WO2005095256A1 - Outillage mobile a bras d'extension de support et procede pour fabriquer ledit dispositif - Google Patents

Outillage mobile a bras d'extension de support et procede pour fabriquer ledit dispositif Download PDF

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Publication number
WO2005095256A1
WO2005095256A1 PCT/EP2005/002055 EP2005002055W WO2005095256A1 WO 2005095256 A1 WO2005095256 A1 WO 2005095256A1 EP 2005002055 W EP2005002055 W EP 2005002055W WO 2005095256 A1 WO2005095256 A1 WO 2005095256A1
Authority
WO
WIPO (PCT)
Prior art keywords
support
control
chassis
inclination
force
Prior art date
Application number
PCT/EP2005/002055
Other languages
German (de)
English (en)
Inventor
Kurt Rau
Hartmut Dr. Benckert
Original Assignee
Putzmeister Aktiengesellschaft
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 Putzmeister Aktiengesellschaft filed Critical Putzmeister Aktiengesellschaft
Publication of WO2005095256A1 publication Critical patent/WO2005095256A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details
    • B66C23/72—Counterweights or supports for balancing lifting couples
    • B66C23/78—Supports, e.g. outriggers, for mobile cranes
    • B66C23/80—Supports, e.g. outriggers, for mobile cranes hydraulically actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical

