EP1337727B1 - Device for operating the articulated mast of a large manipulator - Google Patents

Device for operating the articulated mast of a large manipulator Download PDF

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Publication number
EP1337727B1
EP1337727B1 EP01982402A EP01982402A EP1337727B1 EP 1337727 B1 EP1337727 B1 EP 1337727B1 EP 01982402 A EP01982402 A EP 01982402A EP 01982402 A EP01982402 A EP 01982402A EP 1337727 B1 EP1337727 B1 EP 1337727B1
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EP
European Patent Office
Prior art keywords
control device
boom
remote control
output signal
articulated
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
Application number
EP01982402A
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German (de)
French (fr)
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EP1337727A1 (en
Inventor
Kurt Rau
Hartmut Benckert
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Putzmeister Concrete Pumps GmbH
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Putzmeister Concrete Pumps GmbH
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Publication date
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Publication of EP1337727A1 publication Critical patent/EP1337727A1/en
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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
    • 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
    • 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

Definitions

  • the invention relates to a device for actuating a articulated to a mast bracket articulated mast, in particular a mast at its end carrying a hose spreader Betonverteilermasts, which articulated mast has at least three mast arms about each horizontal, mutually parallel bending axes relative to the mast bracket or an adjacent mast arm by means of a respective drive unit are limited pivotable, and which mast block is arranged on a frame and by means of a drive unit about a vertical axis, preferably 360 ° rotatable.
  • the actuating device comprises a control device for the mast movement and a remote control device which communicates with the control device via a preferably wireless data transmission path, which has a first and second remote control element which is manually adjustable in each case in at least one main actuating direction and thereby emits an output signal.
  • the control device in turn has a responsive to the output signal of the first remote control computer-assisted coordinate transformer, via the one main direction of the first remote control device, the drive units of the redundant buckling axes independently of the drive unit of the fulcrum axis of rotation in each rotational position of the mast block under execution of a stretching or shortening movement of the Knickmasts in accordance with a predetermined path-swing characteristic can be actuated.
  • the invention relates to a large manipulator, in particular for concrete pumps, with a hinged to a mast bracket articulated mast and with a device for its operation of the type specified.
  • Truck-mounted concrete pumps are usually operated by an operator who, via the remote control unit for both the pump control and for the Positioning of the arranged at the top of the articulated mast end hose is responsible.
  • the operator has to actuate several 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 boundary conditions.
  • the single-axis actuation has the advantage that the individual boom arms can be brought individually into any, limited only by their pivoting position.
  • Each axis of the articulated mast and the mastbuck is assigned a main direction of the remote control organs, so that especially in the presence of more than three fattening arms, the operation is confusing.
  • the operator must always keep an eye on both the actuated axles and the end hose in order to avoid the risk of uncontrolled movements on the end hose and thus endangering the site personnel.
  • an actuator has already been proposed ( DE-A 19520166 DE-A 43 06 127 ), in which the redundant buckling axes of the articulated mast in each rotational position of the mast support independently of its axis of rotation are controlled together with a single control operation of the remote control member.
  • the articulated mast performs a demonstrative stretching and shortening movement for the operator, wherein the height of the mast top can be additionally kept constant.
  • the controller has a controllable via the remote control device, computer-assisted coordinate transformer for the drive units on the one main direction of the remote control device, the drive units of the buckling axes independent of the drive unit of the axis of rotation of the mastbuck under execution of a stretching and shortening movement of the articulated mast can be actuated at a predetermined height of the mast top.
  • the drive unit of the rotation axis of the mast block is independent of the drive units of the bending axes under execution a rotational movement of the articulated mast actuated, while in a third main actuating direction, the drive units of the articulated axes are actuated independently of the drive unit of the rotation axis under execution of a lifting and lowering movement of the mast top.
  • the drive units of the redundant bending axes of the articulated mast can each be actuated in accordance with a path-swing characteristic.
  • the path-swing characteristic in the coordinate transformer is modified in accordance with load-dependent bending and torsional moments acting on the individual mast arms. Further, there the path-swing characteristic in the coordinate transformer in accordance with the Mastarm Gay spatially limiting collision zones, in particular by specifying a highest and / or deepest breakpoint limited.
  • the use of the computer-aided coordinate transformer finds its limit when, in deviation from the given path-swing characteristic required movements of the articulated mast are necessary, for example, to pass the mast through a narrow opening or if for a specific task, a defined orientation of one or the other mast arm required is.
  • the object of the invention to improve the known actuator of the type specified in that even with a computer-assisted control of the buckling mast in accordance with a predetermined path-swing characteristic, taking into account redundant buckling axes a vivid for the operator, from the specified path-swing characteristic targeted deviating influence on the mast configuration during the movement sequence is possible.
  • the solution according to the invention is based on the idea that the operator can select and preferably operate individual ones of the redundant axes, wherein the position and / or movement of the mast tip predetermined by the first remote control element is maintained by tracking the remaining buckling axes.
  • the control means has an on the output signal of the second remote control member responsive correction routine, via which in one of the main operating directions of the second remote control device, the drive unit of a selected buckling axis while maintaining the predetermined by the first remote control position and / or Movement of the mast tip by tracking the drive unit of at least one of the other buckling axes is preferably actuated.
  • the first remote control member has three main operating directions, which are assigned to the coordinates of the mast top in a related to the axis of rotation of the mast bracket frame-fixed cylindrical coordinate system.
  • a further preferred or alternative embodiment of the invention provides that the control device has a correcting routine responsive to the output signal of a second or third Fem Kunststofforgans on one of the main operating directions of the respective Fem Kunststofforgans related to the vertical Knickmastebene solid angle of a selected articulated arm, while maintaining the first Fem Kunststofforgan predetermined position and / or movement of the mast tip for further movement is adjustable.
  • a correcting routine responsive to the output signal of a second or third Fem Kunststofforgans on one of the main operating directions of the respective Fem Kunststofforgans related to the vertical Knickmastebene solid angle of a selected articulated arm, while maintaining the first Fem Kunststofforgan predetermined position and / or movement of the mast tip for further movement is adjustable.
  • a third preferred or alternative embodiment of the invention provides that the control device has a correction routine corresponding to the output signal of a further remote control element, via which the joint of a selected bending axis can be locked in one of the main operating directions of the relevant remote control element, preferably at a predetermined bending angle.
  • control device has an interpolation routine responding to the magnitude of the output signals of the remote control for setting and limiting the speed of movement of the drive units.
  • the coordinate transformer has a transformation routine, ie a program for converting the cylinder coordinates defined by the output signals of the first control element into angle or path coordinates in accordance with the predetermined path-swing characteristic.
  • each of the individual drive units is assigned an angle or distance measuring system, wherein the transformation routine is followed by a position controller which can be acted upon as the actual values by the output data of the angle or displacement measuring systems.
  • a special feature of the invention consists in the fact that the transformation routine and the correction routine are connected on the output side to a coordinate adder, with whose output data the setpoint input of the position controller can be acted upon.
  • the tracking of the other buckling axes is carried out in that the output data of the coordinate adder via a forward transformation routine and a coordinate comparator are fed back to the input side of the transformation routine.
  • the truck-mounted concrete pump 10 comprises a transport vehicle 11, a thick matter pump 12 designed, for example, as a two-cylinder piston pump, and a concrete distributor mast 14 rotatable about a vehicle-fixed vertical axis 13 as a carrier for a concrete delivery line 16. Via the concrete delivery line 16, liquid concrete is introduced in a feed container 17 during concreting is conveyed to a location remote from the location of the vehicle 11 concreting 18.
  • the distribution boom 14 consists of a by means of a hydraulic rotary drive 19 about the vertical axis 13 rotatable mast bracket 21 and a pivotable on this articulated mast 22, which is continuously adjustable to variable range and height difference between the vehicle 11 and the concreting 18.
  • the articulated mast 22 consists in the illustrated embodiment of five pivotally interconnected mast arms 23 to 27, which are parallel to each other and at right angles to the vertical axis 13 of the mast bracket 21 extending axes 28 to 32 pivotally.
  • the bending angles ⁇ 1 to ⁇ 5 ( Fig. 2 ) of the articulated joints formed by the bending axes 28 to 32 and their arrangement to each other are coordinated so that the distribution boom 14 with the off Fig.
  • a multiple folding corresponding space-saving transport configuration on the vehicle 11 can be stored.
  • the articulated mast 22 is at different distances r and / or height differences h between the concreting site 18 and the vehicle location deployable ( Fig. 2 ).
  • the operator controls by means of a wireless remote control device 50, the mast movement through which the mast tip 33 is guided away with the end hose 43 over the area to be concreted.
  • the end hose 43 has a typical length of 3 to 4 m and, because of its hinged suspension in the area of the mast top 33 and due to its inherent flexibility with its outlet end held by a hose man in a favorable position for concreting 18.
  • the remote control device 50 includes in the embodiment shown two remote control members 60, 62 designed as a control lever, which can be adjusted in three main operating directions back and forth with the delivery of control signals 64, 66.
  • the control signals are transmitted via a radio link 68 to the vehicle-mounted radio receiver 70, which is connected on the output side to a microcontroller 74 via a bus system 72 designed, for example, as a CAN bus.
  • the microcontroller 74 includes software modules 76,80,84, over which the remote control unit 50 received control signals 64,66 interpreted, transformed and implemented via a position controller 92 and a downstream signal generator 94 in actuation signals for the drive units of the buckling axes and the fulcrum axis.
  • a limit value file 78 ensures that the speed of movement of the axes and their acceleration do not exceed a predetermined maximum value v max and b max .
  • Subordinated to the Interpolartor routine 76 is a software module designated as a coordinate transformer 80, the essential task of which is to transform the incoming control signals, which are interpreted as cylindrical coordinates ( ⁇ , r, h), into angular signals ⁇ , ⁇ i at the rotational and bending axes 13, to 32, the drive units of the redundant bending axes 28 to 32 of the articulated mast 22 being actuatable in each case in accordance with a predetermined path-swing characteristic
  • the control of the redundant degrees of freedom of the articulated joints thus takes place according to a preprogrammed strategy with which self-collisions with adjacent boom arms 23 to 27 in the course of movement can also be excluded If correction data stored in files are used to compensate for a load-dependent deformation.
  • the angle changes ⁇ , ⁇ Ti calculated in this way in the coordinate transformer 80 are compared in the position controller 92 with the actual values ⁇ , ⁇ i determined via the angle encoder 96 and converted via the signal generator 94 into actuating signals 98 for the drive units 19, 34-38.
  • the remote control device 50 includes a second remote control member 62 and a selector 82, are preferably controlled via the individual buckling axes 28 to 32 or boom arms 23 to 27 in the movement can.
  • This makes it possible by simple handling to modify the coordinate transformer 80 given off-axis characteristic axis or arm-related to be able to perform certain practical market activities.
  • Via the selection device 82 a specific kink axis j or a defined mast arm j is selected.
  • the output signals are in one main direction as preference changes in the angle ⁇ Vj of the bending axis j interpreted and subjected to the correction routine 84 of a review.
  • the modified and optionally corrected value of the preferential change in the angle ⁇ j is added to the transformed value ⁇ Tj in the coordinate adder 86 and fed to the position controller 92.
  • the tracking of the other buckling axes which is necessary on the basis of the specification in the r-direction on the first remote control element 60, takes place in that the output value of the coordinate adder 86 is fed back to the input side of the transformation routine via a forward transformation routine 88 and a coordinate comparator or coordinate subtracter 90.
  • the coordinate transformer 80 then provides the desired tracking of the other joint coordinates in accordance with the set values set on the remote control member 60.
  • a second variant of in Fig. 3 arrangement shown provides that in a second Hauptstelliques s of the second Fem Kunststofforgans 62, the current position of the set via the selector 82 boom arm j is stored in terms of its spatial direction in a memory 100.
  • the storage can be done following a preferential movement of the associated drive unit.
  • the directional data of the relevant boom arm j are then always taken into account in the further course of motion, which is predetermined via the first remote control member 60 via the correction routine 84.
  • Upon actuation of the second remote control member 62 in relation to the memory movement s opposite direction of the memory 100 can be deleted and the preferred orientation of the relevant Mastarms j be repealed.
  • first mast arm 23 articulated on the mast block 21 is brought into an approximately vertical alignment, for example for concreting on a higher floor, and held in this position in the course of the further course of motion.
  • a third variant of in Fig. 3 arrangement shown provides that in a further main actuating direction of the second Fem Kunststofforgans 62 of the bending angle ⁇ v of the set via the selector 82 buckling axis j is stored in a memory 100.
  • the storage can be done following a preferential movement of the associated drive unit.
  • the bending angle ⁇ v of the affected bending axis j is then always kept constant during the further course of motion, which is predetermined via the first remote control element 60, via the correction routine 84.
  • the further remote control member 62 in relation to the memory movement s opposite direction of the memory 100 can be deleted again and the Gelenkarrettechnik the relevant buckling j j canceled.
  • the end arm 27 can be rigidly coupled to the penultimate arm 26 upon actuation of the first remote control member 60.
  • the invention relates to a device for actuating a articulated mast of a large manipulator articulated on a mast.
  • the large manipulator has a 1966gesestzt of at least three mast arms 23 to 27, preferably designed as a concrete distributor boom articulated mast 22, the mast arms about each horizontal, mutually parallel bending axes 28 to 32 are limited by means of a respective drive unit 34 to 38 pivoted.
  • a control device 74 is provided for the mast movement over a remote control device 50, a preferably wireless übertragungstrekke 68 is controlled.
  • the remote control device 50 has a first and second by hand in each case at least one Hauptstellraum back and forth while an output signal 64,66 releasing remote control member 60, 62, while the controller 74 responsive to the output signal 64 of the first remote control member 60 computer-assisted coordinate transformer 80th has, in the one Hauptstellraum r of the first Fem Kunststofforgans 60, the drive units 34 to 38 of the redundant buckling axes in accordance with a predetermined path-swing characteristic are actuated.
  • control device 74 has an output signal 66 of the second Fem Kunststofforgans 62 responsive correction routine 84, via which in one of the main operating directions of the second remote control member 62, the drive unit selected buckling axis is preferably actuated.

