WO2022263382A1 - Grand manipulateur mobile - Google Patents

Grand manipulateur mobile Download PDF

Info

Publication number
WO2022263382A1
WO2022263382A1 PCT/EP2022/066042 EP2022066042W WO2022263382A1 WO 2022263382 A1 WO2022263382 A1 WO 2022263382A1 EP 2022066042 W EP2022066042 W EP 2022066042W WO 2022263382 A1 WO2022263382 A1 WO 2022263382A1
Authority
WO
WIPO (PCT)
Prior art keywords
support
chassis
large manipulator
support legs
forces
Prior art date
Application number
PCT/EP2022/066042
Other languages
German (de)
English (en)
Inventor
Johannes HENIKL
Andreas Kugi
Wolfgang KEMMETMÜLLER
Martin MERINGER
Valentin PLATZGUMMER
Original Assignee
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 Schwing Gmbh filed Critical Schwing Gmbh
Priority to EP22733420.8A priority Critical patent/EP4355962A1/fr
Publication of WO2022263382A1 publication Critical patent/WO2022263382A1/fr

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • 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
    • 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

Definitions

  • Mobile large manipulator The invention relates to a mobile large manipulator that can be supported for working operations, and to a method for program-controlled support for supporting a mobile large manipulator.
  • Mobile large manipulators are known from the prior art (for example WO 2005/095256 A1). They include, in particular, an undercarriage, a fold-out and/or extendable working boom which is arranged on the undercarriage so that it can rotate about a flat axis, outriggers which are each arranged on the undercarriage and can be horizontally extended from a driving position in whole or in part into a support position, and at the outer ends of the Outrigger arranged, with drive units vertically extendable support legs, with which the mobile large manipulator can be supported while forming a respective support force of the support legs.
  • an undercarriage a fold-out and/or extendable working boom which is arranged on the undercarriage so that it can rotate about a flat axis
  • outriggers which are each arranged on the undercarriage and can be horizontally extended from a driving position in whole or in part into a support position, and at the outer ends of the Outrigger arranged, with drive units vertically extendable support legs, with
  • the chassis When supporting a large manipulator with four pivoting or telescoping outriggers, the chassis can be warped, especially if the height of individual outrigger legs is readjusted at the end of the outrigger process to level the chassis. Unnecessarily high support forces can occur on individual support legs even before the large manipulator is put into operation, while the support forces on other support legs are too low.
  • chassis refers to the combination of the chassis of the truck on which the large manipulator is mounted and the base frame on which the working boom is mounted and which contains the other components of the large manipulator.
  • this unbalanced support load distribution means that individual support legs or the outriggers are loaded more heavily than necessary or even overloaded.
  • WO 2005/095256 A1 proposes coupled control of the drive units of the four support legs with the aid of a manually operated control element for the automatic support process of a large manipulator in the form of a truck-mounted concrete pump in order to avoid distortion of the base frame during the support process due to an uneven distribution of support force.
  • the invention therefore proposes providing detection means for detecting one or more measured variables, which are dependent on the state of tension of the chassis, and a program-controlled support aid is set up to trigger a torsional movement in the chassis of the large manipulator in the supported, dependent on the measured variables, by controlling the vertically extendable support legs create state.
  • a program-controlled support aid is set up to trigger a torsional movement in the chassis of the large manipulator in the supported, dependent on the measured variables, by controlling the vertically extendable support legs create state.
  • the support forces or the support force distribution can be specifically adjusted to optimal values for each support leg, which also optimizes the state of tension of the chassis.
  • the center of gravity of the large manipulator does not have to be known beforehand.
  • the torsional movement is generated by two supporting legs lying diagonally to one another being extended or retracted in the same direction, in particular lifting or lowering, while the other two supporting legs lying diagonally to one another are each retracted or extended in opposite directions be, in particular lowering or lifting.
  • the torsional movement is generated by controlling the extension speed of the respective support legs.
  • the program-controlled support aid is advantageously set up to minimize the sum of the squares of the support forces of the support legs for the unbraced erection of the chassis. Investigations have shown that the large manipulator is set up largely without restraint if the sum of the squares of the recorded supporting forces is minimal. The program-controlled support aid can easily determine the support forces and then set them according to this criterion through the targeted torsional movement.
  • the program-controlled support aid carries out the torsional movement in one direction of movement for the respective support legs as long as the sum of the squares of the support forces becomes smaller.
  • the program-controlled support aid can adjust the support forces in a targeted manner in the direction of minimizing the sum of the squares of the support forces until the optimal support forces are determined or set.
  • the program-controlled support aid is set up to calculate the support forces for which the sum of the squares of the support forces of the support legs is minimal, in order to determine a target value for the sum of the squares of the support forces.
  • the program-controlled support aid preferably contains a regulation which adjusts the sum of the squares of the supporting forces of the support legs to the calculated target value, with the torsional movement being used as the manipulated variable for the regulation.
  • the target values of the support forces can be set quickly and specifically.
  • the desired value for the sum of the squares of the support forces for the regulation is preferably selected to be smaller than the calculated desired value. This measure ensures that in the event of minor errors in the target value calculation due to only imprecisely known parameters of the large manipulator (loading status, fill level in the water tank, etc.), which can lead to the calculated target value for the sum of the squares of the Supporting forces is higher than the optimum that can actually be achieved and the controller would thus set a non-optimal distribution of the supporting forces, always setting that distribution of the supporting forces which corresponds to the optimum that can actually be achieved for supporting the large manipulator.
