EP0686224B1 - Large manipulator, especially for self-propelled concrete pumps - Google Patents
Large manipulator, especially for self-propelled concrete pumps Download PDFInfo
- Publication number
- EP0686224B1 EP0686224B1 EP94902681A EP94902681A EP0686224B1 EP 0686224 B1 EP0686224 B1 EP 0686224B1 EP 94902681 A EP94902681 A EP 94902681A EP 94902681 A EP94902681 A EP 94902681A EP 0686224 B1 EP0686224 B1 EP 0686224B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- mast
- articulated
- control lever
- axes
- large manipulator
- 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.)
- Expired - Lifetime
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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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
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/8593—Systems
- Y10T137/8807—Articulated or swinging flow conduit
Definitions
- the invention relates to a large-scale manipulator, in particular for truck-mounted concrete pumps, with a mast bracket arranged on a frame, in particular a chassis, which can be driven about an essentially vertical axis of rotation by means of a drive unit, with an articulated mast composed of at least three mast arms, preferably designed as a concrete placing boom, which mast arms around horizontal, mutually parallel articulation axes can be pivoted to a limited extent with respect to the respectively adjacent mast bracket or mast arm by means of a further drive unit, and with a remote control device having at least one control lever for controlling the drive units, the control lever being adjustable forwards and backwards in two mutually perpendicular main adjustment directions, and wherein the remote control device has a computer-assisted coordinate transmitter for the drive units which can be controlled via the control lever.
- Truck-mounted concrete pumps of this type are mobile implements that can be used with a full 360 ° swivel range of the mast bracket with the horizontal position of the articulated mast.
- the operator is responsible for controlling the Truck-mounted concrete pump and the positioning of the concrete end hose on the last arm of the articulated mast. For this purpose, he has to operate more than two rotational degrees of freedom of the articulated mast via the associated drive units while moving the articulated mast in the non-structured three-dimensional work space while observing the site conditions.
- proportional radio remote controls made this operator's work easier in that the operator is no longer spatially linked to the truck-mounted concrete pump with a cable.
- the object of the invention is to improve the known large manipulator of the type specified at the outset in such a way that the operator is able to control any points in space within the reach of the articulated mast with simple manipulations of the operating elements.
- the invention is based on the knowledge that when the redundant articulated axes of the articulated mast are actuated together, regardless of the axis of rotation of the mast bracket, with a single actuating operation of the control lever, a stretching or shortening movement of the articulated mast that is clear to the operator can be carried out at a predetermined height of the articulated mast tip.
- the drive units of the articulated axles can be actuated by executing a stretching or shortening movement of the articulated mast at a predetermined height of the articulated mast tip via the coordinate transmitter in one main direction of control of the control lever, independently of the drive unit of the axis of rotation of the mast bracket the drive units of the redundant articulated axes of the articulated mast can each be operated in accordance with an optionally predeterminable travel-swivel characteristic.
- the drive unit of the axis of rotation of the mast bracket is independent of the drive units of the articulated axes by executing a rotary movement of the articulated mast at a predetermined height via the coordinate transmitter in the other, to the first vertical main direction of the control lever or in the one main direction of another control lever Mast tip operable. Furthermore, it is advantageous if the drive units of the articulated axes are independent of the drive unit of the axis of rotation of the mast bracket, while carrying out a lifting or lowering movement of the mast tip, and are maintained via the coordinate transmitter in the other, to the first, vertical main direction of the control lever or in the one main direction of another control lever can be actuated by their radial distance from the axis of rotation.
- the path-swivel characteristic in the coordinate transmitter can be modified in accordance with the load-dependent bending and torsional moments acting on the individual mast arms.
- obstacles have to be overcome to avoid collisions in the area of movement of the articulated mast.
- the path-swivel characteristic of the articulation axes in the coordinate transmitter in accordance with collision zones that spatially limit the mast arm movement, in particular by specifying a highest and / or lowest inflection point.
- the path-swivel characteristic of the articulated axes in the coordinate transmitter can be modified in accordance with measurement signals output by a distance sensor preferably arranged on the last mast arm.
- control levers can be switched over to the frame or Cartesian coordinates fixed to the construction site or to the individual joint coordinates via the coordinate transmitter.
- the truck-mounted concrete pump shown in the drawing has a chassis 10, a mast bracket 16 arranged in the vicinity of the front axle 12 and the driver's cab 14 of the chassis 10, and an articulated mast 20 on the mast bracket 16 about a vertical axis of rotation 18 by means of a hydraulic rotating assembly (not shown) , a hydraulically driven concrete pump 24 which can be loaded with concrete via a material feed container 22 and a delivery line 28 connected to the concrete pump 24 via a pipe switch 26.