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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)
  • Operation Control Of Excavators (AREA)

Abstract

A device for operating an articulated arm of a large manipulator connected to a boom base. The large manipulator comprises an articulated boom (22), composed of three boom arms (23 to 27), the boom arms of which may each be pivoted around mutually parallel horizontal articulation axis (28 to 32), in a limited manner. Furthermore, a control device (74), for the boom displacement is provided, which may be controlled from a remote controller (50) over a data transmission path (68). The remote controller comprises a first and a second remote control device (60, 62), each of which may be adjusted in at least one main control direction and thereby providing an output signal (64, 66), while the control device (74) comprises a computer supported coordinate transformer (80), responsive to the output signal (64) from the first remote control device (60), by means of which the drive units (34 to 38) for the redundant articulation axes may be operated in the one main control direction (r) of the first remote control device (60), according to the pattern of a pre-determined path-angle relationship. According to the invention, in order to match the boom configuration to differing operating tasks, the control device (74) comprises a correction routine (84) based on the output signal (66) from the second remote control device (62), by means of which the drive unit of a selected articulation axis may be preferably operated in one of the main operating directions of the second remote control device (62).

Description

Die Erfindung betrifft eine Vorrichtung zur Betätigung eines an einem Mastbock angelenkten Knickmasts, insbesondere eines an seiner Mastspitze einen Endschlauch tragenden Betonverteilermasts, welcher Knickmast mindestens drei Mastarme aufweist, die um jeweils horizontale, zueinander parallele Knickachsen gegenüber dem Mastbock oder einem benachbarten Mastarm mittels je eines Antriebsaggregats begrenzt verschwenkbar sind, und welcher Mastbock an einem Gestell angeordnet und mittels eines Antriebsaggregats um eine vertikale Achse vorzugsweise um 360° drehbar ist. Die Betätigungsvorrichtung umfasst eine Steuereinrichtung für die Mastbewegung und ein mit der Steuereinrichtung über eine vorzugsweise drahtlose Datenübertragungsstrecke kommunizierendes Fernsteuergerät, das ein erstes und zweites von Hand in jeweils mindestens einer Hauptstellrichtung hin und her verstellbares und dabei ein Ausgangssignal abgebendes Fernsteuerorgan aufweist. Die Steuereinrichtung weist ihrerseits eine auf das Ausgangssignal des ersten Fernsteuerorgans ansprechenden rechnerunterstützten Koordinatentransformator auf, über den in der einen Hauptstellrichtung des ersten Fernsteuerorgans die Antriebsaggregate der redundanten Knickachsen unabhängig vom Antriebsaggregat der Mastbock-Drehachse in jeder Drehstellung des Mastbocks unter Ausführung einer Streck- oder Verkürzungsbewegung des Knickmasts nach Maßgabe einer vorgegebenen Weg-Schwenk-Charakterisitik betätigbar sind. Weiter betrifft die Erfindung einen Großmanipulator, insbesondere für Betonpumpen, mit einem an einem Mastbock angelenkten Knickmast und mit einer Vorrichtung zu dessen Betätigung der eingangs angegebenen Art.The invention relates to a device for actuating a articulated to a mast bracket articulated mast, in particular a mast at its end carrying a hose spreader Betonverteilermasts, which articulated mast has at least three mast arms about each horizontal, mutually parallel bending axes relative to the mast bracket or an adjacent mast arm by means of a respective drive unit are limited pivotable, and which mast block is arranged on a frame and by means of a drive unit about a vertical axis, preferably 360 ° rotatable. The actuating device comprises a control device for the mast movement and a remote control device which communicates with the control device via a preferably wireless data transmission path, which has a first and second remote control element which is manually adjustable in each case in at least one main actuating direction and thereby emits an output signal. The control device in turn has a responsive to the output signal of the first remote control computer-assisted coordinate transformer, via the one main direction of the first remote control device, the drive units of the redundant buckling axes independently of the drive unit of the fulcrum axis of rotation in each rotational position of the mast block under execution of a stretching or shortening movement of the Knickmasts in accordance with a predetermined path-swing characteristic can be actuated. Furthermore, the invention relates to a large manipulator, in particular for concrete pumps, with a hinged to a mast bracket articulated mast and with a device for its operation of the type specified.

