EP0686224B2 - Large manipulator, especially for self-propelled concrete pumps - Google Patents
Large manipulator, especially for self-propelled concrete pumps Download PDFInfo
- Publication number
- EP0686224B2 EP0686224B2 EP94902681A EP94902681A EP0686224B2 EP 0686224 B2 EP0686224 B2 EP 0686224B2 EP 94902681 A EP94902681 A EP 94902681A EP 94902681 A EP94902681 A EP 94902681A EP 0686224 B2 EP0686224 B2 EP 0686224B2
- Authority
- EP
- European Patent Office
- Prior art keywords
- mast
- articulated
- axes
- control lever
- 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
-
- 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
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
-
- 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 manipulator, in particular for truck-mounted concrete pumps, with one on one Frame, in particular a chassis arranged, about a substantially vertical axis of rotation by 360 ° rotatable means a drive unit drivable mast block, with a compound of at least three branches, preferably designed as a concrete distribution boom Articulated mast, which mast arms around each horizontal, opposite to each other kink axes the respectively adjacent Mastbock or Mastarm means each of a further drive unit limited pivotally are, and with at least one control lever having remote control device for driving the drive units, wherein the control lever in two mutually perpendicular Hauptstellraumen is adjustable back and forth, and wherein the Remote control device a controllable via the control lever, computer-assisted coordinate transmitter having for the drive units.
- Truck-mounted concrete pumps of this type are mobile work tools that can be used with the full 360 ° swiveling range of the trestles in the extended horizontal position of the articulated mast.
- the operator is responsible for controlling the truck-mounted concrete pump and positioning the concrete end hose on the last arm of the articulated mast. He has to operate more than two rotational degrees of freedom of the articulated mast on the associated drive units with movement of the articulated mast in non-structured three-dimensional workspace in compliance with the site boundary conditions.
- Proportional Funkfernstauerungen this operator activity was facilitated to the extent that the operator is no longer linked with a cable spatially with the truck-mounted concrete pump.
- the invention is based on the recognition that at a common control of the redundant Buckling axes of the buckling mast independent of the Rotary axis of the mast block with a single adjustment of the control lever an illustrative for the operator Stretching or shortening movement of the kink mast at a given height of the Knickmastspitze can be executed.
- the coordinate encoder in the one main actuating direction of the control lever the drive units of the bending axes independent from the drive unit of the rotary axis in each rotary position of the mast block under execution of a stretching or shortening movement of the buckling mast at a given height the Knickmastspitze are actuated and that the drive units the redundant buckling axes of Knickmasts each in accordance with an optional predetermined Off-swing characteristic can be actuated are.
- the drive unit of the axis of rotation of the Mastbocks independent of the drive units the bending axes under execution of a rotary motion of the buckling mast at a given height of the mast top actuated.
- the mast arms depend on their orientation to the gravitational axis on the one hand and from the on load acting on them (e.g., concrete in the production pipe) on the other hand more or less large bending and torsional moments are exposed to the location of the mast top given given pivot positions in the individual Falsified joints is, according to a preferred Embodiment of the invention proposed that the path-swing characteristic in the coordinate transmitter according to the attack on the individual fattening arms Load-dependent bending and torsional moments is modifiable. The same applies if to avoid of collisions in the movement space of the Knickmasts obstacles are overcome.
- the truck-mounted concrete pump shown in the drawing has a chassis 10, one near the front axle 12 and the cab 14 of the chassis 10th arranged mast block 16, one on the mast block 16 um a vertical axis of rotation 18 by means not shown Hydraulic rotary unit rotatable by 360 ° Articulated mast 20, one above a material feed bin 22 hydraulically powered concrete Concrete pump 24 and one via a diverter valve 26 to the concrete pump 24 connected delivery line 28 on.
- the articulated mast 20 has five mast arms 1, 2, 3, 4 and 5, which at the articulation A with the Mast block 16 and at the articulated joints B, C, D and E. about each horizontal bending axes pivotally with each other are connected.
