10a detects an error, it automatically switches the control circuit 17 to a safe state.

Alternativ könnten die Aufgaben der lokalen Steuereinheiten 10a direkt von der zentralen Steuereinheit 10 übernommen werden, sodass auf die lokalen Steuereinheiten 10a verzichtet werden kann. Dies hat jedoch den Nachteil, dass der elektrische Verkabelungsaufwand bzw. die Auslastung des verwendeten BUS-Systems wesentlich erhöht wird. Denkbar wäre es auch im Sinne eines Kompromisses, mehrere lokale Steuereinheiten zusammenzufassen, sodass diese die Steuerung von jeweils mehr als einem Antriebsaggregat übernehmen.Alternatively, the tasks of the local control units 10a could be taken over directly by the central control unit 10, so that the local control units 10a can be dispensed with. However, this has the disadvantage that the electrical wiring effort and the utilization of the BUS system used is significantly increased. It would also be conceivable as a compromise to combine several local control units so that they each take over the control of more than one drive unit.

Weiter vorteilhaft ist eine Ausgestaltung, bei der die Rückschlagventile einen definierten Öffnungszustand schalten. Mittels dieses definierten Öffnungszustands lässt sich der Manipulator auch bei kleinen Verschwenkgeschwindigkeiten in den einzelnen Knickgelenken einfach und sicher durch den Benutzer am Steuerhebel bedienen.Also advantageous is an embodiment in which the check valves switch to a defined opening state. By means of this defined opening state, the manipulator can be easily and safely operated by the user on the control lever, even at low pivoting speeds in the individual articulated joints.

Durch die Minimierung und Verkürzung der hydraulischen Arbeitsleitungen zwischen den Proportionalventilen 12 und dem hydraulischen Antriebsaggregat 11 und dem definierten Öffnungszustand der Ventile 16, 16a für die Lasthaltefunktion, welcher unabhängig von der Stellung des Proportionalventils 12 sowie der auftretenden Druckverhältnisse ist, wird für die einzelnen Antriebsaggregate 11 ein optimales Ansprechverhalten mit minimierter Verzögerungszeit zwischen der Verstellung des Steuerhebels 8 in eine Stellrichtung und der Ausführung einer Bewegung durch die Antriebsaggregate 11 erreicht. Insbesondere ist diese Verzögerungszeit für alle Antriebsaggregate 11 des Knickmasts 2 näherungsweise identisch, sodass bei der Einleitung einer Bewegung des Knickmastes 2 mit gleichzeitiger Betätigung mehrerer Antriebsaggregate 11 die Bewegung sehr präzise umgesetzt werden kann, ohne dass zu Beginn der Bewegung unerwünschte Verschwenkbewegungen des Knickmastes 2 in nicht beabsichtigte Richtungen erzeugt werden.By minimizing and shortening the hydraulic working lines between the proportional valves 12 and the hydraulic drive unit 11 and the defined opening state of the valves 16, 16a for the load holding function, which is independent of the position of the proportional valve 12 and the pressure conditions that occur, the individual drive units 11 an optimal response with minimized delay time between the adjustment of the control lever 8 in a Adjusting direction and the execution of a movement by the drive units 11 achieved. In particular, this delay time is approximately identical for all drive units 11 of the articulated mast 2, so that when a movement of the articulated mast 2 is initiated with the simultaneous actuation of several drive units 11, the movement can be implemented very precisely without undesired pivoting movements of the articulated mast 2 occurring at the beginning of the movement intended directions are generated.

Bezuaszeichenlistereference list

11
Manipulatormanipulator
22
Knickmastarticulated mast
33
Mastspitzemasthead
44
Hochachsevertical axis
55
Drehschemelturntable
6 6a ,6b, 6c6 6a ,6b, 6c
Mastsegmentemast sections
7 7a, 7b7 7a, 7b
Knickgelenkearticulated joints
88th
Steuerhebelcontrol lever
99
Fernsteuereinrichtungremote control device
1010
Zentrale SteuereinheitCentral control unit
10a -10a -
Lokale Steuereinheit(en)Local control unit(s)
1111
Antriebsaggregatdrive unit
1212
Proportionalventilproportional valve
1313
Arbeitsleitung AWorking line A
1414
Arbeitsleitung BWorking line B
1515
Schrittmotorstepper motor
1616
16a Lasthalt-/Sperrventile16a load holding/blocking valves
1717
Steuerkreiscontrol circuit
18 18a, 18b18 18a, 18b
Drucksensorenpressure sensors
19 19a19 19a
einstellbare Drosselnadjustable throttles
20 20a20 20a
Senkbrems-(Rückschlag-)ventileLowering brake (check) valves
2121
Steuerventilcontrol valve
2222
Freigabeventilrelease valve
2323
Sperrventilcheck valve
2424
Druckversorgung (Normalbetrieb)Pressure supply (normal operation)
2525
Rücklauf (Normalbetrieb)return (normal operation)
2626
Druckversorgung (Notbetrieb)Pressure supply (emergency operation)
2727
Rücklauf (Notbetrieb)return (emergency operation)