  • the large manipulator preferably has sensors that detect the horizontal extension of the outriggers and the program-controlled support aid determines the direction of the torsional movement required to minimize the sum of the squares of the support forces based on the horizontal extension of the outriggers and the measured support forces.
  • the large manipulator has an inclination sensor that determines the inclination of the chassis of the large manipulator about the longitudinal axis (roll angle) in the supported state.
  • the program-controlled support aid can correct or adjust the inclination of the chassis about the longitudinal axis by superimposing the torsional movement with a tilting movement about the longitudinal axis (rolling movement).
  • Large manipulator regulates the longitudinal axis in the supported state to a setpoint. Through this regulation, for example, an inclination of the large manipulator about the longitudinal axis desired by the operator can be specified and adjusted accordingly.
  • the large manipulator has an inclination sensor that determines the inclination of the chassis of the large manipulator about the transverse axis (pitch angle) in the supported state.
  • the program-controlled supporting aid when performing the torsional movement according to the invention, the inclination of the chassis about the transverse axis, if necessary, by superimposing the torsional movement with a Correct or adjust the tilting movement around the transverse axis (nodding movement) in a targeted manner.
  • the program-controlled support aid preferably has a configuration controller which regulates the inclination of the chassis of the large manipulator about the transverse axis (pitch angle) in the supported state to a target value.
  • a configuration controller which regulates the inclination of the chassis of the large manipulator about the transverse axis (pitch angle) in the supported state to a target value.
  • the respective extension speeds of the support legs are determined in such a way that the simultaneous extension and retraction of the support legs lying diagonally to one another does not cause any change in the height and/or the inclination in relation to the longitudinal axis and/or the inclination in relation to the transverse axis of the chassis .
  • This has the advantage that the inclination and height of the chassis that have already been set are no longer changed by the torsional movement when the support forces are optimized.
  • the tilting movement about the transverse axis and/or the longitudinal axis and/or the lifting and lowering movement can preferably be specified by the operator of the large manipulator using an input device provided for this purpose.
  • the operator can easily change the inclination and height of the large manipulator or adapt it to his wishes before, after or even during the optimization of the support forces using the program-controlled support aid.
  • the subject matter of the present invention is a method for the program-controlled support of the supporting process of a mobile large manipulator.
  • the inventive method includes the
  • FIG. 1 Perspective view of a mobile large manipulator according to the invention
  • FIG. 2 Top view of a schematic view of a large manipulator according to the invention
  • FIG. 4a-f Various diagrams to illustrate the supporting process according to the invention
  • FIG. 5 A flowchart to illustrate the method according to the invention
  • a mobile large manipulator in the form of a truck-mounted concrete pump is shown in FIG. 1 with the reference number 10 .
  • a large manipulator 10 within the meaning of this invention could, for example, also be a mobile crane, a fire truck with a turntable ladder, an aerial work platform or similar mobile work machines with a support act.
  • the mobile large manipulator 10 has a chassis 12 .
  • a working jib 13 Arranged on the chassis 12 is a working jib 13 that can be rotated about a flat axis and that can be folded out and/or extended.
  • the mobile large manipulator 10 is on four outriggers 14, 15, 16, 17, which are each arranged on the chassis 12 and can be fully or partially extended horizontally from a driving position into a support position, and at the outer ends of the outriggers 14, 15, 16, 17 arranged vertically extendable support legs 18, 19, 20, 21, which support the mobile large manipulator 10, forming a respective supporting force F si of the support legs 18, 19, 20, 21, supported.
  • the large manipulator 10 is shown in the supported state.
  • the outriggers 14, 15, 16, 17 are fully extended in FIG.
  • the support legs 18, 19, 20, 21 are extended downwards so that all the wheels of the chassis 12 hang freely and the entire mass m tot of the large manipulator 10 is carried by the support legs 14, 15, 16, 17.
  • the working boom 13 of the truck-mounted concrete pump 10 is a concrete placing boom 13 which is connected to the chassis 12 via a turntable 24 and has a plurality of boom segments 13a, 13b, 13c.
  • Two inclination sensors 49, 50 are arranged on the turntable 24 to detect the inclination of the turntable 24 or of the large manipulator 10 about the X (longitudinal) axis ⁇ x and the Y (transverse) axis ⁇ y . (Fig.2).
  • the inclination sensors 49, 50 can also be arranged at other suitable locations.
  • the supporting forces F si of the four support legs 18, 19, 20, 21 are transmitted to the ground via the support feet 45, 46, 47, 48.
  • the extension and retraction of the support legs 18, 19, 20, 21 is generally effected by hydraulic cylinders (not shown) arranged in the support legs 18, 19, 20, 21, which can be actuated by the operator and/or the program-controlled support aid ⁇ C ( Figure 3a, 3b) can be controlled via hydraulic valves.
  • the support legs 18, 19, 20, 21 With the support legs 18, 19, 20, 21, the height r z of the chassis 12 and its inclination in the longitudinal direction ⁇ X and the transverse direction ⁇ y can thus be adjusted.
  • these three target variables, i.e. r z ⁇ X and ⁇ y represent four manipulated variables or degrees of freedom in the form of the extension lengths l si of the four support legs 18, 19, 20, 21 for the operator or the program-controlled support aid ⁇ C opposite to.
  • This one additional degree of freedom means that the distribution of the support forces Fsi is not clearly defined by the three target variables alone.
  • This fourth degree of freedom can be regarded as the tensioning of the chassis 12, which causes unnecessarily high forces in the chassis 12 and thus also in the support legs 18, 19, 20, 21. It should be noted here that the elasticity of the chassis 12 and the support arms 14, 15, 16, 17 usually ensures that all four support legs 18, 19, 20, 21 touch the ground. In a completely rigid system, for example with perfectly level ground and a leveled large manipulator 10, every little deviation in the extended length l si of a support leg 18, 19, 20, 21 from the extended lengths of the other support legs 18, 19, 20, 21 would be added result in a support leg 18, 19, 20, 21 no longer touching the ground.
  • the fourth target variable for optimally supporting the large manipulator 10 can now be specified as the fourth target variable for optimally supporting the large manipulator 10 .
  • the large manipulator 10 or the chassis 12 can be divided into elastic beam elements (for example as linear-elastic Euler-Bernoulli beams) and rigid bodies.