- the articulated mast 20 has five mast arms 1, 2, 3, 4 and 5 which are pivotally connected to one another at the articulated joint A with the mast bracket 16 and at the articulated joints B, C, D and E about horizontal articulated axes in each case.
- drive units 30 designed as double-acting hydraulic cylinders are provided, which are articulated with their free cylinder-side and rod-side ends to brackets or folding brackets of the mast arms 1 to 5 and the mast bracket 16.
- the mast arms are folded towards one another in an essentially parallel orientation while they are shown 2a and b are unfolded.
- a remote control device which comprises a radio remote control device 80 which is separate from the chassis and a control device 31 which is fixed to the vehicle and communicates with the radio remote control device 80 by means of transceivers 36, 36 'via a bidirectional radio link 38.
- the radio remote control device 80 has a plurality of control elements 34, 34 ′, 34 ′′ designed as control levers, which can be adjusted forwards and backwards in two mutually perpendicular main setting directions, with the emission of control signals.
- control signals are transmitted via the bidirectional radio link to the vehicle-mounted transceiver 36 'and converted into coordinate signals for the drive units 30 of the six axes 18, A, B, C, D, E in a data preparation stage 40 and a computer-aided coordinate transmitter 42.
- the size of the deflection of the control levers 34, 34 ', 34' ' can be converted into speed-determining signals by means of suitable sensors or electronics.
- the drive units 30 of all articulation axes A to E are used individually or in their own manner via the control lever 34 in one main setting direction (+, -) with the support of a computer which is fixed to the vehicle Controlled as a whole so that the articulated mast 20 extends in the plus direction and in the minus direction executes a shortening movement with a constant rotational position of the mast bracket 16 and with a constant height H of the articulated mast end above the floor 140.
- Each articulation axis A to E is controlled by software within the coordinate transmitter 42 in such a way that the articulation joints move harmoniously with one another as a function of distance and time.
- the drive units 30 assigned to the articulated axes are designed as hydraulic cylinders with length measuring systems 44 accommodated in the cylinders, the measured stroke movement of the cylinder can be converted into the associated rotary movement of the joint with the aid of a predetermined travel-swivel characteristic.
- the redundant degrees of freedom of the articulated joints are thus controlled according to a pre-programmed strategy, in which collision zones in the form of obstacles, ceilings, fixtures and the like can also be entered via the operating software and taken into account in the movement sequence.
- Correction data stored in files e.g. to compensate for a load-dependent deformation) can be used to increase the accuracy.
- the rotational position of the articulated mast 20 in the mast bracket 16 about the axis of rotation 18 is carried out by actuating the control lever 34 in the horizontal main setting direction (r, l), a clockwise rotation in the direction r and a left rotation in the direction 1 about the axis of rotation 18 is triggered.
- the lifting-lowering movement (h, s) of the end hose arranged on the mast tip for example while maintaining it
- the radial deflection of the articulated mast 20 can be triggered by actuating the drive units 30 of the articulated axes A to E via a further actuating lever 34 '.
- the invention relates to a large manipulator, in particular for truck-mounted concrete pumps.
- a mast bracket which can be driven about a vertical axis of rotation 18 and an articulated mast composed of at least three mast arms 1 to 5 are arranged on a frame.
- the mast arms 1 to 5 of the articulated mast are about horizontal, mutually parallel articulation axes A to E in pairs compared to the respectively adjacent mast bracket 16 or mast arm 1 to 5 by means of one each Drive unit 30 limited pivotable.
- the articulated mast is actuated via a remote control device 30 with control levers 34, 34 ', 34''.