Claims (8)

Manipulator (1), insbesondere Großmanipulator für Autobetonpumpen, mit einem ausfaltbaren Knickmast (2), der einen um eine Hochachse (4) drehbaren Drehschemel (5) und eine Mehrzahl von Mastsegmenten (6, 6a, 6b, 6c) aufweist, wobei die Mastsegmente (6, 6a, 6b, 6c) an Knickgelenken (7, 7a, 7b) jeweils um Knickachsen gegenüber einem benachbarten Mastsegment (6, 6a, 6b, 6c) oder dem Drehschemel (5) mittels je eines Antriebsaggregates (11) begrenzt verschwenkbar sind, und mit einer mindestens einen Steuerhebel (8) aufweisenden Fernsteuereinrichtung (9), wobei der Steuerhebel (8) in mehrere Stellrichtungen verstellbar ist, wobei ein Fahrbefehl durch eine Verstellung des Steuerhebels (8) in wenigstens eine Stellrichtung erzeugbar ist, der eine gewünschte Bewegung der Mastspitze (3) des Knickmastes oder eines daran angebrachten Endschlauchs angibt, und mit einer Steuereinrichtung (10) zur Ansteuerung der Antriebsaggregate (11), wobei die Steuereinheit (10) den Fahrbefehl in Bewegungsvorgaben für die Antriebsaggregate (11) umsetzt, und wobei die Antriebsaggregate (11) mittels jeweils eines elektrisch angesteuerten Proportionalventils (12) betätigbar sind, welches mit hydraulischen Arbeitsleitungen (13, 14) des jeweiligen Antriebsaggregates (11) zu dessen Ansteuerung verbunden ist, dadurch gekennzeichnet, dass alle Proportionalventile (12) direkt an oder in unmittelbarer Nähe zu den zu steuernden Antriebsaggregaten (11) angeordnet sind, wobei der Fahrbefehl eine gewünschte Bewegung der Mastspitze (3) des Knickmastes oder eines daran angebrachten Endschlauchs in Richtung kartesischer oder Polar-Koordinaten angibt. Manipulator (1), in particular a large manipulator for truck-mounted concrete pumps, with an articulated mast (2) that can be folded out, which has a turntable (5) that can be rotated about a vertical axis (4) and a plurality of mast segments (6, 6a, 6b, 6c), the mast segments (6, 6a, 6b, 6c) on articulated joints (7, 7a, 7b) can each be pivoted to a limited extent about articulation axes relative to an adjacent mast segment (6, 6a, 6b, 6c) or the turntable (5) by means of a drive unit (11) each , and with a remote control device (9) having at least one control lever (8), the control lever (8) being adjustable in a plurality of setting directions, a travel command being able to be generated by adjusting the control lever (8) in at least one setting direction, which command a desired movement indicates the top of the mast (3) of the articulated mast or an end hose attached thereto, and with a control device (10) for controlling the drive units (11), the control unit (10) converting the travel command into movement specifications f for the drive units (11), and wherein the drive units (11) can each be actuated by means of an electrically controlled proportional valve (12), which is connected to hydraulic working lines (13, 14) of the respective drive unit (11) to control it, characterized, that all proportional valves (12) are arranged directly on or in the immediate vicinity of the drive units (11) to be controlled, with the travel command specifying a desired movement of the mast tip (3) of the articulated mast or an end hose attached thereto in the direction of Cartesian or polar coordinates. Manipulator nach Anspruch 1, dadurch gekennzeichnet, dass das mindestens eine, direkt an oder in unmittelbarer Nähe zu dem zu steuernden Antriebsaggregat (11) angeordnete Proportionalventil (12) mit einem Schrittmotor (15) ansteuerbar ist.Manipulator according to Claim 1, characterized in that the at least one proportional valve (12) arranged directly on or in the immediate vicinity of the drive unit (11) to be controlled can be controlled with a stepper motor (15). Manipulator nach Anspruch 2, dadurch gekennzeichnet, dass das mindestens eine direkt, an oder in unmittelbarer Nähe zu dem zu steuernden Antriebsaggregat (11) angeordnete Proportionalventil (12) ein Gehäuse aufweist, welches einen Ventilkolben, eine Rückstellfeder und