  • the vector x describes the degrees of freedom of the model, that is, the positions and orientations of the rigid bodies.
  • the vertical and horizontal lengths of the four support legs 18, 19, 20, 21 and outriggers 14, 15, 16, 17 are summarized in the vector u, which represent the control variables of the system for the support. All other model inputs, such as the position of the center of gravity of the boom 13, the position of the foot points of the support legs 18, 19, 20, 21 and the tires, are combined in the vector d.
  • the task for the program-controlled support aid ⁇ C can thus be formulated as a general optimization task:
  • the extended lengths l si of the support legs 18, 19, 20, 21 are denoted by l s and combined in a vector.
  • Equation (1b) describes the general mathematical model given earlier.
  • target values are specified for the height of the chassis 12 and its inclination in the longitudinal direction ⁇ y,D (rotation about the y-axis) and transverse direction ⁇ x,D (rotation about the x-axis), the target height also being defined will and for the inclination of the large manipulator 10, an inclination of 0° in the longitudinal and transverse direction is required in a simplified manner.
  • the inequality condition (1d) takes into account that only positive support forces F si (which are summarized here and in the following in the vector F S ) can be generated and the structural limitations of the support lengths l si are taken into account in (1e).
  • the task means that those extension lengths l si of the support legs 18, 19, 20, 21 are sought, which, taking into account the secondary conditions (1b) - (1e), lead to a minimum quality function ⁇ .
  • the quality function ⁇ which has not yet been specified: 1.
  • the supporting forces F si must be distributed as evenly as possible to the four supporting legs 18, 19, 20, 21.
  • This requirement can be in the form of the merit function be formulated, with the supporting forces F si being combined in the vector F 5 . This means that the sum of the squares of the supporting forces F si is weighted.
  • the merit function can also be generalized by using a positive definite matrix Q f can be formulated. This could, for example, take into account that a certain subgroup of the support legs 18, 19, 20, 21
  • the two front legs or the two rear legs can, due to their construction, be subjected to heavier loads than the other legs.
  • Another variant as an optimization goal is to minimize the elastic deformation of the large manipulator 10, in particular the
  • Deformation or torsion can be detected.
  • the internal deformation energy due to the deformation of the chassis 12 can be mentioned.
  • a simplified elastic model of the chassis 12 already mentioned can be used to define the deformation.
  • Strain gauges placed suitably on the chassis 12 could in turn be used for this purpose.
  • the entries in the transformation matrix H I are examined more closely. For example, if you only want to change the height, 0, the result is the same entry for all support legs 18, 19, 20, 21 , that is, all support legs 18, 19, 20, 21 are moved in the same direction at the same speed. If only the inclination ⁇ x,D is to be changed, then the angular velocity specification for each support leg 18, 19, 20, 21 multiplied by the y-coordinate of the respective support leg.
  • the virtual manipulated variable u I can be specified by the operator with an input means 51, for example in the form of a remote control 51 with joysticks.
  • This target specification of the operator is included in the further description designated.
  • the operator can It is particularly easy to specify the height movement in order to achieve a desired height r z des Chassis 12 set.
  • he can also easily adjust the inclination of the large manipulator 10 if, for example, as is often necessary in practice, the rear part of the chassis 12 should be lower so that the fresh concrete of a truck mixer can be conveyed more easily into the hopper 22 .
  • the supporting process can be further automated by the program-controlled supporting aid ⁇ C transferring the chassis from the initial configuration to a desired target configuration performed autonomously.
  • a trajectory becomes the desired one Configuration planned so that the resulting support speeds below the maximum support speeds v i,max lie.
  • the operator may only have to give a release for the execution of the movement, for example by actively operating an operating element on an input means 51, such as deflecting a joystick of a remote control.
  • the target configuration can either be permanently stored or, alternatively, the operator can use a suitable input means 51 to specify the target value for the fleas or the target values for the inclinations.
  • the target values for the regulation are determined in that the value that the variable had at the end of the last movement specification for this variable is recorded as the new target value. During the movement specification for this size, the regulation for this is deactivated.
  • the regulation for the height is deactivated, for example by simply setting the setpoint to the current actual value. If the height movement is ended, the last setpoint set remains fixed. If, for example, a pure inclination movement is specified, the controller will ensure that the previously set height is retained and does not drift away from it due to the real inclination movement, which does not exactly correspond to the specification.
  • the other two target variables (the inclinations) are controlled in the same way. In the second variant, the target values simply result from the trajectory.
  • the support forces F S or the quality function ⁇ f must be controlled.
  • These forces and moments can simply be calculated from the balance of forces and moments and it applies m tot G with the total mass m tot of the large manipulator 10 and the gravitational acceleration g.
  • the optimal value of the supporting forces can then be derived from the quadratic optimization problem with linear constraints to be calculated, with which the optimal value of the quality function follows.
  • the regulation of the quality function ⁇ f to its optimum value ⁇ takes place on the basis of the differential equation in the last step it was assumed for the sake of simplicity that the orientation of the large manipulator 10 is almost horizontal and the effective soil stiffness k z,BS is the same for all support legs 18, 19, 20, 21.
  • the specification of the extension speed of the support legs 18, 19, 20, 21 must now take place in such a way that on the one hand ⁇ f is regulated to the desired value, but on the other hand the regulation of the
  • the support force distribution or the state of tension of the large manipulator 10 can be decisively influenced even without an exact implementation of a torsional movement described in this way.
  • the imprecise implementation would probably result in a drift in the other target variables (height and inclination of the chassis), which, however, is compensated for by the error control according to the invention for these variables.
