EP0715673B2 - Manipulateur de taille importante, notamment pour pompes a beton automatiques, et son procede de manipulation - Google Patents
Manipulateur de taille importante, notamment pour pompes a beton automatiques, et son procede de manipulation Download PDFInfo
- Publication number
- EP0715673B2 EP0715673B2 EP94924288A EP94924288A EP0715673B2 EP 0715673 B2 EP0715673 B2 EP 0715673B2 EP 94924288 A EP94924288 A EP 94924288A EP 94924288 A EP94924288 A EP 94924288A EP 0715673 B2 EP0715673 B2 EP 0715673B2
- Authority
- EP
- European Patent Office
- Prior art keywords
- mast
- large manipulator
- manipulator according
- end hose
- control member
- 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
-
- 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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- 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
- B66C23/005—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 with balanced jib, e.g. pantograph arrangement, the jib being moved manually
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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
- Y10T137/0318—Processes
- Y10T137/0324—With control of flow by a condition or characteristic of a fluid
-
- 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 arranged on a chassis, about a substantially vertical axis of rotation rotating head by means of a drive unit, one composed of at least three mast arms, trained as a concrete placing boom Articulated mast, which mast arms around horizontal, mutually parallel articulation axes compared to the neighboring turret or mast arm by means of each of another drive unit can be pivoted to a limited extent and with a tax body Remote control device for controlling the drive units and to adjust the an end hose carrying mast tip along a Adjustment path.
- the invention further relates to a method for handling the large manipulator.
- Truck-mounted concrete pumps of this type are mobile tools, with a full 360 ° swivel range of the rotary head even when the articulated mast is in a horizontal position can be used.
- the operator is for control of the truck-mounted concrete pump and positioning of the concrete end hose on the last arm of the Articulated masts responsible. It has more than three rotary ones Degrees of freedom of the articulated mast over the associated Drive units under the movement of the Articulated masts in the unstructured three-dimensional Work space when observing the site conditions to operate.
- proportional radio remote controls became this operator activity relieved that the operator is not more with one cable spatially with the truck-mounted concrete pump is chained.
- the object of the invention based on the well-known large manipulator of the beginning to improve the specified type, that the operator is able to select any point in the Space within easy reach of the articulated mast Handling directly from the concrete placement point head for.
- the idea of the solution according to the invention lies underlying that the operator comfortable the end hose directs it by hand to the concrete insertion point and him the mast tip automatically follows. This is a suitable signal transmission path required with the mast tip from the operator with computer support via a preferably through the end hose predetermined adjustment path can be moved.
- the remote control device one at the Mast tip or arranged on the end hose, over the control device mechanical, optical, electromagnetic or electrically triggered signal transmitter for control one of the drive units of the articulated and Axes of rotation in accordance with one by means of the control member relative to the current position of the mast tip actuating directly displayed adjustment path, computer-assisted coordinate generator, the mast tip according to the spatial movements of the End hose can be moved and only outside a specified range whose movements can be tracked.
- control organ as mechanical with the signal generator connected, opposite the mast tip in different directions indicating the adjustment path arbitrarily adjustable control lever designed, for example via a sensor ring, a rope or a Rod is actuated and also with the movable End hose can be mechanically connected or grips it with a certain game.
- control device and the signal generator also through a directionally sensitive wireless Sender-receiver route, for example through a light, infrared or radio link connected to each other be, with a tax in hand or transmitter located on the operator's helmet can be used.
- a directionally sensitive wireless Sender-receiver route for example through a light, infrared or radio link connected to each other be, with a tax in hand or transmitter located on the operator's helmet
- a directionally sensitive wireless Sender-receiver route for example through a light, infrared or radio link connected to each other be, with a tax in hand or transmitter located on the operator's helmet
- One from this station after above preferably in the form of a narrow directional cone
- the signal emitted can differ from that in the range of Mast tip arranged direction-sensitive receiver recorded and via suitable evaluation electronics and the coordinate encoder in the desired one Movement of the articulated mast are implemented.
- the transmitter can also use a laser diode for this purpose and the receiver a direction
- a preferred embodiment of the invention provides before that the control member than on the movable end hose preferably detachable and / or adjustable in height arranged direction-sensitive inclinometer is trained.
- the directional sensitivity can for example by using a biaxial Inclination sensor can be realized.