- the remote control device has a computer-assisted coordinate transmitter 42 for the drive units 30 which can be controlled via the control lever 34 and via which in the one main actuating direction (+, -) of the control lever 34, the drive units 30 of the articulated axes A to E can be actuated independently of the drive unit of the axis of rotation 18 of the mast bracket 16 by executing a stretching or shortening movement of the articulated mast 20 at a predetermined height H of the mast tip.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
Description
Die Erfindung betrifft einen Großmanipulator, insbesondere für Autobetonpumpen, mit einem auf einem Gestell, insbesondere einem Fahrgestell angeordneten, um eine im wesentlichen vertikale Drehachse mittels eines Antriebsaggregats antreibbaren Mastbock, mit einem aus mindestens drei Mastarmen zusammengesetzten, vorzugsweise als Betonverteilermast ausgebildeten Knickmast, welche Mastarme um jeweils horizontale, zueinander parallele Knickachsen gegenüber dem jeweils benachbarten Mastbock oder Mastarm mittels je eines weiteren Antriebsaggregats begrenzt verschwenkbar sind, und mit einer mindestens einen Steuerhebel aufweisenden Fernsteuereinrichtung zur Ansteuerung der Antriebsaggregate, wobei der Steuerhebel in zwei zueinander senkrechten Hauptstellrichtungen vor- und rückwärts verstellbar ist, und wobei die Fernsteuereinrichtung einen über den Steuerhebel ansteuerbaren, rechnerunterstützten Koordinatengeber für die Antriebsaggregate aufweist.The invention relates to a large-scale manipulator, in particular for truck-mounted concrete pumps, with a mast bracket arranged on a frame, in particular a chassis, which can be driven about an essentially vertical axis of rotation by means of a drive unit, with an articulated mast composed of at least three mast arms, preferably designed as a concrete placing boom, which mast arms around horizontal, mutually parallel articulation axes can be pivoted to a limited extent with respect to the respectively adjacent mast bracket or mast arm by means of a further drive unit, and with a remote control device having at least one control lever for controlling the drive units, the control lever being adjustable forwards and backwards in two mutually perpendicular main adjustment directions, and wherein the remote control device has a computer-assisted coordinate transmitter for the drive units which can be controlled via the control lever.
Autobetonpumpen dieser Art sind mobile Arbeitsgeräte, die mit vollem 360°-Schwenkbereich des Mastbocks bei gestreckter horizontaler Lage des Knickmasts eingesetzt werden können. Der Bediener ist für die Steuerung der Autobetonpumpe und die Positionierung des Beton-Endschlauches am letzten Arm des Knickmasts verantwortlich. Er hat dazu mehr als zwei rotatorische Freiheitsgrade des Knickmasts über die zugehörigen Antriebsaggregate unter Bewegung des Knickmasts im nicht strukturierten dreidimensionalen Arbeitsraum bei Beachtung der Baustellenrandbedingungen zu betätigen. Durch den Einsatz von Proportional-Funkfernsteuerungen wurde diese Bedienertätigkeit dahingehend erleichtert, daß der Bediener nicht mehr mit einem Kabel räumlich mit der Autobetonpumpe verkettet ist. Es besteht jedoch weiterhin das Risiko, daß bei einer Einzelachsenbetätigung unkontrollierte Bewegungen am Endschlauch und damit eine Gefährdung des Baustellenpersonals auftreten können. Zur Erleichterung der Handhabung des Großmanipulators wurde bereits vorgeschlagen, statt der Einzelansteuerung der rotatorischen Freiheitsgrade des Knickmasts den Endschlauch durch geeignete Rechnerunterstützung in einem kartesischen x-,y-,z-Koordinatensystem mit Hilfe von Steuerhebeln zu verfahren, wobei wahlweise ein gestell festes oder baustellenfestes Koordinatensystem gewählt werden kann ("Computer Controlled Concrete Distribution", Dr.-Ing. Hartmut Benckert, Putzmeister-Werk, Seiten 111-119, 8th Int. Symposium on Automation and Robotics , IPA (FHG) Stuttgart 1991). Diese Art der Betätigung hat sich jedoch bei vielen Anwendungsfällen als recht umständlich erwiesen, da die hierfür erforderliche Betätigung der Steuerhebel mit den optisch wahrnehmbaren Bewegungsabläufen des Knickmasts nicht ohne weiteres in Einklang gebracht werden kann.Truck-mounted concrete pumps of this type are mobile implements that can be used with a full 360 ° swivel range of the mast bracket with the horizontal position of the articulated mast. The operator is responsible for controlling the Truck-mounted concrete pump and the positioning of the concrete end hose on the last arm of the articulated mast. For this purpose, he has to operate more than two rotational degrees of freedom of the articulated mast via the associated drive units while moving the articulated mast in the non-structured three-dimensional work space while observing the site conditions. The use of proportional radio remote controls made this operator's work easier in that the operator is no longer spatially linked to the truck-mounted concrete pump with a cable. However, there is still the risk that uncontrolled movements on the end hose and thus endangering the construction site personnel can occur when actuating a single axis. To facilitate the handling of the large manipulator, it has already been proposed, instead of individually controlling the rotational degrees of freedom of the articulated mast, to move the end hose by means of suitable computer support in a Cartesian x, y, z coordinate system with the aid of control levers, with either a frame-fixed or site-specific coordinate system can be selected ( "computer Controlled Concrete distribution", Dr.-Ing. Hartmut Benckert, Putzmeister plant, pages 111-119, 8 th Int. Symposium on Automation and Robotics, IPA (FHG) Stuttgart 1991). However, this type of actuation has proven to be quite cumbersome in many applications, since the actuation of the control levers required for this cannot be easily reconciled with the visually perceptible movement sequences of the articulated mast.