Autobetonpumpen werden üblicherweise durch einen Bediener betätigt, der über das Fernsteuergerät sowohl für die Pumpensteuerung als auch für die Positionierung des an der Spitze des Knickmast angeordneten Endschlauchs verantwortlich ist. Der Bediener hat dazu mehrere rotatorische Freiheitsgrade des Knickmasts über die zugehörigen Antriebsaggregate unter Bewegung des Knickmasts im nicht strukturierten dreidimensionalen Arbeitsraum bei Beachtung der Baustellenrandbedingungen zu betätigen. Die Einzelachsenbetätigung hat zwar den Vorteil, dass die einzelnen Mastarme individuell in jede beliebige, nur durch ihren Schwenkbereich begrenzte Lage gebracht werden können. Jeder Achse des Knickmasts und des Mastbocks ist dabei eine Hauptstellrichtung der Fernsteuerorgane zugeordnet, so dass vor allem bei Vorhandensein von mehr als drei Mastarmen die Betätigung unübersichtlich wird. Der Bediener muss stets sowohl die betätigten Achsen als auch den Endschlauch im Auge behalten, um das Risiko von unkontrollierten Bewegungen am Endschlauch und damit eine Gefährdung des Baustellenpersonals zu vermeiden.Truck-mounted concrete pumps are usually operated by an operator who, via the remote control unit for both the pump control and for the Positioning of the arranged at the top of the articulated mast end hose is responsible. For this purpose, the operator has to actuate several 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 boundary conditions. Although the single-axis actuation has the advantage that the individual boom arms can be brought individually into any, limited only by their pivoting position. Each axis of the articulated mast and the mastbuck is assigned a main direction of the remote control organs, so that especially in the presence of more than three fattening arms, the operation is confusing. The operator must always keep an eye on both the actuated axles and the end hose in order to avoid the risk of uncontrolled movements on the end hose and thus endangering the site personnel.

Um die Handhabungen in dieser Hinsicht zu erleichtern, wurde bereits eine Betätigungsvorrichtung vorgeschlagen ( DE-A 19520166 DE-A 43 06 127 ), bei der die redundanten Knickachsen des Knickmasts in jeder Drehlage des Mastbocks unabhängig von dessen Drehachse mit einem einzigen Stellvorgang des Fernsteuerorgans gemeinsam angesteuert werden. Dabei führt der Knickmast eine für den Bediener anschauliche Streck- und Verkürzungsbewegung aus, wobei die Höhe der Mastspitze zusätzlich konstant gehalten werden kann. Um dies zu ermöglichen, weist dort die Steuereinrichtung einen über das Fernsteuerorgan ansteuerbaren, rechnerunterstützten Koordinatentransformator für die Antriebsaggregate auf, über den in der einen Hauptstellrichtung des Fernsteuerorgans die Antriebsaggregate der Knickachsen unabhängig vom Antriebsaggregat der Drehachse des Mastbocks unter Ausführung einer Streck- und Verkürzungsbewegung des Knickmasts bei vorgegebener Höhe der Mastspitze betätigbar sind. In einer anderen Hauptstellrichtung des Fernsteuerorgans ist das Antriebsaggregat der Drehachse des Mastbocks unabhängig von den Antriebsaggregaten der Knickachsen unter Ausführung einer Drehbewegung des Knickmasts betätigbar, während in einer dritten Hauptstellrichtung die Antriebsaggregate der Knickachsen unabhängig vom Antriebsaggregat der Drehachse unter Ausführung einer Hub- und Senkbewegung der Mastspitze betätigbar sind. Zur Optimierung des Bewegungsablaufs beim Streck- oder Verkürzungsvorgang wird es dort als wichtig angesehen, dass die Antriebsaggregate der redundanten Knickachsen des Knickmasts jeweils nach Maßgabe einer Weg-Schwenk-Charakteristik betätigbar sind. Dazu gehört, dass die Weg-Schwenk-Charakteristik im Koordinatentransformator nach Maßgabe von an den einzelnen Mastarmen angreifenden lastabhängigen Biege- und Torsionsmomenten modifiziert wird. Weiter wird dort die Weg-Schwenk-Charakteristik im Koordinatentransformator nach Maßgabe von die Mastarmbewegung räumlich begrenzenden Kollisionszonen, insbesondere durch Vorgabe eines höchsten und/oder tiefsten Knickpunkts begrenzt. Die Verwendung des rechnergestützten Koordinatentransformators findet seine Grenze, wenn abweichend von der vorgegebenen Weg-Schwenk-Charakteristik erforderliche Bewegungsabläufe des Knickmasts notwendig sind, beispielsweise um den Mast durch eine enge Öffnung hindurchzuführen oder wenn für eine bestimmte Aufgabe eine definierte Ausrichtung des einen oder anderen Mastarms erforderlich ist. In diesem Fall war es bisher notwendig, von der computergestützten Maststeuerung in Zylinderkoordinaten auf eine individuelle Ansteuerung der einzelnen Knickachsen mit einer entsprechenden Anzahl Hauptstellrichtungen in den Fernsteuerorganen umzuschalten. Dabei mussten die vorstehend zur Einzelachsenbetätigung aufgeführten Risiken in Kauf genommen werden.In order to facilitate the handling in this regard, an actuator has already been proposed ( DE-A 19520166 DE-A 43 06 127 ), in which the redundant buckling axes of the articulated mast in each rotational position of the mast support independently of its axis of rotation are controlled together with a single control operation of the remote control member. Here, the articulated mast performs a demonstrative stretching and shortening movement for the operator, wherein the height of the mast top can be additionally kept constant. In order to make this possible, the controller has a controllable via the remote control device, computer-assisted coordinate transformer for the drive units on the one main direction of the remote control device, the drive units of the buckling axes independent of the drive unit of the axis of rotation of the mastbuck under execution of a stretching and shortening movement of the articulated mast can be actuated at a predetermined height of the mast top. In another main operating direction of the remote control member, the drive unit of the rotation axis of the mast block is independent of the drive units of the bending axes under execution a rotational movement of the articulated mast actuated, while in a third main actuating direction, the drive units of the articulated axes are actuated independently of the drive unit of the rotation axis under execution of a lifting and lowering movement of the mast top. To optimize the sequence of movements during the stretching or shortening process, it is considered important there that the drive units of the redundant bending axes of the articulated mast can each be actuated in accordance with a path-swing characteristic. This includes the fact that the path-swing characteristic in the coordinate transformer is modified in accordance with load-dependent bending and torsional moments acting on the individual mast arms. Further, there the path-swing characteristic in the coordinate transformer in accordance with the Mastarmbewegung spatially limiting collision zones, in particular by specifying a highest and / or deepest breakpoint limited. The use of the computer-aided coordinate transformer finds its limit when, in deviation from the given path-swing characteristic required movements of the articulated mast are necessary, for example, to pass the mast through a narrow opening or if for a specific task, a defined orientation of one or the other mast arm required is. In this case, it was previously necessary to switch from the computer-aided mast control in cylindrical coordinates to an individual control of the individual buckling axes with a corresponding number of main operating directions in the remote control organs. The risks listed above for single axle actuation had to be accepted.

Ausgehend hiervon liegt der Erfindung die Aufgabe zu Grunde, die bekannte Betätigungsvorrichtung der eingangs angegebenen Art dahingehend zu verbessern, dass auch bei einer rechnerunterstützten Ansteuerung des Knickmasts nach Maßgabe einer vorgegebenen Weg-Schwenk-Charakteristik unter Berücksichtigung von redundanten Knickachsen eine für den Bediener anschauliche, von der vorgegebenen Weg-Schwenk-Charakteristik gezielt abweichende Einflußnahme auf die Mastkonfiguration während des Bewegungsablaufs möglich ist.Proceeding from this, the object of the invention to improve the known actuator of the type specified in that even with a computer-assisted control of the buckling mast in accordance with a predetermined path-swing characteristic, taking into account redundant buckling axes a vivid for the operator, from the specified path-swing characteristic targeted deviating influence on the mast configuration during the movement sequence is possible.

Zur Lösung dieser Aufgabe werden die in den Ansprüchen 1, 3, 5, 15, 17 und 19 angegebenen Merkmalskombinationen vorgeschlagen. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen.To solve this problem, the feature combinations specified in claims 1, 3, 5, 15, 17 and 19 are proposed. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims.

Der erfindungsgemäßen Lösung liegt der Gedanke zu Grunde, dass vom Bediener einzelne der redundanten Achsen ausgewählt und bevorzugt betätigt werden können, wobei die durch das erste Femsteuerorgan vorgegebene Lage und/oder Bewegung der Mastspitze durch Nachführung der übrigen Knickachsen beibehalten wird.The solution according to the invention is based on the idea that the operator can select and preferably operate individual ones of the redundant axes, wherein the position and / or movement of the mast tip predetermined by the first remote control element is maintained by tracking the remaining buckling axes.