  • the expression has a special meaning, since this determines the direction of the torsional movement. This is important because the large manipulator 10 can be twisted in two different directions, starting from the unbraced state, which results in an unfavorable support force distribution or a distortion of the chassis 12 affects. In both cases, however, this will be done.
  • the direction in the control law is determined by the expression, that is, based on the horizontal extended state of the outriggers 14, 15, 16, 17 and the measured support forces F S.
  • the control law must be suitably modified in practical implementation so that it remains bounded. Due to parameters of the large manipulator 10 that are only imprecisely known (exact dimensions, mass distribution due to only imprecisely known payloads and fill levels, eg of the water tank), the actually achievable optimum of ⁇ f does not necessarily correspond to the calculated optimum If the optimum that can actually be achieved is smaller than the calculated one, the supporting force controller 54 will set the supporting forces F si to values that do not correspond to the optimum.
  • the control task is the manipulated variable, i.e. the cylinder speeds v Si in the form nd the virtual, but this time vectorial manipulated variable written for the minimization of ⁇ f .
  • This choice of control of ⁇ f also has no influence on the control of the configuration q D of the large manipulator 10.
  • the projection matrix (FIG. 3a, b 58) consists of individual column vectors, which in turn are orthogonal to the transformation matrix H I 57, due to their orthogonality to the transformation matrix H I 57 .
  • the projection matrix 58 orthogonal to the transformation matrix H I 57 is not only used here generates one virtual input, but four, which are in the vectorial manipulated variable are summarized.
  • these four virtual inputs in turn generate torsional movements according to the invention, which are superimposed in this embodiment, and the superimposition of torsional movements in turn leads to a total torsional movement according to the invention.
  • detection means 30, 31, 32, 33, 38, 39 for detecting one or more measured variables F si which are dependent on the state of tension of the chassis 12, are required.
  • these can also be, for example, suitably placed strain gauges or a number of inclination sensors 38, 39, by means of which the torsion state of the chassis 12 can be determined.
  • Figure 2 shows a top view of the large manipulator 10 according to the invention with detection means 30, 31, 32, 33, 38, 39 for detecting one or more measured variables F si , which are dependent on the state of tension of the chassis 12, and a program-controlled support aid ⁇ C that is set up for this purpose is to generate a dependent of the measured variables F si torsional movement in the chassis 12 of the large manipulator 10 in the supported state by controlling the vertically extendable support legs 18, 19, 20, 21.
  • Detection means 30, 31, 32, 33, 38, 39 for detecting one or more measured variables F si are, for example, support force sensors 30, 31, 32, 34 known type.
  • the support forces F si in the support legs 18, 19, 20, 21 can be determined by measuring the flydraulic pressure in the hydraulic cylinders of the support legs 18, 19, 20, 21.
  • the state of tension can be recorded
  • Large manipulator 10 leads. Basically, the even distribution of the support forces F si only makes sense with full support, i.e. all support arms 14, 15, 16, 17 are fully extended, but only under the condition that the center of gravity of the large manipulator 10 is in the middle between the support legs 18,19,20,21. In the more general case, particularly in a configuration in which some outriggers 14, 15, 16, 17 are only partially extended, as shown for example in FIG Depending on the configuration, a different distribution of the supporting forces F si result, which is optimal in terms of equation (7).
  • this distribution of the support forces F si is also difficult to set manually, even with the help of the support force sensors 30, 31, 32, 33, because the change in the support force F si on one of the support legs 18, 19, 20, 21 the extension of the respective support leg always results in a change in the support forces F si on the other three support legs.
  • the individual setting of the optimal support forces F si for each support leg 18, 19, 20, 21 has so far proved to be very difficult.
  • the program-controlled support aid ⁇ C generates a torsional movement dependent on the support forces F si in the chassis 12 of the large manipulator 10 in the supported state by activating the vertically extendable support legs 18, 19, 20, 21 and a minimum for the sum of the squares of the support forces F si is preferably set by the control method shown.
  • the supporting forces F si are set in their entirety according to a more general criterion and not individually.
  • FIG. 3a shows a block diagram of the large manipulator 10 according to the invention with a program-controlled support aid ⁇ C and an input means 51, for example in the form of a remote control 51, with which an inclination movement (change in inclination per time) in the longitudinal or transverse direction and a height movement ( Height change per time) of the large manipulator 10 can be specified by an operator (for example with the x, y and z axis of a three-axis joystick).
  • the specifications are shown in Figure 3a in the vector summarized.
  • the program-controlled supporting aid ⁇ C contains, in particular, a supporting force regulator 54 which, as an input signal, receives the actual supporting forces F si of the four supporting legs
  • the program-controlled support aid ⁇ C includes a target value generator 52 for determining a target configuration based on the input variables specified by the user in this form of representation , which corresponds to a virtual manipulated variable for controlling the orientation and the vertical alignment q D of the large manipulator and is derived from the input means 51, and the current configuration q D, which is determined by the sensors 25, 49, 50 on the large manipulator 10.
  • the sensor 25 is a device with which the height of the chassis 12 r z can be determined. Depending on what is defined as the height of the chassis 12, different sensors 25 can be used. For example, it can be an ultrasonic sensor, which is arranged on the underside of the chassis 12 at the center of the vehicle (intersection of the longitudinal and transverse axes).
  • a length sensor is also conceivable the extended length of a support leg (e.g. the one in front on the right, 19) is determined.
  • the height r z of the chassis could be determined using the measured extension length l S2 of the support leg 19, either taking into account the measured inclinations of the chassis 12, provided that the height r z is defined as the distance from the center of the vehicle to the ground, or the height r z of the
  • Chassis 12 is defined directly as the extended length l S2 of a support leg 19. The latter definition is sufficient in principle and would be equivalent to the first definition if the chassis 12 was leveled with sufficient accuracy.
  • sensors 25 could be arranged on all four support legs 18, 19, 20, 21 for detecting the height r z and thus practically on the