- a remote control device which a radio remote control unit 80 separate from the chassis and one with the radio remote controller 80 via transceivers 36, 36 'via a bidirectional radio link 38 communicating vehicle-mounted control device 31 includes.
- the radio remote control unit 80 has several, designed as a control lever controls 34, 34 ', 34 ", each in two mutually perpendicular Main positions forward and backward under delivery be adjusted by control signals.
- the Control signals are sent over the bidirectional radio link transmitted to the vehicle-fixed transceiver 36 ' and in a data preparation stage 40 and a computer-aided coordinate generator 42 in coordinate signals for the power units 30 of the six Axes 18, A, B, C, D, E implemented.
- the size of the deflection of the control levers 34, 34 ', 34 " via a suitable sensor or electronics in speed-determining Signals are implemented.
- the drive units 30 all buckling axes A to E individually or in their entirety so controlled that the Buckling mast 20 in the plus direction a stretching movement and in the minus direction a shortening movement at constant Drehrage of the mastbuck 16 and at constant Height H of the articulated mast end above the ground 140 performs.
- Each bending axis A to E is within the coordinate transmitter 42 so controlled by software, that the articulated joints depending on path and time itself move harmoniously to each other.
- the invention relates to a large manipulator, in particular for truck-mounted concrete pumps.
- On a rack is one around one vertical axis of rotation 18 drivable mast block as well one composed of at least three fattening arms 1 to 5 Articulated mast arranged.
- the mast arms 1 to 5 of the kink mast are horizontal, parallel to each other Buckling axes A to E in pairs opposite to each adjacent Mastbock 16 or Mastarm 1 to 5 limited by a respective drive unit 30 pivotally.
- the actuation of the articulated mast takes place via a remote control device 30 with control levers 34,34 ', 34 ".
- the remote control device via the Control lever 34 controllable, computer-assisted coordinate encoder 42 for the drive units 30, about in the one main direction (+, -) of the Control lever 34, the drive units 30 of the bending axes A to E independent of the drive unit of Rotary axis 18 of the mast block 16 under execution of a Stretching or shortening movement of the kink mast 20 operable at a predetermined height H of the mast top are.
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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)
Description
Die Erfindung betrifft einen Großmanipulator, insbesondere für Autobetonpumpen, mit einem auf einem Gestell, insbesondere einem Fahrgestell angeordneten, um eine im wesentlichen vertikale Drehachse um 360° drehbaren 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 manipulator, in particular for truck-mounted concrete pumps, with one on one Frame, in particular a chassis arranged, about a substantially vertical axis of rotation by 360 ° rotatable means a drive unit drivable mast block, with a compound of at least three branches, preferably designed as a concrete distribution boom Articulated mast, which mast arms around each horizontal, opposite to each other kink axes the respectively adjacent Mastbock or Mastarm means each of a further drive unit limited pivotally are, and with at least one control lever having remote control device for driving the drive units, wherein the control lever in two mutually perpendicular Hauptstellrichtungen is adjustable back and forth, and wherein the Remote control device a controllable via the control lever, computer-assisted coordinate transmitter having for the drive units.
Autobetonpumpen dieser Art sind mobile Arbeitsgetäte, 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-Funkfernstauerungen 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 Bausiellenpersonals 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 erlorderliche 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 work tools that can be used with the full 360 ° swiveling range of the trestles in the extended horizontal position of the articulated mast. The operator is responsible for controlling the truck-mounted concrete pump and positioning the concrete end hose on the last arm of the articulated mast. He has to operate more than two rotational degrees of freedom of the articulated mast on the associated drive units with movement of the articulated mast in non-structured three-dimensional workspace in compliance with the site boundary conditions. The use of Proportional Funkfernstauerungen this operator activity was facilitated to the extent that the operator is no longer linked with a cable spatially with the truck-mounted concrete pump. However, there is still the risk that in a single-axis operation uncontrolled movements of the end hose and thus a threat to the construction staff can occur. To facilitate the handling of the large manipulator has already been proposed to proceed instead of the individual control of the rotational degrees of freedom of the buckling mast end hose by suitable computer support in a Cartesian x, y, z coordinate system by means of control levers, with either a frame fixed or fixed construction site 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 operation has proven to be quite cumbersome in many applications, since the Erlorderliche this operation of the control lever with the visually perceptible movements of the articulated mast can not be reconciled easily.