Definitions

  • the invention relates to a mobile working device, in particular a truck-mounted concrete pump, with a chassis, with two front and two rear, extendable from a transport position into at least one support position and with a support arm that can be supported on a subsurface by means of a drive unit, and with at least one of Hand-operated control device, computer-based control device for controlling the drive units of the support legs.
  • the invention further relates to a method for installing such a mobile working device on the ground.
  • the outrigger arms have the task of eliminating the vehicle suspension and relieving the wheels.
  • the outrigger arms are designed to reduce the risk of tipping that arises when high tipping moments arise from a working jib.
  • the support legs of the outrigger form the corners of a square, the side lines of which describe an area within which the overall center of gravity of the implement must lie in order to ensure stability. Since the cantilever boom can be rotated, the center of gravity for a turn describes a full circle, which must lie within the square area in the work area of the boom.
  • the support legs When setting up a concrete pump at an operating location, the support legs have so far been manually extended for safety reasons, for example via a control unit of a remote control, until they come into contact with the ground. Then the support legs on one of the two long sides of the chassis locked, while on the other side the support legs were extended to lift the chassis on one side.
  • the pump driver must ensure that the legs cannot sink into the ground. If necessary, wood must be underlaid.
  • the support legs are then locked on the raised side, so that the second side can also be raised by extending the support legs independently of the side that is already supported. The support process is considered complete as soon as the chassis with its wheels is lifted off the ground.
  • the object of the invention is to improve the known implement of the type specified at the outset in such a way that the supporting operation can be carried out in a few steps and yet with high reliability, and that repairs can also be carried out easily in the setup.
  • the solution according to the invention provides for a semi-automatic installation of the implement at the operating location.
  • the invention primarily proposes that at least one force sensor for measuring the support-leg-related support forces be arranged in each support arm. net, and that the control device has an evaluation routine responsive to force measurement values of the support force sensors and a predetermined comparison value for controlling the drive units of at least one selected support leg.
  • the control device expediently has a wirelessly connectable remote control device containing the control elements.
  • a preferred embodiment of the invention provides that an electronic inclination sensor aligned in its longitudinal and / or transverse direction is arranged on the chassis, and that the evaluation routine when controlling the drive units of the support legs to the inclination values measured with the inclination sensors and predetermined comparison values appeals to this.
  • control device has an evaluation routine for the coupled actuation of the drive units of the four support legs with only one control element.
  • the evaluation routine advantageously comprises a totalizer for determining the instantaneous total load from the measured support leg-related support forces and a comparator for determining a change in the total load over time, which terminates the support process when a constant total load is reached.
  • the evaluation routine also contains a branch, with which the four support legs can be lowered in the same direction via a control element while maintaining a predetermined inclination until the chassis with its wheels stands on the ground.
  • an evaluation routine is provided, with which two adjacent support legs can be raised and the other two support legs can be lowered while maintaining one with a control lever while changing the longitudinal or transverse inclination constant total load and support leg-related support forces that are greater than a predetermined minimum force are.
  • the drive units of the support legs are advantageously designed as hydraulic cylinders which can be pressurized with pressure oil via control valves, the control valves being controllable via the evaluation routine.
  • a switching element which can be actuated by the working boom in the transport state and is suitable for releasing the control device for the supporting arms and for their supporting legs is provided in the region of the supporting block.
  • each support arm it is also expedient for each support arm to have two redundant support force sensors and the control device to have two computers which are independent of one another and can be acted upon by the force measurement values of the redundant support force sensors, the control outputs of which are determined by a comparator for controlling the drive units.
  • These measures also serve operational safety, since this can ensure that actuation of the support legs is only triggered when both computers receive the same support force values within predefined error limits.
  • control device comprises a plausibility routine which includes the conversion of the force measurement values into inclination values and for comparison with the inclination values measured on the inclination sensors.
  • the evaluation routine provides signals for the release or non-release of the drive units with the comparison results.
  • a further advantageous embodiment of the invention provides that the computer-assisted control device has a data memory for storage of the total load value determined when the chassis is raised. This value can be used as a constant comparison value for the raised state of the chassis in the event of repeated support operations or when the chassis changes incline.
  • the remote control device also has a display for graphically displaying the inclination values determined with the inclination sensors in the longitudinal and transverse directions of the chassis.
  • the invention further relates to a method for setting up a mobile implement, in particular a truck-mounted concrete pump, by means of four support arms arranged on a chassis, which can be extended from a transport position into a work position, each with a support leg that can be telescoped via a remote control while lifting the chassis on a surface be supported.
  • a supporting leg-related supporting force is gladly eaten in each supporting boom during the supporting process triggered with a control element of the remote control.
  • the measured support force measured values are compared with a predefined minimum value using a computer, the support legs being raised and / or lowered in compliance with the condition that the support force measured values are greater than the minimum value, until the chassis has reached a predefined end position.
  • the inclination of the chassis in its longitudinal and / or transverse direction is also measured during the support operation and compared with predetermined comparison values, while the support legs are raised and / or lowered until the moving part has reached its end position with a predetermined inclination.
  • a preferred embodiment of the invention provides that the drive units are actuated by four support legs with only one hand-operated control element and with the support of an evaluation routine, the support leg-related support forces during the support operation while maintaining a predetermined inclination of the chassis greater than one specified minimum force are maintained until the sum of the supporting force-related supporting force values remains constant.
  • the four are in the support process Support legs raised in the same direction with a control unit with the support of the evaluation routine. Conversely, when the chassis is lowered, the four support legs are lowered in the same direction with a control unit and with the support of the evaluation routine.