  • Inclination sensors 49, 50 are dispensed with because length sensors 25 on all support legs 18, 19, 20, 21 can also be used to determine the inclination of the chassis in the x and y directions, at least on level ground.
  • the outriggers 14, 15, 16, 17 are also each equipped with a position sensor 34, 35, 36, 37 which detects the position of the outriggers 18, 19, 20, 21 in relation to the chassis 12.
  • a position sensor 34, 35, 36, 37 which detects the position of the outriggers 18, 19, 20, 21 in relation to the chassis 12.
  • these are, for example, cable sensors 34, 35, which detect the extended state of the outriggers 14, 15, and angle of rotation sensors 36, 37, which detect how far the rear outriggers 16, 17 are folded down.
  • the output of the setpoint generator 52 is the configuration controller 53, the deviations in the height r z , the orientation ⁇ X , i.e. the inclination of the chassis 12 around the longitudinal axis x, and ⁇ Y , i.e. the inclination of the chassis 12 around the transverse axis y, i.e. the overall configuration q d of the Large manipulator 10, corrected by the setpoint specified by the setpoint generator.
  • the setpoint values are determined in this embodiment in that the value that the variable had for this variable at the end of the last movement specification by the operator is recorded as the new setpoint. During motion dictation for that quantity, control for that quantity is disabled.
  • the configuration controller 53 is supplied with the current configuration q d of the large manipulator 10 as a further input signal.
  • the output signal of the configuration controller 53 is detected by the joystick of the remote control 51 motion specification additively superimposed and multiplied by the transformation matrix H I 57, which approximates the relationship between the extension speeds v si of the support legs 18, 19, 20, 21 and the associated angular speeds of the
  • the program-controlled support aid ⁇ C also includes a support force regulator 54, which uses the current support forces F si of the four support legs 18, 19, 20, 21 as an input signal.
  • the output signal of the support force controller 54 is generated with the projection matrix 58 multiplied and added via the switch 55 with the other signal for setting or controlling the configuration q d .
  • the sum signal is used as a specification for the extension speeds for controlling the vertically extendable support legs 18, 19, 20, 21.
  • Activation of the support force regulator 54 is generally only useful when the tires of the large manipulator 10 are completely lifted off the ground and only the four support legs 18, 19, 20, 21 are in contact with the ground. Therefore, at the beginning of the automated support process, only the orientation ⁇ X , ⁇ Y and height r z , that is to say the configuration q D of the large manipulator 10, is regulated.
  • the force control is preferably activated as soon as the errors in the orientation and height are below adjustable limits and the sum of the supporting forces F si corresponds to the gravitational force m tot g of the large manipulator 10 .
  • FIG. 3b shows a block diagram of the large manipulator 10 according to the invention with an alternative embodiment of the program-controlled support aid ⁇ C.
  • the movement default not generated directly by the operator using the input means 51, but by the target value generator 52, which based on a, as shown here, specified by the user in a suitable form via the input means 51 target configuration qg a Trajectory and determines which the chassis 12 of a initial configuration , which can be derived from the setpoint generator 52 from the currently measured state q D upon activation of the program-controlled support aid ⁇ C, in the final configuration transferred.
  • the operator will also transmit a release signal 56 to the setpoint generator 52, by means of which the movement of the large manipulator 10 can be released in the sense of a dead man's function.
  • FIGS. 4a to 4f The behavior of the control strategy described above for the automatic support of a large manipulator 10 is shown in FIGS. 4a to 4f using a right-hand support.
  • Right support means that the two left outriggers 14, 16 (S1, S3) are not extended or unfolded, while the two right outriggers 15,17 (S2, S4) are fully extended or unfolded.
  • the subsoil has a relatively strong incline of and on.
  • the ground under the support legs 18, 19, 20, 21 is of different hardness in this example. At the beginning, the support legs 18, 19, 20, 21 are in contact with the ground and already apply a small contact force F si .
  • the regulation for the orientation and fleas q D of the large manipulator 10 is activated by means of the configuration regulator 53 and the support legs 18, 19, 20, 21 are extended in a coordinated manner.
  • the support force controller 54 is not yet activated, that is, the switch 55 is open.
  • Extension speed of the supports 18, 19, 20, 21 is limited to the maximum value .
  • the fleas and the orientation q D des Large manipulator 10 are controlled quickly and without overshoot along the setpoints. However, due to the asymmetrical support configuration (right support, different soil stiffness), there are significant differences in the support forces Fsi . At time t ⁇ 17 s, the fleas and orientation q D have reached their desired tolerance range and the support force controller 54 is activated (shaded area). The supporting force controller 54 balances the supporting forces F si and the quality function ⁇ f is adjusted to its minimum value.
  • the supporting force S4 is still very high at the beginning of the supporting force control and is controlled to the optimal value in the course of the force control with the aid of the targeted torsion of the chassis 12.
  • the height r z and the inclinations ⁇ X and ⁇ Y remain practically constant during the support force control.
  • the supporting forces F si are shown here in relation to a normalized supporting force F n .
  • the support forces F S1 and F S3 on the retracted outriggers 14, 16 are, as expected, set somewhat higher than on the fully extended outriggers 15, 17. Optimal support of the large manipulator 10 was thus achieved within less than 30 seconds.
  • the target value for the sum of the squares of the supporting forces F si for the control is preferably small smaller than the calculated target value.
  • An advantage of the control presented here is that the operator can specify a desired inclination of the chassis 12 of the large manipulator 10 about the transverse axis in the supported state before, during or even after the automatic control of the support forces F si and the inclination is controlled to this setpoint value .
  • the support force controller or the control algorithm determines the respective extension speed v si of the support legs 18, 19, 20, 21, advantageously for the support force control, in such a way that the simultaneous extension and retraction of the support legs 18, 19, 20, 21 lying diagonally to one another does not change the height r z of the chassis 12 is caused.
  • the respective extension speeds v Si of the support legs 18, 19, 20, 21 are advantageously determined by the support force controller 54 in such a way that they do not change the inclination ⁇ x , ⁇ y of the chassis 12 in relation to the longitudinal axis x and/or the transverse axis y of the chassis 12 cause.