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 underlying, the known large manipulator of the beginning to improve the type indicated that it is possible for the operator, any points in the Space in the reach of the folding mast with simple To control manipulations of the controls.
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 solve this problem is in the
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 in jeder Drehlage 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 recognition that at a common control of the redundant Buckling axes of the buckling mast independent of the Rotary axis of the mast block with a single adjustment of the control lever an illustrative for the operator Stretching or shortening movement of the kink mast at a given height of the Knickmastspitze can be executed. To accomplish this, is done according to proposed the invention that the coordinate encoder in the one main actuating direction of the control lever the drive units of the bending axes independent from the drive unit of the rotary axis in each rotary position of the mast block under execution of a stretching or shortening movement of the buckling mast at a given height the Knickmastspitze are actuated and that the drive units the redundant buckling axes of Knickmasts each in accordance with an optional predetermined Off-swing characteristic can be actuated are.
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 is above the coordinate encoder in the other, to first vertical main actuating direction of the control lever or in one main actuating direction of another Control lever, the drive unit of the axis of rotation of the Mastbocks independent of the drive units the bending axes under execution of a rotary motion of the buckling mast at a given height of the mast top actuated. Next, it is advantageous if over the coordinate encoder in addition to the other, the first vertical main actuating direction of the control lever or in one main actuating direction of another Control lever, the drive units of the bending axes regardless of the drive unit of the axis of rotation of Mastbocks performing a lifting or lowering movement the mast top and retaining its radial Distance from the axis of rotation can be actuated.
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.Because the mast arms depend on their orientation to the gravitational axis on the one hand and from the on load acting on them (e.g., concrete in the production pipe) on the other hand more or less large bending and torsional moments are exposed to the location of the mast top given given pivot positions in the individual Falsified joints is, according to a preferred Embodiment of the invention proposed that the path-swing characteristic in the coordinate transmitter according to the attack on the individual fattening arms Load-dependent bending and torsional moments is modifiable. The same applies if to avoid of collisions in the movement space of the Knickmasts obstacles are overcome. This is it is expedient to the path-swing characteristic of Buckling axes in the coordinate transmitter in accordance with the mast arm movement spatially limiting collision zones, especially by setting a highest and / or deepest breakpoint is modifiable. A further security in this regard is achieved when the path-swing characteristic of the buckling axes in Coordinate encoder in accordance with by a preferred arranged on the last boom arm distance sensor modulated emitted measuring signals is.
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 application possibilities of Remote control device, it is advantageous if the levers via the co-ordinator either on frame-fixed or site-specific Cartesian coordinates or switchable to the individual joint coordinates are.
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 fahrzeugfemen und fahrzeugfesten Teil einer Fernsteuereinrichtung in schematischer Darstellung.
- Fig. 1
- a side view of a truck-mounted concrete pump with five-armed articulated mast in the folded state;
- Fig. 2a and b
- a side view and a plan view of a truck-mounted concrete pump with unfolded articulated mast;
- Fig. 3a and b
- each a section of the vehicle and vehicle 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 are the Mast arms in substantially parallel to each other Alignment folded against each other while in the Representation of Fig. 2a and b unfolded are.