Um dies zu ermöglichen, wird gemäß der Erfindung vorgeschlagen, dass die Steuereinrichtung eine auf das Ausgangssignal des zweiten Fernsteuerorgans ansprechende Korrekturroutine aufweist, über die in einer der Hauptstellrichtungen des zweiten Fernsteuerorgans das Antriebsaggregat einer ausgewählten Knickachse unter Beibehaltung der vom ersten Fernsteuerorgan vorgegebenen Lage und/oder Bewegung der Mastspitze durch Nachführung des Antriebsaggregats mindestens einer der übrigen Knickachsen bevorzugt betätigbar ist. Eine bevorzugte Ausgestaltung der Erfindung sieht dabei vor, dass das erste Fernsteuerorgan drei Hauptstellrichtungen aufweist, die den Koordinaten der Mastspitze in einem auf die Drehachse des Mastbocks bezogenen gestellfesten Zylinderkoordinatensystem zugeordnet sind. Mit diesen Maßnahmen ist es beispielsweise möglich, den Knickmast unter Ausnutzung der Vorteile des computergestützten Betriebs im Zylinderkoordinatensystem durch eine enge Öffnung hindurchzuführen, die bei Verwendung der vorgegebenen Weg-Schwenk-Charakteristik ein Kollisionshindemis darstellen würde. Weiter läßt sich mit diesen Maßnahmen bei in Nullstellung festgehaltenem erstem Fernsteuerorgan und dadurch bedingter feststehender Mastspitze eine vom Bediener gewünschte Veränderung der Mastkonfiguration herbeiführen.To make this possible, it is proposed according to the invention that the control means has an on the output signal of the second remote control member responsive correction routine, via which in one of the main operating directions of the second remote control device, the drive unit of a selected buckling axis while maintaining the predetermined by the first remote control position and / or Movement of the mast tip by tracking the drive unit of at least one of the other buckling axes is preferably actuated. A preferred embodiment of the invention provides that the first remote control member has three main operating directions, which are assigned to the coordinates of the mast top in a related to the axis of rotation of the mast bracket frame-fixed cylindrical coordinate system. With these measures, it is possible, for example, to perform the articulated mast by exploiting the advantages of computer-aided operation in the cylindrical coordinate system through a narrow opening, which would represent a Kollisionshindemis when using the predetermined path-swing characteristic. Next can be with these measures when held in zero position first remote control body and thereby conditional Fixed mast tip bring about a change of the mast configuration desired by the operator.

Eine weitere bevorzugte oder alternative Ausgestaltung der Erfindung sieht vor, dass die Steuereinrichtung eine auf das Ausgangssignal eines zweiten oder dritten Femsteuerorgans ansprechende Korrekturroutine aufweist über die in einer der Hauptstellrichtungen des betreffenden Femsteuerorgans der auf die vertikale Knickmastebene bezogene Raumwinkel eines ausgewählten Knickarms unter Beibehaltung der vom ersten Femsteuerorgan vorgegebenen Lage und/oder Bewegung der Mastspitze für den weiteren Bewegungsablauf einstellbar ist. Mit dieser Maßnahme ist es beispielsweise möglich, den Endarm für bestimmte Betonieraufgaben in eine horizontale Ausrichtung zu bringen und in dieser beim weiteren Bewegungsablauf über die Korrekturroutine festzuhalten. Andererseits kann es beispielsweise beim Betonieren in höheren Stockwerken von Interesse sein, den am Mastbock angelenkten ersten Mastarm in eine nahezu vertikale Ausrichtung zu bringen und diese beim weiteren Bewegungsablauf festzuhalten.A further preferred or alternative embodiment of the invention provides that the control device has a correcting routine responsive to the output signal of a second or third Femsteuerorgans on one of the main operating directions of the respective Femsteuerorgans related to the vertical Knickmastebene solid angle of a selected articulated arm, while maintaining the first Femsteuerorgan predetermined position and / or movement of the mast tip for further movement is adjustable. With this measure, it is possible, for example, to bring the end arm for certain concreting tasks in a horizontal orientation and to hold in this during the further movement over the correction routine. On the other hand, for example, when concreting on higher floors, it may be of interest to bring the first mast arm, which is articulated on the mast bracket, in a virtually vertical orientation and to hold it in the course of further movement.

Eine dritte bevorzugte oder alternative Ausgestaltung der Erfindung sieht vor, dass die Steuereinrichtung ein auf das Ausgangssignal eines weiteren Fernsteuerorgans entsprechende Korrekturroutine aufweist, über die in einer der Hauptstellrichtungen des betreffenden Femsteuerorgans das Gelenk einer ausgewählten Knickachse vorzugsweise unter einem vorgegebenen Knickwinkel arretierbar ist. Mit dieser Maßnahme ist es möglich, zwei Mastarme, beispielsweise den Endarm und den vorletzten Arm, starr zu koppeln und dadurch einen für Spezialfälle einfach überschaubaren Bewegungsablauf zu erhalten.A third preferred or alternative embodiment of the invention provides that the control device has a correction routine corresponding to the output signal of a further remote control element, via which the joint of a selected bending axis can be locked in one of the main operating directions of the relevant remote control element, preferably at a predetermined bending angle. With this measure, it is possible to rigidly couple two mast arms, for example the end arm and the penultimate arm, thereby obtaining a motion sequence that is easily manageable for special cases.

Eine besonders einfache Handhabung wird erreicht,

  • wenn eine Wähleinrichtung zur Auswahl der über das zweite Fernsteuer organ betätigbaren Knickachse
  • und/oder eine Wähleinrichtung zur Auswahl des über das zweite oder dritte Femsteuerorgan hinsichtlich seines Raumwinkels abspeicherbaren Mastarms
  • und/oder eine Wähleinrichtung zur Auswahl der über das weitere Femsteuerorgan zur Gelenkarretierung abspeicherbaren Knickachse vorgesehen ist.
A particularly simple handling is achieved
  • if a selection device for selecting the actuatable via the second remote control organ kink axis
  • and / or a selection device for selecting the storable over the second or third Femsteuerorgan in terms of its solid angle mast arm
  • and / or a selection device is provided for selecting the buckle axis which can be stored via the further Femsteuerorgan for Gelenkarretierung.

Zur weiteren Verbesserung der Bedienungssicherheit und Zuverlässigkeit wird gemäß der Erfindung vorgeschlagen, dass die Steuereinrichtung eine auf den Betrag der Ausgangssignale der Fernsteuerung ansprechende Interpolationsroutine zur Einstellung und Begrenzung der Bewegungsgeschwindigkeit der Antriebsaggregate aufweist.To further improve the operational safety and reliability, it is proposed according to the invention that the control device has an interpolation routine responding to the magnitude of the output signals of the remote control for setting and limiting the speed of movement of the drive units.

Vorteilhafterweise weist der Koordinatentransformator eine Transformationsroutine, also ein Programm zur Umrechnung der durch die Ausgangssignale des ersten Femsteuerorgans definierten Zylinderkoordinaten in Winkel- oder Wegkoordinaten nach Maßgabe der vorgegebenen Weg-Schwenk-Charakteristik auf. Zweckmäßig ist dabei den einzelnen Antriebsaggregaten je ein Winkel- oder Wegmeßsystem zugeordnet, wobei der Transformationsroutine ein mit den Ausgangsdaten der Winkel- oder Wegmeßsysteme als Ist-Werte beaufschlagbarer Lageregler nachgeordnet ist. Eine Besonderheit der Erfindung besteht nun darin, dass die Transformationsroutine und die Korrekturroutine ausgabeseitig mit einem Koordinatenaddierer verbunden sind, mit dessen Ausgangsdaten der Sollwerteingang des Lagereglers beaufschlagbar ist. Die Nachführung der übrigen Knickachsen erfolgt dadurch, dass die Ausgangsdaten des Koordinatenaddierers über eine Vorwärtstransformationsroutine und einen Koordinatenvergleicher auf die Eingabeseite der Transformationsroutine zurückgekoppelt sind.Advantageously, the coordinate transformer has a transformation routine, ie a program for converting the cylinder coordinates defined by the output signals of the first control element into angle or path coordinates in accordance with the predetermined path-swing characteristic. Expediently, each of the individual drive units is assigned an angle or distance measuring system, wherein the transformation routine is followed by a position controller which can be acted upon as the actual values by the output data of the angle or displacement measuring systems. A special feature of the invention consists in the fact that the transformation routine and the correction routine are connected on the output side to a coordinate adder, with whose output data the setpoint input of the position controller can be acted upon. The tracking of the other buckling axes is carried out in that the output data of the coordinate adder via a forward transformation routine and a coordinate comparator are fed back to the input side of the transformation routine.

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 zusammengelegtem Knickmast;
Fig. 2
die Autobetonpumpe nach Fig. 1 mit Knickmast in Arbeitsstellung;
Fig. 3
ein Schema einer Vorrichtung zur Betätigung des Knickmasts.
In the following the invention will be explained in more detail with reference to an embodiment shown schematically in the drawing. Show it
Fig. 1
a side view of a truck-mounted concrete pump with collapsed articulated mast;
Fig. 2
the truck-mounted concrete pump Fig. 1 with articulated mast in working position;
Fig. 3
a diagram of a device for actuating the buckling mast.