- the tilt sensor expediently has evaluation electronics with integrated or subordinate signal transmitter for Delivery of one of the measured inclination directions dependent adjustment path signal and / or one of the measured speed angle dependent inclination angle for the movement of the mast tip on.
- the inclinator can preferably together with the signal transmitter in one opposite the mast tip Housing secured against rotation on the end hose to be ordered. Because of these measures it is possible to tip the mast when deflecting the End hose in a direction corresponding to the direction of deflection Direction with one of the deflection or Tilt angle dependent speed to move.
- the large manipulator is particularly easy to use, if at the end hose around the hose axis and / or about a transverse to the hose axis
- Axis pivotable handle provided becomes.
- the handle has two-handed operation expediently two diametrically opposite one after the other Protruding sides of the end hose Handle parts on.
- the handle is also suitable for Attachment of switching or control elements, for example for switching the concrete pump on and off and / or for adjusting the delivery rate and / or for lifting and lowering the mast tip. To an unwanted Avoid moving the mast tip additionally one of the switching elements as a dead man's switch be trained.
- the drive units are used for operational safety reasons of the articulated mast and the mast bracket expedient while maintaining the coordinate encoder the height of the mast tip in a given Combined controlled horizontal plane.
- This is supposed to be achieved be that the mast tip in the signal generator the way follows that it is always approximately vertical in certain Height distance above the operator remains at a predetermined minimum deflection of the end hose of, for example, ⁇ 50 cm is tracked.
- a manually operated height control element can be provided for height adjustment of the mast tip.
- the height control element can be, for example to a lifting and lowering force acting on the control element appealing, preferably analog speed-controlled Changeover switch with a defined Have zero position.
- the drive units of the redundant articulated axes of the articulated mast in each case in accordance with one if necessary optionally selectable travel-swivel characteristics are operable.
- the mast arms are dependent from their orientation to the axis of gravity on the one hand and the load acting on them (e.g. Concrete in the delivery pipe) on the other hand more or less exposed to large bending and torsional loads are given the position of the mast tip Falsified swivel positions in the individual joints, according to a preferred embodiment the invention proposed that the swing-away characteristic in the coordinate transmitter according to the load-dependent attacks on the individual mast arms Bending and torsional moments can be modified.
- 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 10 arranged mast bracket 16, one on the mast bracket 16 a vertical axis of rotation 18 by means of a not shown hydraulic rotating unit rotatable through 360 °, an articulated mast 20 carrying rotary head 17, one can be loaded with concrete via a material feed container 22, hydraulically driven concrete pump 24 and one via a pipe switch 26 to the concrete pump 24 connected delivery line 28.
- the articulated mast 20 has five mast arms 1, 2, 3, 4 and 5, which the articulation A with the turret 17 and to the Articulated joints B, C, D and E around horizontal Articulated axes are pivotally connected.
- a mast control device 20 is provided, the one signal generator 53 and one with the signal generator 53 galvanically or wirelessly communicating, central control 31 fixed to the vehicle.
- control member 52 as mechanical via a plastic rod 60 with that arranged on the mast tip 55
- Signal generator 53 connected to the end hose 50 Game surrounding sensor ring trained.
- the signal generator 52 is useful as analog proportional acting gimbal encoder designed via a control cable 62 to the central control device 31 is connected.
- a vertically displaceable, analog proportional acting push switch 63 arranged, via the a vertical adjustment of the mast tip 55 can be triggered.
- the height adjustment switch 63 can in principle also arranged at the upper end of the plastic rod 60 and actuated by lifting and lowering the plastic rod become. This arrangement is subject to rough Construction site operation with a lower risk of damage.
- a wireless, direction-sensitive signal transmission path for example a laser light or infrared path provided in which the control body 54 than in the hand or on the operator's helmet 51 located transmitter is formed.
- the transmitter 54 gives in the embodiment shown, a narrow, upward pointing cone 55 with varying intensity distribution starting from the receiver 53 and the control device 31 evaluated and for tracking the mast tip 55 can be evaluated.
- the articulated mast 20 with its mast tip 55 a movement of the operator 51st follows parallel to the horizontal plane 40.
- the additional initiation of a vertical movement is for both mechanical and wireless signal transmission from the concrete placement point a manually operated height adjustment element 63 is possible.