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
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 in Fig. 2a and b in conjunction with Fig. 3 a
and b shown embodiment are over 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.The adjustment of the rotational position of the buckling mast 20 in
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 use the whole
Space within reach of the kink mast with
the necessary collision limits with only three
Main operating directions using two control levers
(34, 34 ') to start with the mast top, wherein
the movements of the control levers in one for the operator
descriptive way in the three components of motion mentioned
of the buckling mast 20 can be implemented
are. On the
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
The invention relates to a large manipulator, in particular
for truck-mounted concrete pumps. On a rack is one around one
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), rotatable about an essentially vertical pivot (18) about 360° and drivable 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) in each rotational position 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 |
|---|---|---|---|
| DE4306127 | 1993-02-27 | ||
| DE4306127A DE4306127C2 (en) | 1993-02-27 | 1993-02-27 | Large manipulator, especially for truck-mounted concrete pumps |
| 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 EP0686224B1 (en) | 1997-03-26 |
| EP0686224B2 true 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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|---|---|---|---|---|
| DE102016106352A1 (en) | 2016-04-07 | 2017-10-12 | Schwing Gmbh | Remote control device for large manipulator with control lever |
| EP3705663A1 (en) | 2019-03-07 | 2020-09-09 | Liebherr-Mischtechnik GmbH | Articulated arm control for a concrete pump |
| EP3705662A1 (en) | 2019-03-07 | 2020-09-09 | Liebherr-Mischtechnik GmbH | Articulated arm control for a concrete pump |
| EP3705664A1 (en) | 2019-03-07 | 2020-09-09 | Liebherr-Mischtechnik GmbH | Articulated arm control for a concrete pump |
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1993
- 1993-02-27 DE DE4306127A patent/DE4306127C2/en not_active Expired - Fee Related
- 1993-12-04 WO PCT/EP1993/003416 patent/WO1994019563A1/en active IP Right Grant
- 1993-12-04 US US08/513,790 patent/US5640996A/en not_active Expired - Lifetime
- 1993-12-04 DE DE59305997T patent/DE59305997D1/en not_active Expired - Lifetime
- 1993-12-04 EP EP94902681A patent/EP0686224B2/en not_active Expired - Lifetime
- 1993-12-04 ES ES94902681T patent/ES2100674T5/en not_active Expired - Lifetime
- 1993-12-04 JP JP6518582A patent/JPH08507112A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016106352A1 (en) | 2016-04-07 | 2017-10-12 | Schwing Gmbh | Remote control device for large manipulator with control lever |
| WO2017174576A1 (en) | 2016-04-07 | 2017-10-12 | Schwing Gmbh | Remote control device for a large manipulator having a control lever |
| EP3705663A1 (en) | 2019-03-07 | 2020-09-09 | Liebherr-Mischtechnik GmbH | Articulated arm control for a concrete pump |
| EP3705662A1 (en) | 2019-03-07 | 2020-09-09 | Liebherr-Mischtechnik GmbH | Articulated arm control for a concrete pump |
| EP3705664A1 (en) | 2019-03-07 | 2020-09-09 | Liebherr-Mischtechnik GmbH | Articulated arm control for a concrete pump |
| DE102019105814A1 (en) * | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Articulated arm control of a concrete pump |
| DE102019105817A1 (en) * | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Articulated arm control of a concrete pump |
| DE102019105871A1 (en) * | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Articulated arm control of a concrete pump |
Also Published As
| Publication number | Publication date |
|---|---|
| US5640996A (en) | 1997-06-24 |
| DE4306127A1 (en) | 1994-09-01 |
| JPH08507112A (en) | 1996-07-30 |
| ES2100674T5 (en) | 2005-12-16 |
| WO1994019563A1 (en) | 1994-09-01 |
| EP0686224A1 (en) | 1995-12-13 |
| EP0686224B1 (en) | 1997-03-26 |
| DE59305997D1 (en) | 1997-04-30 |
| ES2100674T3 (en) | 1997-06-16 |
| DE4306127C2 (en) | 2002-08-08 |
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