Die Autobetonpumpe 10 umfasst ein Transportfahrzeug 11, eine zum Beispiel als Zweizylinderkolbenpumpe ausgebildete Dickstoffpumpe 12 sowie einen um eine fahrzeugfeste Hochachse 13 drehbaren Betonverteilermast 14 als Träger für eine Betonförderleitung 16. Über die Betonförderleitung 16 wird Flüssigbeton, der in einen Aufgabebehälter 17 während des Betonierens forlaufend eingebracht wird, zu einer von dem Standort des Fahrzeugs 11 entfernt angeordneten Betonierstelle 18 gefördert.The truck-mounted concrete pump 10 comprises a transport vehicle 11, a thick matter pump 12 designed, for example, as a two-cylinder piston pump, and a concrete distributor mast 14 rotatable about a vehicle-fixed vertical axis 13 as a carrier for a concrete delivery line 16. Via the concrete delivery line 16, liquid concrete is introduced in a feed container 17 during concreting is conveyed to a location remote from the location of the vehicle 11 concreting 18.

Der Verteilermast 14 besteht aus einem mittels eines hydraulischen Drehantriebs 19 um die Hochachse 13 drehbaren Mastbock 21 und einem an diesem schwenkbaren Knickmast 22, der auf variable Reichweite und Höhendifferenz zwischen dem Fahrzeug 11 und der Betonierstelle 18 kontinuierlich einstellbar ist. Der Knickmast 22 besteht bei dem dargestellten Ausführungsbeispiel aus fünf gelenkig miteinander verbundenen Mastarmen 23 bis 27, die um parallel zueinander und rechtwinklig zur Hochachse 13 des Mastbocks 21 verlaufende Achsen 28 bis 32 schwenkbar sind. Die Knickwinkel ε1 bis ε5 (Fig. 2) der durch die Knickachsen 28 bis 32 gebildeten Knickgelenke und deren Anordnung zueinander sind so aufeinander abgestimmt, dass der Verteilermast 14 mit der aus Fig. 1 ersichtlichen, einer mehrfachen Faltung entsprechenden raumsparenden Transportkonfiguration auf dem Fahrzeug 11 ablegbar ist. Durch eine Aktivierung von Antriebsaggregaten 34 bis 38, die den Knickachsen 28 bis 32 einzeln zugeordnet sind, ist der Knickmast 22 in unterschiedlichen Distanzen r und/oder Höhendifferenzen h zwischen der Betonierstelle 18 und dem Fahrzeugstandort entfaltbar (Fig. 2).The distribution boom 14 consists of a by means of a hydraulic rotary drive 19 about the vertical axis 13 rotatable mast bracket 21 and a pivotable on this articulated mast 22, which is continuously adjustable to variable range and height difference between the vehicle 11 and the concreting 18. The articulated mast 22 consists in the illustrated embodiment of five pivotally interconnected mast arms 23 to 27, which are parallel to each other and at right angles to the vertical axis 13 of the mast bracket 21 extending axes 28 to 32 pivotally. The bending angles ε 1 to ε 5 ( Fig. 2 ) of the articulated joints formed by the bending axes 28 to 32 and their arrangement to each other are coordinated so that the distribution boom 14 with the off Fig. 1 apparent, a multiple folding corresponding space-saving transport configuration on the vehicle 11 can be stored. By activating drive units 34 to 38, which are assigned to the bending axes 28 to 32 individually, the articulated mast 22 is at different distances r and / or height differences h between the concreting site 18 and the vehicle location deployable ( Fig. 2 ).

Der Bediener steuert mittels eines drahtlosen Femsteuergeräts 50 die Mastbewegung, durch die die Mastspitze 33 mit dem Endschlauch 43 über den zu betonierenden Bereich hinweggeführt wird. Der Endschlauch 43 hat eine typische Länge von 3 bis 4 m und kann wegen seiner gelenkigen Aufhängung im Bereich der Mastspitze 33 und auf Grund seiner Eigenflexibilität mit seinem Austrittsende von einem Schlauchmann in einer günstigen Position zur Betonierstelle 18 gehalten werden.The operator controls by means of a wireless remote control device 50, the mast movement through which the mast tip 33 is guided away with the end hose 43 over the area to be concreted. The end hose 43 has a typical length of 3 to 4 m and, because of its hinged suspension in the area of the mast top 33 and due to its inherent flexibility with its outlet end held by a hose man in a favorable position for concreting 18.

Das Fernsteuergerät 50 enthält bei dem gezeigten Ausführungsbeispiel zwei als Steuerhebel ausgebildete Fernsteuerorgane 60, 62, die jeweils in drei Hauptstellrichtungen hin und her unter Abgabe von Steuersignalen 64, 66 verstellt werden können. Die Steuersignale werden über eine Funkstrecke 68 zum fahrzeugfesten Funkempfänger 70 übertragen, der ausgangsseitig über ein beispielsweise als CAN-Bus ausgebildetes Bussystem 72 an einen Mikrocontroller 74 angeschlossen ist. Der Mikrocontroller 74 enthält Softwaremodule 76,80,84, über welche die vom Fernsteuergerät 50 empfangenen Steuersignale 64,66 interpretiert, transformiert und über einen Lageregler 92 und einen nachgeordneten Signalgeber 94 in Betätigungssignale für die Antriebsaggregate der Knickachsen und der Mastbockdrehachse umgesetzt werden.The remote control device 50 includes in the embodiment shown two remote control members 60, 62 designed as a control lever, which can be adjusted in three main operating directions back and forth with the delivery of control signals 64, 66. The control signals are transmitted via a radio link 68 to the vehicle-mounted radio receiver 70, which is connected on the output side to a microcontroller 74 via a bus system 72 designed, for example, as a CAN bus. The microcontroller 74 includes software modules 76,80,84, over which the remote control unit 50 received control signals 64,66 interpreted, transformed and implemented via a position controller 92 and a downstream signal generator 94 in actuation signals for the drive units of the buckling axes and the fulcrum axis.

Bei dem in Fig. 3 gezeigten Ausführungsbeispiel werden die Ausgangssignale des Fernsteuerorgans 60 in den drei Hauptstellrichtungen "vor/zurückkippen", "rechts/links kippen" und "rechts/links drehen" zur Einstellung des Radius r der Mastspitze 33 von der Drehachse 13, zur Ansteuerung der Drehachse 13 des Mastbocks 21 um den Winkel ϕ und zur Einstellung der Höhe h der Mastspitze 33 über der Betonierstelle 18 interpretiert.At the in Fig. 3 In the embodiment shown, the output signals of the remote control member 60 in the three main operating directions "tilt forward / backward", "tilt right / left" and "turn right / left" to adjust the radius r of the mast top 33 of the rotation axis 13, for driving the rotation axis 13 of Mastbocks 21 by the angle φ and to adjust the height h of the mast top 33 above the concreting 18 interpreted.

Die Auslenkung des Femsteuerorgans 60 in der jeweiligen Richtung wird in der Interpolartor-Routine 76 in ein Geschwindigkeitssignal umgesetzt. Eine Grenzwertdatei 78 sorgt dafür, dass die Bewegungsgeschwindigkeit der Achsen und deren Beschleunigung einen vorgegebenen Maximalwert vmax und bmax nicht überschreiten.The deflection of the remote control member 60 in the respective direction is converted into a speed signal in the interpolar routine 76. A limit value file 78 ensures that the speed of movement of the axes and their acceleration do not exceed a predetermined maximum value v max and b max .

Der Interpolartor-Routine 76 nachgeordnet ist ein als Koordinatentransformator 80 bezeichneter Softwaremodul, dessen wesentliche Aufgabe darin besteht, die ankommenden, als Zylinderkoordinaten (ϕ, r, h interpretierten Steuersignale in vorgegebenen Zeittakten zu transformieren in Winkelsignale ϕ, εi an den Dreh- und Knickachsen 13,28 bis 32, wobei die Antriebsaggregate der redundanten Knickachsen 28 bis 32 des Knickmasts 22 jeweils nach Maßgabe einer vorgegebenen Weg-Schwenk-Charakteristik betätigbar sind. Jede Knickachse 28 bis 32 wird innerhalb des Koordinatentransformators 80 so softwaremäßig angesteuert, dass die Knickgelenke in Abhängigkeit von Weg und Zeit sich harmonisch zueinander bewegen. Die Ansteuerung der redundanten Freiheitsgrade der Knickgelenke erfolgt somit nach einer vorprogrammierten Strategie, mit der auch die Eigenkollisionen mit benachbarten Mastarmen 23 bis 27 im Bewegungsablauf ausgeschlossen werden können. Zur Erhöhung der Genauigkeit kann außerdem auf in Dateien abgelegte Korrekturdaten zur Kompensation einer lastabhängigen Deformation zurückgegriffen werden. Die auf diese Weise im Koordinatentransformator 80 errechneten Winkeländerungen ϕ,εTi werden in dem Lageregler 92 mit den über Winkelgeber 96 bestimmten Ist-Werten ϕ,εi verglichen und über den Signalgeber 94 in Betätigungssignale 98 für die Antriebsaggregate 19,34 bis 38 umgerechnet.Subordinated to the Interpolartor routine 76 is a software module designated as a coordinate transformer 80, the essential task of which is to transform the incoming control signals, which are interpreted as cylindrical coordinates (φ, r, h), into angular signals φ, ε i at the rotational and bending axes 13, to 32, the drive units of the redundant bending axes 28 to 32 of the articulated mast 22 being actuatable in each case in accordance with a predetermined path-swing characteristic The control of the redundant degrees of freedom of the articulated joints thus takes place according to a preprogrammed strategy with which self-collisions with adjacent boom arms 23 to 27 in the course of movement can also be excluded If correction data stored in files are used to compensate for a load-dependent deformation. The angle changes φ, ε Ti calculated in this way in the coordinate transformer 80 are compared in the position controller 92 with the actual values φ, ε i determined via the angle encoder 96 and converted via the signal generator 94 into actuating signals 98 for the drive units 19, 34-38.