Ausgehend hiervon liegt der Erfindung die Aufgabe zugrunde, den bekannten Großmanipulator der eingangs angegebenen Art dahingehend zu verbessern, daß es dem Bediener möglich ist, beliebige Punkte im Raum in der Reichweite des Knickmasts mit einfachen Handhabungen der Bedienelemente anzusteuern.Proceeding from this, the object of the invention is to improve the known large manipulator of the type specified at the outset in such a way that the operator is able to control any points in space within the reach of the articulated mast with simple manipulations of the operating elements.
Zur Lösung dieser Aufgabe wird die im Patentanspruch 1 angegebenen Merkmalskombination vorgeschlagen. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen.To achieve this object, the combination of features specified in
Die Erfindung geht von der Erkenntnis aus, daß bei einer gemeinsamen Ansteuerung der redundanten Knickachsen des Knickmasts unabhängig von der Drehachse des Mastbocks mit einem einzigen Stellvorgang des Steuerhebels eine für den Bediener anschauliche Streck- oder Verkürzungsbewegung des Knickmasts bei vorgegebener Höhe der Knickmastspitze ausgeführt werden kann. Um dies zu erreichen, wird gemäß der Erfindung vorgeschlagen, daß über den Koordinatengeber in der einen Hauptstellrichtung des Steuerhebels die Antriebsaggregate der Knickachsen unabhängig vom Antriebsaggregat der Drehachse des Mastbocks unter Ausführung einer Streck- oder Verkürzungsbewegung des Knickmasts bei vorgegebener Höhe der Knickmastspitze betätigbar sind und daß die Antriebsaggregate der redundanten Knickachsen des Knickmasts jeweils nach Maßgabe einer wahlweise vorgebbaren Weg-Schwenk-Charakteristik betätigbar sind.The invention is based on the knowledge that when the redundant articulated axes of the articulated mast are actuated together, regardless of the axis of rotation of the mast bracket, with a single actuating operation of the control lever, a stretching or shortening movement of the articulated mast that is clear to the operator can be carried out at a predetermined height of the articulated mast tip. In order to achieve this, it is proposed according to the invention that the drive units of the articulated axles can be actuated by executing a stretching or shortening movement of the articulated mast at a predetermined height of the articulated mast tip via the coordinate transmitter in one main direction of control of the control lever, independently of the drive unit of the axis of rotation of the mast bracket the drive units of the redundant articulated axes of the articulated mast can each be operated in accordance with an optionally predeterminable travel-swivel characteristic.
Gemäß einer bevorzugten Ausgestaltung der Erfindung ist über den Koordinatengeber in der anderen, zur ersten senkrechten Hauptstellrichtung des Steuerhebels oder in der einen Hauptstellrichtung eines weiteren Steuerhebels das Antriebsaggregat der Drehachse des Mastbocks unabhängig von den Antriebsaggregaten der Knickachsen unter Ausführung einer Drehbewegung des Knickmasts bei vorgegebener Höhe der Mastspitze betätigbar. Weiter ist es vorteilhaft, wenn über den Koordinatengeber dazuhin in der anderen, zur ersten senkrechten Hauptstellrichtung des Steuerhebels oder in der einen Hauptstellrichtung eines weiteren Steuerhebels die Antriebsaggregate der Knickachsen unabhängig vom Antriebsaggregat der Drehachse des Mastbocks unter Ausführung einer Hub- oder Senkbewegung der Mastspitze und Beibehaltung von deren radialem Abstand von der Drehachse betätigbar sind.According to a preferred embodiment of the invention, the drive unit of the axis of rotation of the mast bracket is independent of the drive units of the articulated axes by executing a rotary movement of the articulated mast at a predetermined height via the coordinate transmitter in the other, to the first vertical main direction of the control lever or in the one main direction of another control lever Mast tip operable. Furthermore, it is advantageous if the drive units of the articulated axes are independent of the drive unit of the axis of rotation of the mast bracket, while carrying out a lifting or lowering movement of the mast tip, and are maintained via the coordinate transmitter in the other, to the first, vertical main direction of the control lever or in the one main direction of another control lever can be actuated by their radial distance from the axis of rotation.