- Corresponding can also use the concrete pump from the filling point on and off with a switch provided for this purpose turned off.
- control member 52 is designed as a tilt sensor et. It is located together with the signal generator 53 in a small housing, which is clamped with a 70 can be secured against rotation on the end hose 50.
- the control signals emitted by the tilt sensor 52, 53 are via the control cable 62 of the central control 31 forwarded.
- the biaxial one Inclinometer 52 is direction sensitive. He speaks both on lateral deflections of the end hose corresponding to Fig. 7b as well as perpendicular to deflections 7c and is therefore suitable together with the signal generator to deliver a depend on the measured direction of inclination Adjustment signal. Furthermore, one of the measured Inclination angle dependent speed signal generated for the movement of the mast tip 55.
- a handle 72 releasable by means of a quick-release clamp 74 attached.
- the handle 72 consists of two handle parts 72 ', 72 "which are diametrically opposite one after the other Extend sides over the end hose.
- the Handle is about 340 ° around the end hose axis rotatably arranged so that it is comfortable from all sides can be detected. If necessary, it is also possible the handle 72 around the transverse to the end hose axis to pivot extending axis 76.
- the handle can also be used with some switching and control devices be equipped, for example with a Switch 78 for switching the concrete pump on and off, two sensing elements 80 for adjusting the delivery rate in a positive and negative direction, one as an adjustment lever trained height adjustment 82 for the End hose 50 and a dead man switch 84 as a safety precaution.
- a Switch 78 for switching the concrete pump on and off
- two sensing elements 80 for adjusting the delivery rate in a positive and negative direction
- one as an adjustment lever trained height adjustment 82 for the End hose 50 and a dead man switch 84 as a safety precaution.
- the procedure described is suitable for concrete processing on finely structured construction sites especially when long-range devices be used.
- the invention relates to a large manipulator, in particular for truck-mounted concrete pumps.
- a chassis 10 On a chassis 10 is a on a mast bracket 16 about a vertical axis of rotation 18 rotatable turret 17 and one of at least three Mast arms 1 to 5 composite articulated mast 20 arranged.
- Mast arms 1 to 5 of the articulated mast 20 are about horizontal, mutually parallel articulation axes A to E compared to the adjacent turret 17 or mast arm 1 to 5 by means of one drive unit each 30 limited pivoting.
- the actuation of the Articulated masts 20 take place via a remote control device, the one arranged on the mast tip 55, over a Control device 52 mechanically triggered signal transmitter 53 for controlling the drive units 30 of the Buckling and rotation axes according to a means of the control member 52 relative to the current position the mast tip 55 immediately displayed adjustment actuating, computer-assisted coordinate transmitter having.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
- Manipulator (AREA)
Claims (28)
- Manipulateur de grande taille, notamment pour des pompes à béton automatiques, avec une tête rotative (17) disposée sur un bâti, notamment un châssis (10), pouvant pivoter autour d'un axe de rotation (18) sensiblement vertical au moyen d'un groupe moteur, avec un mât articulé (20) composé d'au moins trois bras de mât (1 à 5), conçu comme un mât répartiteur de béton, lesquels bras de mât (1 à 5) peuvent pivoter de façon limitée autour d'axes d'articulation (A à E) respectivement horizontaux et parallèles entre eux par rapport à la tête rotative (17) voisine concernée ou au bras de mât (1 à 5) au moyen d'un autre groupe moteur (30), et avec un dispositif de télécommande (53, 31) présentant un organe de commande (52, 54) pour l'amorçage des groupes moteurs (30) et pour le déplacement de l'extrémité du mât (55) portant un tuyau final (50) le long d'une course de déplacement prédéfinie, caractérisé en ce que le dispositif de télécommande présente un générateur de signal (53) disposé sur l'extrémité du mât (55) ou sur le tuyau final (50), pouvant être déclenché par l'organe de commande (52; 54) de façon mécanique, optique, électromagnétique ou électrique, pour l'amorçage d'un générateur de coordonnées assisté par ordinateur et actionnant les groupes moteurs (30) des axes d'articulation et de rotation (A à E, 18) en fonction d'une course de déplacement horizontale affichée directement au moyen de l'organe de commande (52, 54) par rapport à la position instantanée de l'extrémité du mât (55), l'extrémité du mât (55) pouvant être déplacée en fonction des mouvements dans l'espace du tuyau final (50) et ne pouvant être asservie qu'en dehors d'une marge de latitude prédéfinie aux mouvements de ce dernier.