  • a lifting or lowering movement of the chassis 12 can be generated, through which the height r z of the chassis 12 is adjusted in the supported state, the inclination ⁇ x about the longitudinal axis x and/or the inclination ⁇ y about the transverse axis y and/or the torsion of the chassis 12 remain unchanged, the lifting or lowering movement being generated, for example, by all four support legs 18, 18, 20, 21 can be extended or retracted uniformly in one direction.
  • the operator can specify the lifting or lowering movement using the input device 51 .
  • a tilting movement about the longitudinal axis x of the chassis 12 can be generated, through which the tilt ⁇ x of the chassis 12 about the longitudinal axis x is set in the supported state is, wherein the height r z of the chassis 12 and / or the inclination of the chassis 12 about the transverse axis (pitch angle) and / or the torsion of the chassis 12 remain unchanged.
  • This tilting movement about the longitudinal axis x is generated, for example, by moving both support legs 18, 20 on the left-hand side of the chassis 12 in the same direction, in particular lifting or lowering, while the two support legs 19, 21 on the right-hand side of the chassis 12 can be moved in a direction opposite to the support legs 18, 20 on the left-hand side, in particular lowering or raising.
  • This tilting movement about the longitudinal axis (x) of the chassis 12 can also be specified, for example, by the operator of the machine using the input device 51 .
  • a tilting movement about the transverse axis y of the chassis 12 can be generated with the control loop presented here, by means of which the tilt ⁇ y of the chassis 12 about the transverse axis y in the supported state is adjusted , wherein the height r z of the chassis 12 and/or the inclination ⁇ x of the chassis 12 about the longitudinal axis x and/or the torsion of the chassis 12 remain unchanged.
  • the inclination about the transverse axis y of the chassis 12 is generated in such a way that the two support legs 18, 19 on the front side of the chassis 12 are moved in the same direction, in particular lifting or lowering, while the two support legs 20, 21 on the rear side of the Chassis 12 in an opposite of the support legs 18, 19 on the front Direction, especially lowering or lifting, are moved.
  • the inclination about the transverse axis y of the chassis 12 can be specified by the operator of the large manipulator 10, for example, using the input device 51 and before, during or after the optimal setting of the supporting forces F si and the setting of the height r z and the inclination about the longitudinal axis ⁇ X afterwards simply change. This also applies correspondingly to the generation of a tilting movement about the longitudinal axis x.
  • the extension speeds v si of the support legs 18, 19, 20, 21 to be set are determined with the control loop presented here based on the horizontal extension state of the support arms 14, 15, 16, 17.
  • Torsional movement can be automatically superimposed by the control algorithm on the lifting or lowering movement and/or the tilting movement about the longitudinal axis x of the chassis 12 and/or the tilting movement about the transverse axis y of the chassis 12.
  • FIG. 5 shows the method according to the invention based on the sequence of the support algorithm explained above with the program-controlled support aid ⁇ C.
  • step S10 one or more measured variables F si are recorded, which are dependent on the state of tension of the chassis 12 .
  • the measured variables F si are, for example, the support forces F si of the four support legs 18, 19, 20, 21 or alternatively the torsion of the chassis 12 detected by inclination sensors 38, 39 or other suitable detection means that provide information about the state of tension of the chassis 12 give.
  • step S12 for example by means of the control strategy explained above on the support force controller 54, a torsional movement dependent on the measured variables F si is generated in the chassis 12 of the large manipulator 10 in the supported state, in that the vertically extendable support legs 18, 19, 20, 21 are controlled.
  • the support force controller 54 determines a suitable extension speed v si for each of the support legs 18, 19, 20, 21.
  • step S13 it is checked whether the torsional movement initiated in step S12 leads to optimal support of the large manipulator 12 has led. For example, the distribution of the support forces F si on the four support legs, which has changed as a result of the torsional movement, is determined for this check. If the torsional movement has not yet led to optimal support of the large manipulator 10, it goes back to steps S11 and S12 until it is determined in step S13 that the optimal support has been achieved and the process is stopped in step S14. It goes without saying that the steps S11, S12 and S13 of this method are not necessarily processed one after the other, but that the three steps S11, S12 and S13 are carried out in parallel or interleaved in accordance with the control strategy described above, until the optimum support is achieved.
  • Step S11 can be preceded by a step in which, as explained above, the configuration controller 53, for example, changes the configuration q D , i.e. the fleas r z and/or the orientation, i.e. the inclination of the large manipulator 10 in the X and Y direction, set.
  • the configuration controller 53 changes the configuration q D , i.e. the fleas r z and/or the orientation, i.e. the inclination of the large manipulator 10 in the X and Y direction, set.
  • the configuration controller 53 changes the configuration q D , i.e. the fleas r z and/or the orientation, i.e. the inclination of the large manipulator 10 in the X and Y direction, set.
  • Operators can also specify the configuration q D by manually extending the support legs 18, 19, 20, 21 with the operating levers arranged on the large manipulator 10 or with the remote control 51, and the support force controller 54 optimizes the support forces F si on the basis of this manually specified configuration q D.
  • the program-controlled support aid ⁇ C the case was presented for this in which the support of the large manipulator 10 is extended and the support forces F si are optimized while the mast is still folded. It is assumed here that the working boom 13, at least in the case of full support, is used in all working directions and that optimal support forces F si are also established during working operation.
  • the program-controlled support aid ⁇ C could also be given a preferred working area of the working boom 13, which is taken into account when optimizing the supporting forces F si , so that the supporting forces F si are set optimally, particularly when operating the working boom 13 in the preferred working area. Furthermore, with the program-controlled supporting aid ⁇ C presented here, the supporting forces F si can also be continuously corrected or readjusted during ongoing operation of the working boom 13 .
  • the control of the supports is not permitted when the working boom 13 is folded out, because the consequences of a malfunction can be fatal.
  • Support force sensor S2 32 Support force sensor S3