Da die Mastarme in Abhängigkeit von ihrer Ausrichtung zur Gravitationsachse einerseits und von der an ihnen angreifenden Last (z.B. Beton im Förderrohr) andererseits mehr oder weniger großen Biege- und Torsionsmomenten ausgesetzt sind, die die Lage der Mastspitze bei gegebenen Schwenkstellungen in den einzelnen Gelenken verfälscht, wird gemäß einer bevorzugten Ausgestaltung der Erfindung vorgeschlagen, daß die Weg-Schwenk-Charakteristik im Koordinatengeber nach Maßgabe der an den einzelnen Mastarmen angreifenden lastabhängigen Biege- und Torsionsmomente modifizierbar ist. Entsprechendes gilt, wenn zur Vermeidung von Kollisionen im Bewegungsraum des Knickmasts Hindernisse zu überwinden sind. Hierzu ist es zweckmäßig, die Weg-Schwenk-Charakteristik der Knickachsen im Koordinatengeber nach Maßgabe von die Mastarmbewegung räumlich begrenzenden Kollisionszonen, insbesondere durch Vorgabe eines höchsten und/oder tiefsten Knickpunkts modifizierbar ist. Eine weitere Sicherheit in dieser Hinsicht wird erzielt, wenn die Weg-Schwenk-Charakteristik der Knickachsen im Koordinatengeber nach Maßgabe von durch einen vorzugsweise am letzten Mastarm angeordneten Abstandssensor abgegebenen Meßsignalen modifizierbar ist.Since the mast arms are exposed to more or less bending and torsional moments depending on their orientation to the gravitational axis on the one hand and the load on them (e.g. concrete in the conveyor pipe), which distorts the position of the mast tip at given swivel positions in the individual joints, It is proposed according to a preferred embodiment of the invention that the path-swivel characteristic in the coordinate transmitter can be modified in accordance with the load-dependent bending and torsional moments acting on the individual mast arms. Corresponding applies if obstacles have to be overcome to avoid collisions in the area of movement of the articulated mast. For this purpose, it is expedient to modify the path-swivel characteristic of the articulation axes in the coordinate transmitter in accordance with collision zones that spatially limit the mast arm movement, in particular by specifying a highest and / or lowest inflection point. A further security in this regard is achieved if the path-swivel characteristic of the articulated axes in the coordinate transmitter can be modified in accordance with measurement signals output by a distance sensor preferably arranged on the last mast arm.
Zur Erweiterung der Einsatzmöglichkeiten der Fernsteuereinrichtung ist es von Vorteil, wenn die Stellhebel über den Koordinatengeber wahlweise auf gestellfeste oder baustellenfeste kartesische Koordinaten oder auf die einzelnen Gelenkkoordinaten umschaltbar sind.To expand the possible uses of the remote control device, it is advantageous if the control levers can be switched over to the frame or Cartesian coordinates fixed to the construction site or to the individual joint coordinates via the coordinate transmitter.
Im folgenden wird die Erfindung anhand eines in der Zeichnung in schematischer Weise dargestellten Ausführungsbeispiels näher erläutert. Es zeigen
- Fig. 1
- eine Seitenansicht einer Autobetonpumpe mit fünfarmigem Knickmast in zusammengeklapptem Zustand;
- Fig. 2a und b
- eine Seitenansicht und eine Draufsicht einer Autobetonpumpe mit auseinandergeklapptem Knickmast;
- Fig. 3a und b
- je einen Ausschnitt aus dem fahrzeugfernen und fahrzeugfesten Teil einer Fernsteuereinrichtung in schematischer Darstellung.
- Fig. 1
- a side view of a truck-mounted concrete pump with five-arm articulated mast in the folded state;
- 2a and b
- a side view and a plan view of a truck-mounted concrete pump with an unfolded articulated mast;
- 3a and b
- each a section of the remote and fixed part of a remote control device in a schematic representation.
Die in der Zeichnung dargestellte Autobetonpumpe weist ein Fahrgestell 10, einen in der Nähe der Vorderachse 12 und des Fahrerhauses 14 des Fahrgestells 10 angeordneten Mastbock 16, einen am Mastbock 16 um eine vertikale Drehachse 18 mittels eines nicht dargestellten hydraulischen Drehaggregats um 360° drehbaren Knickmast 20, eine über einen Materialaufgabebehälter 22 mit Beton beaufschlagbare, hydraulisch angetriebene Betonpumpe 24 und eine über eine Rohrweiche 26 an die Betonpumpe 24 angeschlossene Förderleitung 28 auf. Der Knickmast 20 weist fünf Mastarme 1, 2, 3, 4 und 5 auf, die an dem Knickgelenk A mit dem Mastbock 16 und an den Knickgelenken B, C, D und E um jeweils horizontale Knickachsen schwenkbar miteinander verbunden sind. Zum Ein- und Ausfalten der Mastarme 1 bis 5 um die Gelenke A bis E sind als doppeltwirkende Hydrozylinder ausgebildete Antriebsaggregate 30 vorgesehen, die mit ihren freien zylinderseitigen und stangenseitigen Enden an Auslegern bzw. Umlegebügeln der Mastarme 1 bis 5 und des Mastbocks 16 angelenkt sind.The truck-mounted concrete pump shown in the drawing has a
In der in Fig. 1 gezeigten Fahrstellung sind die Mastarme in zueinander im wesentlichen paralleler Ausrichtung gegeneinander gefaltet, während sie in der Darstellung nach Fig. 2a und b auseinandergefaltet sind.In the driving position shown in FIG. 1, the mast arms are folded towards one another in an essentially parallel orientation while they are shown 2a and b are unfolded.