- Manipulateur de grande taille selon la revendication 1, caractérisé en ce que l'organe de commande (52) se présente sous la forme d'un levier de commande relié au générateur de signal (53) et réglable par rapport à l'extrémité du mât (55) dans différentes directions indiquant la course de déplacement.
- Manipulateur de grande taille selon la revendication 2, caractérisé en ce que le levier de commande peut être actionné au moyen d'une bague capteur (52), d'un câble ou d'une tige.
- Manipulateur de grande taille selon l'une quelconque des revendications 1 à 3, caractérisé en ce que l'organe de commande (52) est relié mécaniquement au tuyau final (50) mobile, de préférence avec un jeu dans l'espace prédéfini.
- Manipulateur de grande taille selon la revendication 1, caractérisé en ce que l'organe de commande et le générateur de signal sont reliés entre eux par un tronçon émetteur-récepteur (55) sans fil et sensible à la direction.
- Manipulateur de grande taille selon la revendication 5, caractérisé en ce que le tronçon émetteur-récepteur sensible à la direction est un tronçon de lumière, infrarouge ou radio.
- Manipulateur de grande taille selon la revendication 5 ou 6, caractérisé en ce que l'émetteur (54) contient une diode laser et le récepteur (53) un récepteur de lumière sensible à la direction.
- Manipulateur de grande taille selon l'une quelconque des revendications 5 à 7, caractérisé en ce que l'organe de commande (54) peut être fixé sur le tuyau final (50) mobile ou sur une partie de corps d'un opérateur (51) et peut être déclenché de préférence à la main.
- Manipulateur de grande taille selon la revendication 1, caractérisé en ce que l'organe de commande (52) se présente sous la forme d'un générateur d'inclinaison disposé sur le tuyau final (50) mobile, de préférence amovible et/ou réglable en hauteur, et sensible à la direction.
- Manipulateur de grande taille selon la revendication 9, caractérisé en ce que l'organe de commande (52) est conçu comme un générateur d'inclinaison biaxial.
- Manipulateur de grande taille selon la revendication 9 ou 10, caractérisé en ce que le générateur d'inclinaison (52) présente une électronique d'analyse avec générateur de signal (53) intégré ou monté en aval pour l'émission d'un signal de course de déplacement dépendant de la direction d'inclinaison mesurée et/ou d'un signal de vitesse dépendant de l'angle d'inclinaison mesuré pour le déplacement de l'extrémité du mât (55).
- Manipulateur de grande taille selon l'une quelconque des revendications 9 à 11, caractérisé en ce que le générateur d'inclinaison (52) est disposé de préférence conjointement avec le générateur de signal (53) dans un boítier qui peut être fixé sur le tuyau final (50) de façon à résister à la torsion par rapport à l'extrémité du mât (55).
- Manipulateur de grande taille selon l'une quelconque des revendications 1 à 12, caractérisé par une poignée (72) disposée sur le tuyau final (50) et pouvant pivoter autour de l'axe du tuyau et/ou autour d'un axe (76) passant transversalement à l'axe du tuyau.
- Manipulateur de grande taille selon la revendication 13, caractérisé en ce que la poignée (72) présente deux parties de poignée (72', 72") débordant vers les côtés diamétralement opposés du tuyau final (50) pour la manipulation à deux mains.
- Manipulateur de grande taille selon la revendication 13 ou 14, caractérisé par des éléments de commutation ou de commande, disposés sur la poignée (72) pour la connexion et la déconnexion de la pompe à béton (78) et/ou pour le réglage du débit (80) et/ou pour le soulèvement et l'abaissement de l'extrémité du mât (82).
- Manipulateur de grande taille selon la revendication 13, caractérisé en ce que l'un des éléments de commutation est conçu comme un interrupteur homme mort (84).
- Manipulateur de grande taille selon l'une quelconque des revendications 1 à 16, caractérisé en ce que les groupes moteurs (30) peuvent être amorcés de façon combinée par le générateur de coordonnées en conservant une hauteur (h) constante de l'extrémité du mât (55) au-dessus du sol (40).