Eine Besonderheit der in Fig. 3 gezeigten Anordnung besteht nun darin, dass das Fernsteuergerät 50 ein zweites Fernsteuerorgan 62 sowie eine Wähleinrichtung 82 umfasst, über die einzelne Knickachsen 28 bis 32 oder Mastarme 23 bis 27 im Bewegungsablauf bevorzugt angesteuert werden können. Damit ist es durch eine einfache Handhabung möglich, die vom Koordinatentransformator 80 vorgegebene Weg-Schwenk-Charakteristik achs- oder armbezogen zu modifizieren, um bestimmte praxisbezogene Marktbetätigungen durchführen zu können. Über die Wähleinrichtung 82 wird eine bestimmte Knickachse j oder ein definierter Mastarm j ausgewählt. Bei der Betätigung des zweiten Fernsteuerorgans 62 werden sodann dessen Ausgangssignale in der einen Hauptrichtung als Vorzugsänderungen im Winkel εVj der Knickachse j interpretiert und in der Korrekturroutine 84 einer Bewertung unterzogen. Der modifizierte und ggf. korrigierte Wert der Vorzugsänderung im Winkel εj wird im Koordinatenaddierer 86 dem transformierten Wert εTj zugeschlagen und dem Lageregler 92 zugeführt. Die Nachführung der übrigen Knickachsen, die auf Grund der Vorgabe am ersten Femsteuerorgan 60 in r-Richtung notwendig ist, erfolgt dadurch, dass der Ausgangswert des Koordinatenaddierers 86 über eine Vorwärtstransformationsroutine 88 und einen Koordinatenvergleicher oder Koordinatensubtrahierer 90 auf die Eingabeseite der Transformationsroutine zurückgeführt wird. Der Koordinatentransformator 80 sorgt dann für die gewünschte Nachführung der übrigen Gelenkkoordinaten nach Maßgabe der am Fernsteuerorgan 60 eingestellten Sollwerte.A peculiarity of in Fig. 3 shown arrangement consists in that the remote control device 50 includes a second remote control member 62 and a selector 82, are preferably controlled via the individual buckling axes 28 to 32 or boom arms 23 to 27 in the movement can. This makes it possible by simple handling to modify the coordinate transformer 80 given off-axis characteristic axis or arm-related to be able to perform certain practical market activities. Via the selection device 82, a specific kink axis j or a defined mast arm j is selected. Upon actuation of the second remote control member 62 then the output signals are in one main direction as preference changes in the angle ε Vj of the bending axis j interpreted and subjected to the correction routine 84 of a review. The modified and optionally corrected value of the preferential change in the angle ε j is added to the transformed value ε Tj in the coordinate adder 86 and fed to the position controller 92. The tracking of the other buckling axes, which is necessary on the basis of the specification in the r-direction on the first remote control element 60, takes place in that the output value of the coordinate adder 86 is fed back to the input side of the transformation routine via a forward transformation routine 88 and a coordinate comparator or coordinate subtracter 90. The coordinate transformer 80 then provides the desired tracking of the other joint coordinates in accordance with the set values set on the remote control member 60.

Eine zweite Variante der in Fig. 3 gezeigten Anordnung sieht vor, dass in einer zweiten Hauptstellrichtung s des zweiten Femsteuerorgans 62 die momentane Lage des über den Wählschalter 82 eingestellten Mastarms j hinsichtlich seiner Raumrichtung in einem Speicher 100 abgespeichert wird. Die Abspeicherung kann im Anschluss an eine Vorzugsbewegung des zugehörigen Antriebsaggregats erfolgen. Die Richtungsdaten des betreffenden Mastarms j werden dann beim weiteren Bewegungsablauf, der über das erste Fernsteuerorgan 60 vorgegeben wird, stets über die Korrekturroutine 84 berücksichtigt. Bei Betätigung des zweiten Fernsteuerorgans 62 in gegenüber der Speicherbewegung s entgegengesetzter Richtung kann der Speicher 100 wieder gelöscht und die Vorzugsausrichtung des betreffenden Mastarms j aufgehoben werden. Mit diesen Maßnahmen kann beispielsweise der Endarm 27 in die in Fig. 2 gezeigte horizontale Ausrichtung gebracht und gespeichert werden, und in dieser Lage im weiteren Bewegungsablauf beim Betätigen des ersten Femsteuerorgans 60 gehalten werden. Eine weitere Anwendungsmöglichkeit besteht darin, dass der am Mastbock 21 angelenkte erste Mastarm 23 beispielsweise zum Betonieren in einem höheren Stockwerk in eine annähernd vertikale Ausrichtung gebracht und in dieser Stellung im Verlauf des weiteren Bewegungsablaufs festgehalten wird.A second variant of in Fig. 3 arrangement shown provides that in a second Hauptstellrichtung s of the second Femsteuerorgans 62, the current position of the set via the selector 82 boom arm j is stored in terms of its spatial direction in a memory 100. The storage can be done following a preferential movement of the associated drive unit. The directional data of the relevant boom arm j are then always taken into account in the further course of motion, which is predetermined via the first remote control member 60 via the correction routine 84. Upon actuation of the second remote control member 62 in relation to the memory movement s opposite direction of the memory 100 can be deleted and the preferred orientation of the relevant Mastarms j be repealed. With these measures, for example, the end arm 27 in the in Fig. 2 shown horizontal orientation and stored, and are held in this position in the further movement sequence when operating the first Femsteuerorgans 60. A further possible application is that the first mast arm 23 articulated on the mast block 21 is brought into an approximately vertical alignment, for example for concreting on a higher floor, and held in this position in the course of the further course of motion.

Eine dritte Variante der in Fig. 3 gezeigten Anordnung sieht vor, dass in einer weiteren Hauptstellrichtung des zweiten Femsteuerorgans 62 der Knickwinkel εv der über den Wählschalter 82 eingestellten Knickachse j in einem Speicher 100 abgespeichert wird. Die Abspeicherung kann im Anschluss an eine Vorzugsbewegung des zugehörigen Antriebsaggregats erfolgen. Der Knickwinkel εv der betroffenen Knickachse j wird dann beim weiteren Bewegungsablauf, der über das erste Fernsteuerorgan 60 vorgegeben wird, stets über die Korrekturroutine 84 konstant gehalten. Bei Betätigung des weiteren Fernsteuerorgans 62 in gegenüber der Speicherbewegung s entgegengesetzter Richtung kann der Speicher 100 wieder gelöscht und die Gelenkarretierung der betreffenden Knickachse j aufgehoben werden. Mit dieser Maßnahme kann beispielsweise der Endarm 27 mit dem vorletzten Arm 26 beim Betätigen des ersten Fernsteuerorgans 60 starr gekoppelt werden.A third variant of in Fig. 3 arrangement shown provides that in a further main actuating direction of the second Femsteuerorgans 62 of the bending angle ε v of the set via the selector 82 buckling axis j is stored in a memory 100. The storage can be done following a preferential movement of the associated drive unit. The bending angle ε v of the affected bending axis j is then always kept constant during the further course of motion, which is predetermined via the first remote control element 60, via the correction routine 84. Upon actuation of the further remote control member 62 in relation to the memory movement s opposite direction of the memory 100 can be deleted again and the Gelenkarretierung the relevant buckling j j canceled. With this measure, for example, the end arm 27 can be rigidly coupled to the penultimate arm 26 upon actuation of the first remote control member 60.