Zur Betätigung der Antriebsaggregate des Knickmasts ist eine Fernsteuereinrichtung vorgesehen, die ein vom Fahrgestell getrenntes Funkfernsteuergerät 80 und eine mit dem Funkfernsteuergerät 80 mittels Senderempfängern 36, 36' über eine bidirektionale Funkstrecke 38 kommunizierende fahrzeugfeste Steuereinrichtung 31 umfaßt. Das Funkfernsteuergerät 80 weist mehrere, als Steuerhebel ausgebildete Bedienorgane 34, 34', 34'' auf, die jeweils in zwei zueinander senkrechten Hauptstellrichtungen vor- und rückwärts unter Abgabe von Steuersignalen verstellt werden können. Die Steuersignale werden über die bidirektionale Funkstrecke zum fahrzeugfesten Senderempfänger 36' übertragen und in einer Datenaufbereitungsstufe 40 und einem rechnergestützten Koordinatengeber 42 in Koordinatensignale für die Antriebsaggregate 30 der sechs Achsen 18, A, B, C, D, E umgesetzt. Zusätzlich kann die Größe der Auslenkung der Steuerhebel 34, 34', 34'' über eine geeignete Sensorik oder Elektronik in geschwindigkeitsbestimmende Signale umgesetzt werden.To operate the drive units of the articulated mast, a remote control device is provided which comprises a radio
Bei dem in Fig. 2a und b in Verbindung mit Fig. 3 a und b gezeigten Ausführungsbeispiel werden über den Steuerhebel 34 in der einen Hauptstellrichtung (+,-) mit Unterstützung eines fahrzeugfesten Rechners die Antriebsaggregate 30 sämtlicher Knickachsen A bis E einzeln oder in ihrer Gesamtheit so angesteuert, daß der Knickmast 20 in Plusrichtung eine Streckbewegung und in Minusrichtung eine Verkürzungsbewegung bei konstanter Drehlage des Mastbocks 16 und bei konstanter Höhe H des Knickmastendes über dem Boden 140 ausführt. Jede Knickachse A bis E wird innerhalb des Koordinatengebers 42 so softwaremäßig angesteuert, daß die Knickgelenke in Abhängigkeit von Weg und Zeit sich harmonisch zueinander bewegen. Sofern die den Knickachsen zugeordneten Antriebsaggregate 30 als Hydraulikzylinder mit in den Zylindern untergebrachten Längenmeßsystemen 44 ausgebildet sind, kann hierzu die gemessene Hubbewegung des Zylinders mit Hilfe einer vorgegebenen Weg-Schwenk-Charakteristik in die zugehörige Drehbewegung des Gelenks umgerechnet werden. Die Ansteuerung der redundanten Freiheitsgrade der Knickgelenke erfolgt somit nach einer vorprogrammierten Strategie, bei der auch Kollisionszonen in Form von Hindernissen, Decken, Einbauten und dergleichen über die Betriebssoftware eingegeben und im Bewegungsablauf berücksichtigt werden können. Zur Erhöhung der Genauigkeit kann auf in Dateien abgelegte Korrekturdaten (z.B. zur Kompensation einer lastabhängigen Deformation) zurückgegriffen werden.In the exemplary embodiment shown in FIGS. 2a and b in conjunction with FIGS. 3a and b, the
Die Verstellung der Drehlage des Knickmasts 20 im Mastbock 16 um die Drehachse 18 erfolgt bei dem gezeigten Ausführungsbeispiel durch Betätigung des Steuerhebels 34 in horizontaler Hauptstellrichtung (r,l), wobei in Richtung r eine Rechtsdrehung und in der Richtung 1 eine Linksdrehung um die Drehachse 18 ausgelöst wird. Die Hub-Senk-Bewegung (h,s) des an der Mastspitze angeordneten Endschlauches, beispielsweise unter Beibehaltung der radialen Auslenkung des Knickmasts 20 kann unter Ansteuerung der Antriebsaggregate 30 der Knickachsen A bis E über einen weiteren Betätigungshebel 34' ausgelöst werden. Bei einer Betätigung der Steuerhebel in einer von den zueinander senkrechten Hauptstellrichtungen abweichenden Zwischenrichtung werden jeweils beide Steuerarten nach Art einer Komponentenzerlegung angesprochen.In the exemplary embodiment shown, the rotational position of the articulated