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un grand manipulateur mobile (10), en particulier une pompe à béton automatique, comprenant un châssis (12) ; une flèche de travail (13) qui est disposée de manière à pouvoir tourner sur le châssis (12) autour d'un axe vertical et qui peut être repliée et/ou étendue ; quatre flèches de support (14, 15, 16, 17), chacune étant disposée sur le châssis (12) et pouvant être entièrement ou partiellement étendue horizontalement dans une position de support à partir d'une position de transport ; et des pieds de support extensibles verticalement (18, 19, 20, 21) qui sont disposés sur les extrémités extérieures des flèches de support (14, 15, 16, 17) et qui supportent le grand manipulateur mobile (10), en formant ainsi une force de support respective des pieds de support (18, 19, 20, 21). L'invention est caractérisée par des moyens de détection (30, 31, 32, 33, 38, 39) pour détecter une ou plusieurs variables de mesure (), qui sont basées sur l'état de pré-tension du châssis (12), et un auxiliaire de support commandé par programme (μC) qui est conçu pour générer un mouvement de torsion dans le châssis (12) du grand manipulateur (10) dans l'état supporté sur la base des variables de mesure () en actionnant les pieds de support extensibles verticalement (18, 19, 20, 21). L'invention concerne de plus un procédé pour prendre en charge le processus de support d'un grand manipulateur mobile (10) d'une manière commandée par programme, en particulier une pompe à béton automatique, comprenant les étapes consistant à : - détecter une ou plusieurs variables de mesure (), qui sont basées sur l'état de pré-tension du châssis (12) (S11), et - générer un mouvement de torsion dans le châssis (12) du grand manipulateur (10) dans l'état supporté sur la base des variables de mesure () en actionnant les pieds de support extensibles verticalement (18, 19, 20, 21).
PCT/EP2022/066042 2021-06-17 2022-06-13 Grand manipulateur mobile WO2022263382A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP22733420.8A EP4355962A1 (fr) 2021-06-17 2022-06-13 Grand manipulateur mobile