Zusammenfassend ist folgendes festzuhalten: Die Erfindung bezieht sich auf eine Vorrichtung zur Betätigung eines an einem Mastbock angelenkten Knickmasts eines Großmanipulators. Der Großmanipulator weist eine aus mindestens drei Mastarmen 23 bis 27 zusammengesestzt, vorzugsweise als Betonverteilermast ausgebildeten Knickmast 22 auf, dessen Mastarme um jeweils horizontale, zueinander parallele Knickachsen 28 bis 32 mittels jeweils eines Antriebsaggregats 34 bis 38 begrenzt verschwenkbar sind. Weiter ist eine Steuereinrichtung 74 für die Mastbewegung vorgesehen, die über ein Fernsteuergerät 50 eine vorzugsweise drahtlose Datenübertragungstrekke 68 ansteuerbar ist. Das Fernsteuergerät 50 weist ein erstes und zweites von Hand in jeweils mindestens einer Hauptstellrichtung hin und her verstellbares und dabei ein Ausgangssignal 64,66 abgebendes Fernsteuerorgan 60, 62 auf, während die Steuereinrichtung 74 einen auf das Ausgangssignal 64 des ersten Fernsteuerorgans 60 ansprechenden rechnerunterstützten Koordinatentransformator 80 aufweist, über den in der einen Hauptstellrichtung r des ersten Femsteuerorgans 60 die Antriebsaggregate 34 bis 38 der redundanten Knickachsen nach Maßgabe einer vorgegebenen Weg-Schwenk-Charakteristik betätigbar sind. Um die Mastkonfiguration mit einfachen Mitteln an unterschiedliche Betätigungsaufgaben anpassen zu können, wird gemäß der Erfindung vorgeschlagen, dass die Steuereinrichtung 74 eine auf das Ausgangssignal 66 des zweiten Femsteuerorgans 62 ansprechende Korrekturroutine 84 aufweist, über die in einer der Hauptstellrichtungen des zweiten Fernsteuerorgans 62 das Antriebsaggregat einer ausgewählten Knickachse bevorzugt betätigbar ist.In summary, it should be noted that the invention relates to a device for actuating a articulated mast of a large manipulator articulated on a mast. The large manipulator has a zusammengesestzt of at least three mast arms 23 to 27, preferably designed as a concrete distributor boom articulated mast 22, the mast arms about each horizontal, mutually parallel bending axes 28 to 32 are limited by means of a respective drive unit 34 to 38 pivoted. Further, a control device 74 is provided for the mast movement over a remote control device 50, a preferably wireless Datenübertragungstrekke 68 is controlled. The remote control device 50 has a first and second by hand in each case at least one Hauptstellrichtung back and forth while an output signal 64,66 releasing remote control member 60, 62, while the controller 74 responsive to the output signal 64 of the first remote control member 60 computer-assisted coordinate transformer 80th has, in the one Hauptstellrichtung r of the first Femsteuerorgans 60, the drive units 34 to 38 of the redundant buckling axes in accordance with a predetermined path-swing characteristic are actuated. In order to adapt the mast configuration with simple means to different actuation tasks, it is proposed according to the invention that the control device 74 has an output signal 66 of the second Femsteuerorgans 62 responsive correction routine 84, via which in one of the main operating directions of the second remote control member 62, the drive unit selected buckling axis is preferably actuated.

Claims (28)