Mit diesen Maßnahmen ist es möglich, den gesamten Raum innerhalb der Reichweite des Knickmasts mit den notwendigen Kollisionsbegrenzungen mit nur drei Hauptstellrichtungen unter Verwendung von zwei Steuerhebeln (34, 34') mit der Mastspitze abzufahren, wobei die Bewegungen der Steuerhebel in einer für den Bediener anschaulichen Weise in die drei genannten Bewegungskomponenten des Knickmasts 20 umsetzbar sind. An dem Display 32 kann der Bediener die aktuellen Koordinatenwerte der Mastspitze in einem über den Wählschalter 33 ausgwählten Koordinatensystem ablesen.With these measures, it is possible to move the entire space within the reach of the articulated mast with the necessary collision limits with only three main adjustment directions using two control levers (34, 34 ') with the mast tip, the movements of the control levers being visualized in one for the operator Can be implemented in the three movement components of the articulated
Zusammenfassend ist folgendes festzustellen: Die Erfindung betrifft einen Großmanipulator, insbesondere für Autobetonpumpen. Auf einem Gestell ist ein um eine vertikale Drehachse 18 antreibbarer Mastbock sowie ein aus mindestens drei Mastarmen 1 bis 5 zusammengesetzter Knickmast angeordnet. Die Mastarme 1 bis 5 des Knickmasts sind um horizontale, zueinander parallele Knickachsen A bis E paarweise gegenüber dem jeweils benachbarten Mastbock 16 oder Mastarm 1 bis 5 mittels je eines Antriebsaggregats 30 begrenzt verschwenkbar. Die Betätigung des Knickmasts erfolgt über eine Fernsteuereinrichtung 30 mit Steuerhebeln 34,34',34''. Um eine klare Zuordnung zwischen den Bewegungen des Steuerhebels 34 und des Knickmasts zu gewährleisten, wird gemäß der Erfindung vorgeschlagen, daß die Fernsteuereinrichtung einen über den Steuerhebel 34 ansteuerbaren, rechnergestützten Koordinatengeber 42 für die Antriebsaggregate 30 aufweist, über den in der einen Hauptstellrichtung (+,-) des Steuerhebels 34 die Antriebsaggregate 30 der Knickachsen A bis E unabhängig vom Antriebsaggregat der Drehachse 18 des Mastbocks 16 unter Ausführung einer Streck- oder Verkürzungsbewegung des Knickmasts 20 bei vorgegebener Höhe H der Mastspitze betätigbar sind. In der anderen, zur ersten senkrechten Haupttellrichtung (l,r) des Steuerhebels 34 wird über den Koordinatengeber 42 eine Drehbewegung des Knickmasts 20 um die Drehachse 18 ausgelöst, und zwar unabhängig von der Bewegung in den Knickachsen A bis E bei vorgegebener Höhe H der Knickmastspitze.In summary, the following can be stated: The invention relates to a large manipulator, in particular for truck-mounted concrete pumps. A mast bracket which can be driven about a vertical axis of
Claims (7)
- A large manipulator, especially for truck-mounted concrete pumps,comprising a mast base (16) arranged on a frame, in particular a chassis (10), drivable about an essentially vertical pivot (18) by means of a driving system,comprising an articulated mast (20) preferably designed as a concrete-distributing mast and composed of at least three mast arms (1 to 5), which mast arms (1 to 5) are limited pivotally each about horizontal axes (A to E), which are parallel to one another, relative to the respective adjacent mast base (16) or mast arm (1 to 5) each by means of one further driving system (30), and,comprising a remote-control device having at least one control lever (34, 34', 34") for controlling the driving systems, whereby the control lever (34, 34', 34") can be adjusted forwardly and backwardly into two main-position directions, which are perpendicular to one another, and whereby the remote-control device has a computer-assisted coordinate transmitter (42) for the driving systems (30), which transmitter can be controlled through the control lever (34),characterized in that through the coordinate transmitter (42) the driving systems (30) of the articulated pivots (A to E) can be operated in the one main-position direction (+, -) of the control lever (34) independent from the driving system of the pivot (18) of the mast base (16) while carrying out an extending or collapsing movement of the articulated mast (20) at a pregiven height (h) of the tip of the articulated mast, and that the driving systems (30) of the redundant axes (A to E) of the articulated mast (20) can be operated each according to a selectively predefinable path-swivel characteristic.