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021115645.9A DE102021115645A1 (de) 2021-06-17 2021-06-17 Fahrbarer Großmanipulator
DE102021115645.9 2021-06-17

Publications (1)

Publication Number Publication Date
WO2022263382A1 true WO2022263382A1 (fr) 2022-12-22

Family

ID=82196617

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2022/066042 WO2022263382A1 (fr) 2021-06-17 2022-06-13 Grand manipulateur mobile

Country Status (3)

Country Link
EP (1) EP4355962A1 (fr)
DE (1) DE102021115645A1 (fr)
WO (1) WO2022263382A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005095256A1 (fr) 2004-03-17 2005-10-13 Putzmeister Aktiengesellschaft Outillage mobile a bras d'extension de support et procede pour fabriquer ledit dispositif
EP2727876A1 (fr) * 2012-10-31 2014-05-07 Manitowoc Crane Companies, LLC Système de surveillance de tampon stabilisateur
US20180051475A1 (en) * 2015-04-30 2018-02-22 Putzmeister Engineering Gmbh Drivable working machine and method for operating same
WO2018115270A1 (fr) 2016-12-22 2018-06-28 Schwing Gmbh Manipulateur de grande taille mobile
WO2019021123A1 (fr) * 2017-07-25 2019-01-31 Hyva Holding B.V. Système de mise à niveau pour machines de travail

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9938737B1 (en) 2014-02-28 2018-04-10 Norco Industries, Inc. Structure orientation using motor velocity
WO2018085649A1 (fr) 2016-11-04 2018-05-11 Lippert Components Inc. Procédé et appareil de détection et d'atténuation de torsion de plateforme

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2005095256A1 (fr) 2004-03-17 2005-10-13 Putzmeister Aktiengesellschaft Outillage mobile a bras d'extension de support et procede pour fabriquer ledit dispositif
EP2727876A1 (fr) * 2012-10-31 2014-05-07 Manitowoc Crane Companies, LLC Système de surveillance de tampon stabilisateur
US20180051475A1 (en) * 2015-04-30 2018-02-22 Putzmeister Engineering Gmbh Drivable working machine and method for operating same
WO2018115270A1 (fr) 2016-12-22 2018-06-28 Schwing Gmbh Manipulateur de grande taille mobile
WO2019021123A1 (fr) * 2017-07-25 2019-01-31 Hyva Holding B.V. Système de mise à niveau pour machines de travail

Also Published As

Publication number Publication date
EP4355962A1 (fr) 2024-04-24
DE102021115645A1 (de) 2022-12-22

Similar Documents

Publication Publication Date Title
EP1537282B1 (fr) Manipulateur de grande taille avec un mât articulé et avec un dispositif de réglage pour commander ledit mât
EP1444162B1 (fr) Grue automotrice munie d'un dispositif d'augmentation de levage
EP3303732B1 (fr) Manipulateur de grande taille présentant un mât articulé rapidement repliable et déployable
EP3408208B1 (fr) Grue et procédé de commande de ladite grue
EP3784616A1 (fr) Grue et procédé pour commander une grue de ce type
DE102017114789A1 (de) Kran und Verfahren zum Steuern eines solchen Krans
EP2580152B1 (fr) Procédé pour déterminer une probabilité de basculement d'un chariot de manutention
WO2018115248A1 (fr) Manipulateur de grande taille avec structure de mât automatisée
WO2005095256A1 (fr) Outillage mobile a bras d'extension de support et procede pour fabriquer ledit dispositif
EP3409636B1 (fr) Procédé permettant d'amortir des vibrations de torsion d'un élément de réception de charge d'un dispositif de levage
DE202013012756U1 (de) Stabilisierung einer Forstarbeitseinheit
EP4013713B1 (fr) Grue et procédé de commande d'une telle grue
EP3559373A1 (fr) Manipulateur de grande taille mobile
DE102005042721A1 (de) Gelenkleiter oder Hubbühne mit Bahnsteuerung und aktiver Schwingungsdämpfung
DE102017221375A1 (de) Flurförderfahrzeug mit einer Pendelachse
DE102016106459A1 (de) Arbeitsfahrzeug mit Knick-Gelenk-Lenkung und lastabhängiger Lenkwinkelbegrenzung
EP2752384B1 (fr) Engin mobile, notamment grue mobile
DE10016137A1 (de) Drehleiter
DE102021105802A1 (de) Verfahren und system zur korrektur der längsverrollung aus versetzter last mittels aktiver verrollungsregelung
WO2022263382A1 (fr) Grand manipulateur mobile
EP3728099B1 (fr) Commande de grue
EP3530817B1 (fr) Machine de travail avec un dispositif de modification de la distribution de la pression au sol de la machine de travail
DE102017202009A1 (de) Kran
DE102021125042B3 (de) Nachstützüberwachung für ein Dickstofffördersystem
DE102020125036B3 (de) Arbeitsmaschine

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22733420

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 2022733420

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE

ENP Entry into the national phase

Ref document number: 2022733420

Country of ref document: EP

Effective date: 20240117