- Manipulateur de grande taille selon l'une quelconque des revendications 1 à 17, caractérisé par un élément de réglage en hauteur (63) actionné judicieusement à la main pour le réglage en hauteur de l'extrémité du mât (55).
- Manipulateur de grande taille selon la revendication 18, caractérisé en ce que l'élément de réglage en hauteur est un interrupteur inverseur (63) avec une position neutre définie qui répond à une force de soulèvement et d'abaissement appliquée sur l'organe de commande (52) ou sur la poignée.
- Manipulateur de grande taille selon l'une quelconque des revendications 1 à 19, caractérisé en ce que la vitesse de déplacement de l'extrémité du mât (55) peut être commandée en fonction de l'amplitude de déviation de l'organe de commande (52, 54) dans le sens du déplacement par rapport à une position neutre.
- Manipulateur de grande taille selon l'une quelconque des revendications 1 à 20, caractérisé en ce que les groupes moteurs (30) des axes d'articulation (A à E) redondants du mât d'articulation (20) peuvent être actionnés en fonction d'une caractéristique course-pivotement qui peut être prédéfinie à volonté.
- Manipulateur de grande taille selon la revendication 21, caractérisé en ce que la caractéristique course-pivotement des axes d'articulation (A à E) est modifiable dans le générateur de coordonnées en fonction des couples de flexion et/ou de torsion dépendants de la charge et appliqués sur les différents bras de mât (1 à 5).
- Manipulateur de grande taille selon la revendication 21 ou 22, caractérisé en ce que la caractéristique course-pivotement des axes d'articulation (A à E) peut être modifiée dans le générateur de coordonnées en fonction des zones de collision limitant les mouvements du bras de mât dans l'espace, en particulier par la prédétermination d'un point d'articulation maximum et/ou d'un point d'articulation minimum.
- Manipulateur de grande taille selon l'une quelconque des revendications 21 à 23, caractérisé en ce que la caractéristique course-pivotement des axes d'articulation (A à E) peut être modifiée dans le générateur de coordonnées en fonction des signaux de mesure émis par un capteur de distance disposé de préférence sur le dernier bras du mât (5).
- Procédé pour la manipulation d'un manipulateur de grande taille selon l'une quelconque des revendications 1 à 24 avec un mât répartiteur de béton disposé sur un bâti, notamment un châssis, réalisé de préférence comme un mât d'articulation et portant un tuyau final sur son extrémité, lequel mât est déplacé avec son extrémité à l'aide de groupes moteurs télécommandés vers un point de montage et dont le tuyau final est dirigé manuellement par un opérateur dans le point de chargement du béton, caractérisé en ce que l'extrémité du mât est déplacée en fonction des mouvements dans l'espace du tuyau final et ne peut être asservie qu'en dehors d'une marge de latitude prédéfinie aux mouvements du tuyau final.
- Procédé selon la revendication 25, caractérisé en ce que l'extrémité du mât est déplacée à une hauteur constante au-dessus du point de chargement du béton.
- Procédé selon l'une des revendications 25 à 26, caractérisé en ce que l'extrémité du mât (55) est déplacée lors de la déviation du tuyau final (50) dans une direction correspondant à la direction de déviation.
- Procédé selon l'une quelconque des revendications 25 à 27, caractérisé en ce que l'extrémité du mât (55) est déplacée lors de la déviation du tuyau final (50) avec une vitesse dépendant de l'angle de déviation ou de l'angle d'inclinaison.