- The large manipulator according to Claim 1, characterized in that the driving system of the pivot (18) of the mast base (16) can be operated through the coordinate transmitter (42) in the other main-position direction (r, l) of the control lever (34), which direction is perpendicular to the first one, or in the one main-position direction of a further control lever (34', 34") independent of the driving systems (30) of the axes (A to E) while carrying out a rotary movement of the articulated mast (20) at a pregiven height (h) of the tip of the articulated mast.
- The large manipulator according to Claims 1 or 2, characterized in that the driving systems (30) of the axes (A to E) can be operated through the coordinate transmitter (42) in the other main-position direction of the control lever (34), which direction is perpendicular with respect to the first one, or in the one main-position direction (h, s) independent of the driving system of the pivot (18) of the mast base (16) while carrying out a lifting or lowering movement of the tip of the articulated mast, preferably while maintaining its radial distance from the pivot (18).
- The large manipulator according to one of the Claims 1 to 3, characterized in that the path-swivel characteristic of the axes (A to E) can be modified in the coordinate transmitter (42) according to load-dependent bending and/or torsion moments engaging the individual mast arms (1 to 5).
- The large manipulator according to one of the Claims 1 to 4, characterized in that the path-swivel characteristic of the axes (A to E) can be modified in the coordinate transmitter according to collision zones spacially limiting the mast-arm movements, in particular by specifying a highest and/or lowest articulated point.
- The large manipulator according to one of the Claims 1 to 5, characterized in that the path-swivel characteristic of the axes (A to E) can be modified in the coordinate transmitter (42) according to measuring signals emitted by a distance sensor preferably arranged on the last mast arm (5).
- The large manipulator according to one of the Claims 1 to 6, characterized in that the control levers (34, 34', 34") can be switched through the coordinate transmitter (42) to frame-fixed or building-site-fixed Cartesian coordinates or to the individual joint coordinates (A to E).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE4306127A DE4306127C2 (en) | 1993-02-27 | 1993-02-27 | Large manipulator, especially for truck-mounted concrete pumps |
| DE4306127 | 1993-02-27 | ||
| PCT/EP1993/003416 WO1994019563A1 (en) | 1993-02-27 | 1993-12-04 | Large manipulator, especially for self-propelled concrete pumps |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| EP0686224A1 EP0686224A1 (en) | 1995-12-13 |
| EP0686224B1 true EP0686224B1 (en) | 1997-03-26 |
| EP0686224B2 EP0686224B2 (en) | 2005-06-01 |
Family
ID=6481507
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP94902681A Expired - Lifetime EP0686224B2 (en) | 1993-02-27 | 1993-12-04 | Large manipulator, especially for self-propelled concrete pumps |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US5640996A (en) |
| EP (1) | EP0686224B2 (en) |
| JP (1) | JPH08507112A (en) |
| DE (2) | DE4306127C2 (en) |
| ES (1) | ES2100674T5 (en) |
| WO (1) | WO1994019563A1 (en) |
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| CN103806665A (en) * | 2014-01-26 | 2014-05-21 | 三一汽车制造有限公司 | Pump truck intelligent arm elastic deformation correction method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103806665B (en) * | 2014-01-26 | 2016-04-06 | 三一汽车制造有限公司 | The elastically-deformable antidote of pump truck puma arm and device |
| US11214970B2 (en) | 2016-04-07 | 2022-01-04 | Schwing Gmbh | Remote control device for a large manipulator having a control lever |
| DE102016106595A1 (en) | 2016-04-11 | 2017-10-12 | Schwing Gmbh | Large manipulator with decentralized hydraulics |
| WO2017178420A1 (en) | 2016-04-11 | 2017-10-19 | Schwing Gmbh | Large manipulator with decentralized hydraulic system |
Also Published As
| Publication number | Publication date |
|---|---|
| EP0686224A1 (en) | 1995-12-13 |
| ES2100674T3 (en) | 1997-06-16 |
| JPH08507112A (en) | 1996-07-30 |
| DE4306127A1 (en) | 1994-09-01 |
| DE4306127C2 (en) | 2002-08-08 |
| DE59305997D1 (en) | 1997-04-30 |
| EP0686224B2 (en) | 2005-06-01 |
| ES2100674T5 (en) | 2005-12-16 |
| WO1994019563A1 (en) | 1994-09-01 |
| US5640996A (en) | 1997-06-24 |
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