  1. A device for operating an articulated boom (22) connected to a boom base (21), and particularly a concrete placement boom carrying a terminal hose (43) on the outboard end of the boom, which articulated boom (22) includes at least three boom arms (23 to 27) which may each respectively be limitedly pivoted relative to the boom base (21) or relative to an adjacent boom arm (23 to 27) about parallel horizontal articulation axis (28 to 32) via respectively one drive unit (34 to 38), which boom base (21) is mounted to a frame (11) and is pivotable via a drive unit (19) preferably 360° about a vertical axis (13), and having a control device (74) for movement of the boom as well as a remote controller communicating with the control device via preferably a wireless data transmission pathway (68), which remote controller comprises a first and a second remote control device (60, 62), each of which may be adjusted manually back and forth in at least one main operating direction and thus providing an output signal (64, 66), wherein the control device (74) comprises a computer supported coordinate transformer (80), responsive to the output signal (64) from the first remote control device (60), via which the drive units (34 to 38) for the redundant articulation axes may be operated in the one main control direction (r) of the first remote control device (60) independent of the drive unit (19) for the rotation of the boom base (21) and in any rotation position of the boom base, for extending or retracting the articulated boom (14) according to the pattern of a pre-determined path-slew relationship, thereby characterized, that the control device (74) provides a correction routine (84) based on the output signal (66) from the second remote control device (62), via which, in one of the main operating directions (εv) of the second remote control device (62), the drive unit of a selected articulation axis (j) may preferably be operated with maintaining the position set by the first remote control device (60) and/or movement of the boom distal end (33) by tracking or following the drive unit in at least one of the remaining articulation axis.
  2. Device according to Claim 1, thereby characterized, that the control device (74) includes a correction routine (84) responsive to the output signal (66) of the second or a third remote control element (62), via which the angle of inclination of a selected boom arm (j) within the vertical articulated boom plane is adjustable in one of the main adjustment directions (s) of the concerned remote control element (62), while maintaining the condition or position and/or movement of the boom tip (33) entered by the first remote control element (60) during the further movement process.
  3. A device for operating an articulated boom (22) connected to a boom base (21), and particularly a concrete placement boom carrying a terminal hose (43) on the outboard end of the boom, which articulated boom (22) includes at least three boom arms (23 to 27) which may each respectively be limitedly pivoted relative to the boom base (21) or relative to an adjacent boom arm (23 to 27) about parallel horizontal articulation axis (28 to 32) via respectively one drive unit (34 to 38), which boom base (21) is mounted to a frame (11) and is pivotable via a drive unit (19) preferably 360° about a vertical axis (13), and having a control device (74) for movement of the boom as well as a remote controller communicating with the control device via preferably a wireless data transmission pathway (68), which remote controller comprises a first and a second remote control device (60, 62), each of which may be adjusted manually back and forth in at least one main operating direction and thus providing an output signal (64, 66), wherein the control device (74) comprises a computer supported coordinate transformer (80), responsive to the output signal (64) from the first remote control device (60), via which the drive units (34 to 38) for the redundant articulation axes may be operated in the one main control direction (r) of the first remote control device (60) independent of the drive unit (19) for the rotation of the boom base (21) and in any rotation position of the boom base, for extending or retracting the articulated boom (14) according to the pattern of a pre-determined path-slew relationship, thereby characterized, that the control device (74) includes a correction routine (84) responsive to the output signal (66) of the second or a third remote control element (62), via which the angle of inclination of a selected boom arm (j) within the vertical articulated boom plane is adjustable in one of the main adjustment directions (s) of the concerned remote control element (62), while maintaining the condition or position and/or movement of the boom tip (33) entered by the first remote control element (60) during the further movement process.
  4. Device according to one of Claims 1 through 3, thereby characterized, that the control device (74) includes a correction routine (84) responsive to the output signal (66) of a further remote control element (62), via which in one of the main adjustment directions (s) of the concerned remote control element (62) the linkage of a selected articulated axis (j) is lockable, preferably with maintaining a predetermined bend angle (εv).
  5. A device for operating an articulated boom (22) connected to a boom base (21), and particularly a concrete placement boom carrying a terminal hose (43) on the outboard end of the boom, which articulated boom (22) includes at least three boom arms (23 to 27) which may each respectively be limitedly pivoted relative to the boom base (21) or relative to an adjacent boom arm (23 to 27) about parallel horizontal articulation axis (28 to 32) via respectively one drive unit (34 to 38), which boom base (21) is mounted to a frame (11) and is pivotable via a drive unit (19) preferably 360° about a vertical axis (13), and having a control device (74) for movement of the boom as well as a remote controller communicating with the control device via preferably a wireless data transmission pathway (68), which remote controller comprises a first and a second remote control device (60, 62), each of which may be adjusted manually back and forth in at least one main operating direction and thus providing an output signal (64, 66), wherein the control device (74) comprises a computer supported coordinate transformer (80), responsive to the output signal (64) from the first remote control device (60), via which the drive units (34 to 38) for the redundant articulation axes may be operated in the one main control direction (r) of the first remote control device (60) independent of the drive unit (19) for the rotation of the boom base (21) and in any rotation position of the boom base, for extending or retracting the articulated boom (14) according to the pattern of a pre-determined path-slew relationship, thereby characterized, that the control device (74) includes a correction routine (84) responsive to the output signal (66) of a further remote control element (62), via which in one of the main adjustment directions (s) of the concerned remote control element (62) the linkage of a selected articulated axis (j) is lockable, preferably with maintaining a predetermined bend angle (εv).
  6. Device according to one of Claims 1 through 5, thereby characterized, that the first remote control device (60) exhibits three main adjustment directions, which are associated with the coordinates (ϕ,r,h) of the boom tip (33) in a cylindrical coordinate system based on the rotation axis (13) of the boom base (21).
  7. Device according to one of Claims 1 through 6, characterized by a selection device (82) for selection of the articulation axes (j) operable by the second remote control device (62).
  8. Device according to one of Claims 2 through 7, characterized by a selection device (82) for selection of the boom arm (j) storable in memory with respect to its angle of inclination via the second or third remote control element (62).
  9. Device according to one of Claims 4 through 8, characterized by a selection device (82) for selection of the articulation axis (j) to be stored for linkage locking via the second remote control device (62).
  10. Device according to one of Claims 1 through 9, thereby characterized, that the control device (74) includes an interpolation routine (76) responsive to the magnitude of the output signal (64, 66) of the remote control device (60, 62) for adjusting and limiting the movement speed and/or acceleration of the drive units (19, 34 through 38).
  11. Device according to one of Claims 1 through 10, thereby characterized, that the coordinate transformer (80) includes a transformation routine for converting the cylinder coordinates (ϕ,r,h) defined by the output signal (64) of the first remote control device (60) in angle or path coordinates (ϕ,εTi) depending upon the value of the predetermined or pre-input path-slew characteristic.
  12. Device according to Claim 11, thereby characterized, that the individual drive units (19, 34 to 38) are respectively associated with one angle or path measurement system (96), and that the coordinate transformer (80) is connected to a downstream position or orientation controller (92) which is influenced by the output data of the angle or path measurement system as an actual value.
  13. Device according to Claim 10 or 11, thereby characterized, that the coordinate transformer (80) and the correction routine (84) at their output side are connected with a coordinate adder (86), of which the output data influences the intended value input of the position or condition controller (92).
  14. Device according to Claim 13, thereby characterized, that the output data of the coordinate adder (86) is coupled back to the input side of the coordinate transformer (80) via a forward transformation routine (88) and a coordinate comparator (90).
  15. Large manipulator, in particular for concrete pumps, with a boom base (21) provided on a vehicle frame (11), rotatable about a vertical rotation axis (13) via a drive unit (19), with an articulated boom (22) comprised of at least three boom arms (23 through 27) to form a concrete distribution boom, preferably carrying a distribution hose (43) on its boom tip (33), which boom arms (23 through 27) are respectively limitedly pivotable via respectively one further drive unit (34 through 38), with a control device (74) for moving the boom, with a remote controller (50) communicating with the control device over a preferably wireless data transmission path (68), which remote controller includes a first and a second remote control device (60, 62) moveable back and forth by hand in respectively at least one main adjustment direction back and forth and thereby emitting an output signal (64, 66), wherein the control device (74) includes a computer supported coordinate transformer (80) responsive to the output signal (64) of the first remote control device (60), via which the drive units (34 through 38) of the redundant articulated axes (28 to 32) are moveable or operable in the one main adjustment direction (r) of the first remote control device (60), independent of the drive unit (90) of the boom base (21), for carrying out an extension or retraction movement of the articulated boom (14) according to the value of a predetermined path-slew characteristic, thereby characterized, that the control device (74) includes a correction routine (84) responsive to the output signal (66) of the second remote control device (62), via which in one of the main adjustment directions (εv) of the second remote control device (62) the drive unit of a selected articulation axes (j) is preferentially operable while maintaining the orientation and/or movement of the boom tip (33) as input by the first remote control device (60) by following or subordinating of the drive unit of at least one of the remaining articulated axes.
  16. Large scale manipulator according to Claim 15, thereby characterized, that the control device (74) includes a correction routine (84) responsive to the output signal (66) of the second or a third remote control device (62), via which in one of the main adjustment directions (s) of the concerned remote control device (62) the inclination angle relative to the vertical articulated boom plane of a selected boom arm (j) is adjustable while maintaining the orientation and/or movement of the boom tip (33) input by the first remote control device (60) for the remaining movement.
  17. Large manipulator, in particular for concrete pumps, with a boom base (21) provided on a vehicle frame (11), rotatable about a vertical rotation axis (13) via a drive unit (19), with an articulated boom (22) comprised of at least three boom arms (23 through 27) to form a concrete distribution boom, preferably carrying a distribution hose (43) on its boom tip (33), which boom arms (23 through 27) are respectively limitedly pivotable via respectively one further drive unit (34 through 38), with a control device (74) for moving the boom, with a remote controller (50) communicating with the control device over a preferably wireless data transmission path (68), which remote controller includes a first and a second remote control device (60, 62) moveable back and forth by hand in respectively at least one main adjustment direction back and forth and thereby emitting an output signal (64, 66), wherein the control device (74) includes a computer supported coordinate transformer (80) responsive to the output signal (64) of the first remote control device (60), via which the drive units (34 through 38) of the redundant articulated axes (28 to 32) are moveable or operable in the one main adjustment direction (r) of the first remote control device (60), independent of the drive unit (90) of the boom base (21), for carrying out an extension or retraction movement of the articulated boom (14) according to the value of a predetermined path-slew characteristic, thereby characterized, that the control device (74) includes a correction routine (84) responsive to the output signal (66) of the second or a third remote control device (62), via which in one of the main adjustment directions (s) of the concerned remote control device (62) the inclination angle relative to the vertical articulated boom plane of a selected boom arm (j) is adjustable while maintaining the orientation and/or movement of the boom tip (33) input by the first remote control device (60) for the remaining movement.
  18. Large scale manipulator according to one of Claims 15 through 17, thereby characterized, that the control device (74) includes a correction routine (84) responsive to the output signal (66) of a further remote control device (62), via which the linkage of one of the selected articulation axes (j) is lockable in one of the main adjustment direction (s) of the concerned remote control device (62), preferably at a predetermined articulation angle (εv).
  19. Large manipulator, in particular for concrete pumps, with a boom base (21) provided on a vehicle frame (11), rotatable about a vertical rotation axis (13) via a drive unit (19), with an articulated boom (22) comprised of at least three boom arms (23 through 27) to form a concrete distribution boom, preferably carrying a distribution hose (43) on its boom tip (33), which boom arms (23 through 27) are respectively limitedly pivotable via respectively one further drive unit (34 through 38), with a control device (74) for moving the boom, with a remote controller (50) communicating with the control device over a preferably wireless data transmission path (68), which remote controller includes a first and a second remote control device (60, 62) moveable back and forth by hand in respectively at least one main adjustment direction back and forth and thereby emitting an output signal (64, 66), wherein the control device (74) includes a computer supported coordinate transformer (80) responsive to the output signal (64) of the first remote control device (60), via which the drive units (34 through 38) of the redundant articulated axes (28 to 32) are moveable or operable in the one main adjustment direction (r) of the first remote control device (60), independent of the drive unit (90) of the boom base (21), for carrying out an extension or retraction movement of the articulated boom (14) according to the value of a predetermined path-slew characteristic, thereby characterized, that the control device (74) includes a correction routine (84) responsive to the output signal (66) of a further remote control device (62), via which the linkage of one of the selected articulation axes (j) is lockable in one of the main adjustment direction (s) of the concerned remote control device (62), preferably at a predetermined articulation angle (εv).
  20. Large manipulator according to one of Claims 15 through 19, thereby characterized, the first remote control device (60) exhibits three main adjustment directions, which are associated with the coordinates (ϕ,r,h) of the boom tip (33) in a cylindrical coordinate system referenced to a vehicle frame fixed rotation axes (13) of the boom base (21).
  21. Large manipulator according to one of Claims 15 through 20, characterized by a selection device (82) for selection of the articulation axes (j) via the second remote control device (62).
  22. Large manipulator according to one of Claims 16 through 21, characterized by a selection device (82) for selection of an inclination angle of a boom arm (j) via the second or third remote control device (62).
  23. Large manipulator according to one of Claims 19 through 22, characterized by a selection device (82) for selection of the articulation axes (j) to be locked via the further remote control device (62).
  24. Large manipulator according to one of Claims 15 through 23, thereby characterized, that the control device (74) includes an interpolation routine (76) responsive to the value of the output signal (64, 66) of the remote control device (60, 62) for adjusting and limiting the movement speed and/or acceleration of the drive units (19, 34 to 38).
  25. Large manipulator according to one of Claims 15 through 24, thereby characterized, that the coordinate transformer (80) includes a transformation routine for converting the cylindrical coordinates (ϕ,r,h) defined by the output signals (64) of the first remote control device (60) into angles or path coordinates (ϕ,εTi) depending upon the value of the predetermined path-slew characteristic.
  26. Large manipulator according to Claim 25, thereby characterized, that the individual drive units (19, 34 through 38) are associated with an angle or path measuring system (96), and that the coordinate transformer (80) has downstream a position or condition controller (92) acted upon by the output data of the angle or path measuring system as actual value.
  27. Large manipulator according to Claim 25 or 26, thereby characterized, that the coordinate transformer (80) and the correction routine (84) have their output connected with a coordinate adder (86), of which the output data influences the intended value input of the position controller (92).
  28. Large manipulator according to Claim 27, thereby characterized, that the output data of the coordinate adder (86) is coupled back to the input side of the coordinate transformer (80) via a forwards transformation routine (88) and a coordinate comparator (90).
EP01982402A 2000-12-01 2001-10-06 Device for operating the articulated mast of a large manipulator Expired - Lifetime EP1337727B1 (en)

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DE10060077A DE10060077A1 (en) 2000-12-01 2000-12-01 Device for actuating the articulated mast of a large manipulator
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PCT/EP2001/011536 WO2002044499A1 (en) 2000-12-01 2001-10-06 Device for operating the articulated mast of a large manipulator

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102360223A (en) * 2011-07-14 2012-02-22 长沙中联重工科技发展股份有限公司 Engineering machinery and method, device and system for controlling mechanical arm of engineering machinery
CN102360223B (en) * 2011-07-14 2013-03-20 中联重科股份有限公司 Engineering machinery and method, device and system for controlling mechanical arm of engineering machinery
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
EP3705662B1 (en) 2019-03-07 2022-01-19 Liebherr-Mischtechnik GmbH Articulated arm control for a concrete pump
CN110273550A (en) * 2019-05-22 2019-09-24 中联重科股份有限公司 The pairing automatic control method and control device of pumping equipment
CN110273550B (en) * 2019-05-22 2020-10-27 中联重科股份有限公司 Pairing automatic control method and control device for pumping equipment

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JP4257116B2 (en) 2009-04-22
ATE399235T1 (en) 2008-07-15
EP1337727A1 (en) 2003-08-27
KR100782213B1 (en) 2007-12-05
US6862509B2 (en) 2005-03-01
JP2004514569A (en) 2004-05-20
WO2002044499A1 (en) 2002-06-06
DE50114056D1 (en) 2008-08-07
ES2307660T3 (en) 2008-12-01
US20040052627A1 (en) 2004-03-18
KR20030062417A (en) 2003-07-25
DE10060077A1 (en) 2002-06-06

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