den Schrittmotor (15) enthält.Manipulator according to Claim 2, characterized in that the at least one proportional valve (12) arranged directly on or in the immediate vicinity of the drive unit (11) to be controlled has a housing which contains a valve piston, a return spring and the stepping motor (15). Manipulator nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass zur Lasthaltefunktion verwendete Ventile (16, 16a) als hydraulisch entsperrbare Rückschlagventile ausgebildet sind.Manipulator according to one of Claims 1 to 3, characterized in that valves (16, 16a) used for the load-holding function are designed as hydraulically pilot-operated non-return valves. Manipulator nach Anspruch 4, dadurch gekennzeichnet, dass die Stellung der Rückschlagventile (16, 16a) unabhängig von der Stellung des Proportionalventils (12) durch die erste Steuereinheit (10) und/oder eine weitere Steuereinheit veränderbar ist.Manipulator according to Claim 4, characterized in that the position of the check valves (16, 16a) can be changed by the first control unit (10) and/or a further control unit independently of the position of the proportional valve (12). Manipulator nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, dass das mindestens eine direkt an oder in unmittelbarer Nähe zu dem zu steuernden Antriebsaggregat (11) angeordnete Proportionalventil (12) einen dazu parallelen hydraulischen Notkreis aufweist, wobei der Notkreis bevorzugt zumindest ein steuerbares Schaltventil (21) aufweist, welches direkt an oder in unmittelbarer Nähe zu dem zu steuerndem Antriebsaggregat (11) angeordnet ist und vorzugsweise über eine eigene Druckversorgungsleitung (26) versorgt ist, sowie hydraulisch entsperrbare Rückschlagventile oder Senkbremsventile (20, 20a) zum Erreichen einer Lasthaltefunktion enthält.Manipulator according to one of Claims 1 to 5, characterized in that the at least one proportional valve (12) arranged directly on or in the immediate vicinity of the drive unit (11) to be controlled has a hydraulic emergency circuit parallel thereto, the emergency circuit preferably having at least one controllable switching valve (21), which is arranged directly on or in the immediate vicinity of the drive unit (11) to be controlled and is preferably supplied via its own pressure supply line (26), and contains hydraulically pilot-operated check valves or lowering brake valves (20, 20a) to achieve a load-holding function . Manipulator nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Steuereinheit (10) zur aktiven Schwingungsdämpfung eingerichtet ist, wobei die Steuereinheit (10) Ansteuersignale für die Antriebsaggregate (11) zur Dämpfung von Schwingungen des Knickmastes erzeugt.Manipulator according to one of Claims 1 to 6, characterized in that the control unit (10) is set up for active vibration damping, the control unit (10) generating control signals for the drive units (11) for damping vibrations of the articulated mast. Manipulator nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass die Umsetzung der Bewegungsvorgaben in Ansteuersignale für das mindestens eine direkt an oder in unmittelbarer Nähe zu dem zu steuernden Antriebsaggregat (11) angeordnete Proportionalventil (12) durch eine lokale Steuereinheit (10a) erfolgt.Manipulator according to one of Claims 1 to 7, characterized in that the movement specifications are converted into control signals for the at least one proportional valve (12) arranged directly on or in the immediate vicinity of the drive unit (11) to be controlled by a local control unit (10a). .
EP21195714.7A 2016-04-11 2017-04-10 Large manipulator with decentralized hydraulic system Pending EP3957808A1 (en)

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US20190161983A1 (en) 2019-05-30
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US11105106B2 (en) 2021-08-31
CN109312570A (en) 2019-02-05
DE102016106595A1 (en) 2017-10-12
EP3452672A1 (en) 2019-03-13

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