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE4328707 | 1993-08-26 | ||
DE4328707 | 1993-08-26 | ||
DE4412643 | 1994-04-13 | ||
DE19944412643 DE4412643A1 (de) | 1993-08-26 | 1994-04-13 | Großmanipulator, insbesondere für Autobetonpumpen, sowie Verfahren zu dessen Handhabung |
PCT/EP1994/002460 WO1995006178A1 (fr) | 1993-08-26 | 1994-07-26 | Manipulateur de taille importante, notamment pour pompes a beton automatiques, et son procede de manipulation |
Publications (3)
Publication Number | Publication Date |
---|---|
EP0715673A1 EP0715673A1 (fr) | 1996-06-12 |
EP0715673B1 EP0715673B1 (fr) | 1997-03-19 |
EP0715673B2 true EP0715673B2 (fr) | 2001-11-21 |
Family
ID=25928957
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP94924288A Expired - Lifetime EP0715673B2 (fr) | 1993-08-26 | 1994-07-26 | Manipulateur de taille importante, notamment pour pompes a beton automatiques, et son procede de manipulation |
Country Status (6)
Country | Link |
---|---|
US (1) | US5823218A (fr) |
EP (1) | EP0715673B2 (fr) |
JP (1) | JP3615548B2 (fr) |
DE (2) | DE4412643A1 (fr) |
ES (1) | ES2101559T5 (fr) |
WO (1) | WO1995006178A1 (fr) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008110397A1 (fr) | 2007-03-13 | 2008-09-18 | Putzmeister Concrete Pumps Gmbh | Manipulateur de grande capacité |
EP3705663A1 (fr) | 2019-03-07 | 2020-09-09 | Liebherr-Mischtechnik GmbH | Commande à bras articulaire d'une pompe à béton |
EP3705662A1 (fr) | 2019-03-07 | 2020-09-09 | Liebherr-Mischtechnik GmbH | Commande à bras articulaire d'une pompe à béton |
EP3705664A1 (fr) | 2019-03-07 | 2020-09-09 | Liebherr-Mischtechnik GmbH | Commande à bras articulaire d'une pompe à béton |
DE102021001789A1 (de) | 2021-04-07 | 2022-10-13 | Atesteo Gmbh & Co. Kg | Absenkvorrichtung mit einer oberen Halteeinrichtung und einer unteren Halteeinrichtung |
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Publication number | Priority date | Publication date | Assignee | Title |
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CN113047622A (zh) * | 2019-12-28 | 2021-06-29 | 广东博智林机器人有限公司 | 一种布料控制方法、装置、设备和存储介质 |
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- 1994-07-26 EP EP94924288A patent/EP0715673B2/fr not_active Expired - Lifetime
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- 1994-07-26 WO PCT/EP1994/002460 patent/WO1995006178A1/fr active IP Right Grant
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Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2008110397A1 (fr) | 2007-03-13 | 2008-09-18 | Putzmeister Concrete Pumps Gmbh | Manipulateur de grande capacité |
DE102007012575A1 (de) | 2007-03-13 | 2008-09-18 | Putzmeister Concrete Pumps Gmbh | Großmanipulator |
EP2186968A1 (fr) | 2007-03-13 | 2010-05-19 | Putzmeister Concrete Pumps GmbH | Manipulateur de grande capacité |
EP3705663A1 (fr) | 2019-03-07 | 2020-09-09 | Liebherr-Mischtechnik GmbH | Commande à bras articulaire d'une pompe à béton |
EP3705662A1 (fr) | 2019-03-07 | 2020-09-09 | Liebherr-Mischtechnik GmbH | Commande à bras articulaire d'une pompe à béton |
EP3705664A1 (fr) | 2019-03-07 | 2020-09-09 | Liebherr-Mischtechnik GmbH | Commande à bras articulaire d'une pompe à béton |
DE102019105817A1 (de) * | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Gelenkarm-Steuerung einer Betonpumpe |
DE102019105814A1 (de) * | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Gelenkarm-Steuerung einer Betonpumpe |
DE102019105871A1 (de) * | 2019-03-07 | 2020-09-10 | Liebherr-Mischtechnik Gmbh | Gelenkarm-Steuerung einer Betonpumpe |
DE102021001789A1 (de) | 2021-04-07 | 2022-10-13 | Atesteo Gmbh & Co. Kg | Absenkvorrichtung mit einer oberen Halteeinrichtung und einer unteren Halteeinrichtung |
Also Published As
Publication number | Publication date |
---|---|
DE4412643A1 (de) | 1995-03-02 |
JP3615548B2 (ja) | 2005-02-02 |
ES2101559T5 (es) | 2002-05-01 |
JPH09501998A (ja) | 1997-02-25 |
EP0715673B1 (fr) | 1997-03-19 |
DE59402173D1 (de) | 1997-04-24 |
WO1995006178A1 (fr) | 1995-03-02 |
EP0715673A1 (fr) | 1996-06-12 |
ES2101559T3 (es) | 1997-07-01 |
US5823218A (en) | 1998-10-20 |
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