  • a preferred embodiment of the invention provides that in the event of a change in the inclination of the raised chassis, the drive units of four support legs with a control member and a computer-assisted evaluation routine are controlled by changing the longitudinal and / or transverse inclination of the chassis so that two adjacent support legs are raised and the two other adjacent support legs are lowered, the conditions that the individual support leg forces are greater than a minimum force and the total load remains constant.
  • the support leg-related support forces are measured with two groups of independent force sensors and evaluated in two separate computers, and if a support leg movement is only triggered when both sensor groups within the specified error limits are the same Force measurements result.
  • FIG. 1 shows a view of a truck-mounted concrete pump parked on the side of the road with outrigger arms supported narrowly on the street side;
  • Fig. 2 is a side view of a jib
  • 3a and b show a support leg with a measuring pin designed as a measuring element in the retracted and extended state; 4 shows a diagram of the working machine supported on the floor with force sensors arranged in pairs in the support legs and a two-dimensional inclination sensor arranged fixed to the chassis;
  • FIG. 5 shows a schematic representation of a computer-aided control device for controlling the drive units of the support legs
  • the mobile concrete pump shown in FIG. 1 essentially consists of a multi-axle chassis 10, a working boom 14 designed as a concrete boom and rotatably mounted on a mast bracket 12 near a front axle about a vertical axis 13 fixed to the chassis, and a support structure 15, the two front and two rear support arms 22, 24 has.
  • the support arms 22, 24 each have a downward support leg box 26, in which a telescopic support leg 28 with a boom-fixed telescopic member 30 is fastened.
  • the support legs 28 can be supported on the base 36 with a foot plate 34.
  • the front and rear support arms 22, 24 can be extended from a transport position near the chassis to a support position.
  • a narrow support was chosen on the street side, with which the space problems on narrow construction sites can be taken into account.
  • Each support leg 28 standing on the floor span a square, the sides of which each form a tipping edge.
  • Each support leg 28 is assigned at least one force sensor 38, which can consist, for example, of at least one strain gauge with an associated electrical measuring circuit.
  • Each measuring circuit inputs an Given given time cycles from a test load dependent measurement signal, which is processed in a computer-aided control electronics 40.
  • the measuring members 38 ′ for determining the support leg-related support forces Fj are formed by the articulation pins 32.
  • a special feature of the invention is that the support process at an operating point is simplified compared to the prior art in that the support legs 28 are first lowered individually with their foot plate 34 after the support arms 22, 24 have been extended until they come into contact with the ground 36 and then with the help of a remote control, actuating only one control member 58, a partially automatic support process is triggered, which increases the travel stells 10 leads by lifting the wheels 42 from the ground 36.
  • the above-described support leg-related force sensors 38 and an inclination sensor 46 fixed to the chassis play an important role (cf. FIG. 4).
  • the inclination sensor 46 is designed as a two-dimensional electronic level, with which inclinations can be measured in the X direction (pitch axis) and in the Y direction (roll axis).
  • each support leg is assigned two redundant force measuring elements 38 ', 38 ", with each of which a support leg-related support load Fj and Fj * is measured.
  • the support load measured values Fj are fed to the first computer 48 and the measured values Fj * to the second computer 50 and there
  • the first computer 48 also contains an input for the inclination values X, Y output by the inclination sensor 46.
  • the computer-aided control electronics 40 are also connected by radio to a remote control device 52.
  • an operating switch 54 receives control signals which are transmitted in the exemplary embodiment shown an operating switch 54 and two joysticks 58, 60.
  • Various operating states such as manual operation A, semi-automatic operation B and inclination adjustment in the X direction C, can be set with the operating switch 54, while the joystick 58 for extending and retracting the support legs 28 and the joystick 60 for the inclination vers position in the X and Y directions are determined.
  • the measurement data of the force sensors 38 and the inclination sensor 46 are converted into control signals for the control valves V1, V2, V3, V4 assigned to the hydraulic drive units of the individual support legs 28 in accordance with the position of the operating switch 54 in the computer 1.
  • the control valves are activated when the paired measuring elements 38 ', 38 "give the same vertical load measured values Fj, Fj within predetermined error limits. Only then does the release stage 62 release the actuation of the valves V
  • . 5a, 5b and 5c illustrate the operating mode in the three operating positions A, B and C, which can be set via the operating switch 54 of the remote control 52.
  • the support legs 28 are first extended individually by hand, for example via a joystick 58 of the remote control 52, until they come into contact with the ground. This process is monitored by the computer-aided control electronics 40.
  • the support loads Fj related to the support legs are cyclically compared with the specified minimum value F m jn.
  • it is also checked in the raised state with the aid of the electronic inclination sensor 46 whether the Y inclination (curling tendency) is zero. Any deviations are compensated for using a suitable algorithm.
  • the current inclination in the X and Y directions is transmitted by radio to the remote control 52 and is shown there on a display 64.
  • the Release for actuating the jib 14 which was blocked by a safety circuit during the support process.
  • the inclination of the chassis in the X direction can be adjusted in semi-automatic operation with the aid of a joystick 60. This may be necessary, for example, if the material feed container of the concrete pump is to be raised or lowered for loading with concrete.
  • a special feature of the invention is that the inclination is adjusted by actuating the front and rear support legs 28 in the opposite direction. For this purpose, an inclination setpoint is transmitted by radio within predetermined limits and compared with the actual value measured with the aid of the inclination sensor 46 by forming a difference.
  • the inclination can be changed either by lifting at the front and lowering at the rear or by lowering at the front and lifting at the rear until a predefined tolerance value ⁇ Nx is undershot.
  • a query is also made as to whether all the wheels have been lifted off the ground 36 and whether all the support legs have the necessary contact with the ground. This is done through the queries ⁇ " ⁇ 'min
  • program part B (FIG. 5b) ensures that the support legs 28 are additionally extended somewhat in their entirety.
  • the program sequence ends when the desired inclination is reached, that is, the condition
  • the invention relates to a mobile implement, in particular a truck-mounted concrete pump, with a chassis 10, with two front and two rear, extendable from a transport position into at least one working position and each with a support leg 28 on a telescopic by means of a drive unit Support 36 outriggers 22, 24.
  • the drive units of the support legs 28 can be controlled via computer-aided control electronics 40, and the at least one hand-operated control element
  • each support arm 22, 24 is assigned at least one force sensor 38 for measuring the support leg-related support forces, the control electronics having an evaluation routine for controlling the drive units of at least one selected support leg 38, which is based on force measurement values Fj of the support force sensors 38 and a predetermined minimum comparison value F min .
  • the control electronics 40 have an evaluation routine (B, C) for the coupled actuation of the drive units of the four support legs 28 with the aid of a manually operated control element 58, 60.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)

Abstract

L'invention concerne un outillage mobile, en particulier une pompe à béton automatique, comprenant un châssis (10), deux bras avant et arrière d'extension (22, 24) de support, lesquels peuvent reposer sur une base (36) et qui peuvent être déplacés d'une position de transport dans une position de travail et qui sont supportés respectivement à l'aide d'une tige de support (28) télescopique, laquelle peut être commandée au moyen d'une unité de commande. Les unités de commande des tiges de support (28) peuvent être commandées au moyen d'un système électronique (40) à commande assistée par informatique, comprenant au moins un élément (58, 60) de commande activé manuellement. Selon l'invention, au moins un détecteur de force (38) est associé à chaque bras (22, 24) d'extension de support, de manière à mesurer les forces de support concernant les tiges de support, le système d'électronique de commande étant pourvu d'une routine d'évaluation qui réagit aux valeurs de mesure de la force (Fi) des détecteurs de force (38) de support et une valeur (Fmin) comparative minimum, permettant de commander les unités de commande d'au moins une tige (38) de support sélectionnée. Une des particularités de l'invention, est que le système d'électronique de commande (40) est doté d'une routine d'évaluation (B, C), assurant la commande couplée des unités de commande des quatre tiges de support (28) à l'aide d'un élément de commande (58, 60) activé manuellement.
PCT/EP2005/002055 2004-03-17 2005-02-26 Outillage mobile a bras d'extension de support et procede pour fabriquer ledit dispositif WO2005095256A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004012966.5 2004-03-17
DE200410012966 DE102004012966A1 (de) 2004-03-17 2004-03-17 Mobiles Arbeitsgerät mit Stützauslegern sowie Verfahren zur Aufstellung eines solchen Geräts

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WO (1) WO2005095256A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103328741A (zh) * 2011-05-05 2013-09-25 普茨迈斯特工程有限公司 具有支承装置的可行驶作业机械
DE102016125450A1 (de) 2016-12-22 2018-06-28 Schwing Gmbh Fahrbarer Großmanipulator
WO2022263382A1 (fr) 2021-06-17 2022-12-22 Schwing Gmbh Grand manipulateur mobile

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ITMI20060818A1 (it) * 2006-04-24 2007-10-25 Cifa Spa Sistema perfezionato per la sorveglianza e il controllo del funzionamento di macchinari semoventi a braccio articolato,quali pompe per calcestruzzo
DE102007055535B4 (de) 2006-11-21 2023-08-03 Liebherr-Werk Ehingen Gmbh Mobilkran
ES1065452Y (es) * 2007-05-24 2007-11-16 Martinez Isidro Lebrero Estabilizadores para plataformas elevadoras autopropulsadas articuladas, telescopicas y articuladas-telescopicas
DE102008047425A1 (de) * 2008-09-15 2010-04-15 Putzmeister Concrete Pumps Gmbh Mobile Arbeitsmaschine mit Fernsteuereinrichtung
EP2374671B9 (fr) * 2010-11-25 2014-04-16 Metalsa Automotive GmbH Dispositif d'appui pour poids lourds
AT13517U1 (de) * 2012-10-19 2014-02-15 Palfinger Ag Sicherheitseinrichtung für einen Kran
DE102014015363A1 (de) 2014-10-16 2016-04-21 Liebherr-Werk Ehingen Gmbh Arbeitsgerät
DE202015005365U1 (de) * 2015-07-29 2016-11-03 Liebherr-Betonpumpen Gmbh Autobetonpumpe
EP3335948B1 (fr) 2016-12-15 2019-09-25 Alois Kober GmbH Dispositif béquille de levage doté d'un dispositif de sécurité
DE102018204079A1 (de) * 2018-03-16 2019-09-19 Putzmeister Engineering Gmbh Autobetonpumpe und Verfahren zur stabilitätsrelevanten Steuerung einer Autobetonpumpe
EP3670426B1 (fr) 2018-12-21 2021-10-06 Hiab AB Machine de travail mobile et procédé de supervision de man uvre de jambes de stabilisateur inclus dans une machine de travail mobile

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Publication number Priority date Publication date Assignee Title
CN103328741A (zh) * 2011-05-05 2013-09-25 普茨迈斯特工程有限公司 具有支承装置的可行驶作业机械
CN103328741B (zh) * 2011-05-05 2015-10-14 普茨迈斯特工程有限公司 具有支承装置的可行驶作业机械
DE102016125450A1 (de) 2016-12-22 2018-06-28 Schwing Gmbh Fahrbarer Großmanipulator
WO2018115270A1 (fr) 2016-12-22 2018-06-28 Schwing Gmbh Manipulateur de grande taille mobile
WO2022263382A1 (fr) 2021-06-17 2022-12-22 Schwing Gmbh Grand manipulateur mobile
DE102021115645A1 (de) 2021-06-17 2022-12-22 Schwing Gmbh Fahrbarer Großmanipulator

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