EP1373661A1 - Device for actuating an articulated mast, especially for concrete pumps - Google Patents
Device for actuating an articulated mast, especially for concrete pumpsInfo
- Publication number
- EP1373661A1 EP1373661A1 EP02706747A EP02706747A EP1373661A1 EP 1373661 A1 EP1373661 A1 EP 1373661A1 EP 02706747 A EP02706747 A EP 02706747A EP 02706747 A EP02706747 A EP 02706747A EP 1373661 A1 EP1373661 A1 EP 1373661A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- mast
- remote control
- control device
- drive units
- 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.)
- Granted
Links
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/8593—Systems
- Y10T137/86389—Programmer or timer
-
- 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 device for actuating an articulated mast articulated on a mast support, in particular a concrete placing boom, which mast support can be rotated with a preferably hydraulically actuated drive unit and which articulated mast has at least three mast segments that are parallel to each other about articulated axes that are perpendicular to the axis of rotation of the mast support the mast bracket or an adjacent mast segment can be pivoted to a limited extent by means of a preferably hydraulically actuated drive unit, with a control device for the mast movement with the aid of the individual drive units and / or a feed unit for their energy or pressure oil supply actuators, and with an input stage of the Control device communicating remote control device, the at least one by hand in at least one main setting direction back and forth through a zero position and thereby a remote control signal l emitting remote control element and further switching elements emitting a remote control signal, the control device having a computer-assisted first circuit arrangement to which the information of the remote control signals can be applied and which is connected on the output side
- Truck-mounted concrete pumps are usually operated by an operator who, via the remote control device, is responsible for both pump control and the positioning of the end hose arranged at the tip of the articulated mast.
- the operator has several rotational degrees of freedom of the articulated mast via the associated drive units while moving the articulated mast in a non-structured three-dimensional manner. to operate the work room while observing the site conditions.
- an actuating device has already been proposed (DE-A-4306127), in which the redundant articulated axes of the articulated mast are controlled jointly in a single actuating operation of the remote control element in any rotational position of the mast bracket, regardless of its axis of rotation.
- the articulated mast executes a stretching and shortening movement that is clear to the operator, whereby the height of the mast tip can also be kept constant.
- the control device there has a computer-assisted coordinate transformer for the drive units which can be controlled via the remote control element.
- the basic requirement for such an actuation of the articulated mast is a position control, which includes, among other things, a sensor system assigned to the individual mast arms, articulated axes and / or drive units for measuring distance or angle. Since malfunctions in technical systems of this type, which include mechanical as well as electronic and hydraulic components, cannot be completely ruled out, safety monitoring is required which warns the operator and intervenes in the functional sequence in a safe manner.
- the object of the invention is to improve the known device for actuating the articulated mast in such a way that even with computer-aided implementation of the remote control signals in motion sequences, a safe motion sequence of the articulated mast that can be controlled by the operator is ensured.
- the control device has an interrupter element which, when the at least one remote control element is in the zero position, connects to the control inputs associated with the drive units and / or the feed unit for their energy or pressure oil supply Actuators interrupts.
- the remote control elements are expediently designed as control levers (joysticks) arranged on the remote control device, while the interrupter element responds to the remote control signals triggered by the zeroing contacts of the control levers.
- the measures according to the invention ensure that an articulated mast movement only occurs when this is deliberately triggered by the operator. This applies both in the event that the first circuit arrangement has a computer-assisted position controller for the redundant articulation axes with associated displacement or angle sensors and / or a computer-assisted damping device with associated pressure sensors on the hydraulic work units. In both cases, without the interrupter element according to the invention, undesirable, safety-relevant articulated mast movements could occur in the event of controller errors. Since delays in the sense of following errors occur with every electronic control, it is advantageous if the interrupter element can be controlled via a delay element.
- the delay element can be designed as a delay relay.
- the time constant of the delay element should be adapted to the position lag of the control loop. In the case of position control and damping of the mast segments, the time constant is expediently less than 3 seconds and is preferably in a range from 0.2 to 1.5 seconds.
- the articulated mast is often not moved when pumping a concrete pump.
- the remote control device for the articulated mast movement is therefore in tion, so that the drive units are put out of operation via the interrupter element.
- the construction of the articulated mast is an elastically oscillatable system that can be excited to natural vibrations, the pulsating operation of the concrete pump and the resulting periodic acceleration and deceleration of the concrete column pushed through the delivery line can lead to undesirable vibration excitation of the articulated mast, which can be suppressed, for example, by active mast damping.
- Active mast damping requires a relative movement of the mast segments that is opposite to the vibration excitation.
- the control device has a switching element which bridges the interrupter element and / or its delay element when a predetermined pushbutton element is actuated.
- the remote control unit Since the remote control unit already includes a pushbutton for switching the drive motor on and off for the hydraulic pumps, it makes sense to equip the pushbutton for starting the engine with an additional make contact for bridging the interrupter element and thus for mast damping.
- the actual make contact is located in the control device and is triggered by a push button in the remote control device by means of a corresponding remote control signal.
- the first circuit arrangement has a computer-assisted coordinate transformer, by means of which the drive units of the redundant articulation axes of the mast segments in a first main actuating direction by executing a stretching or shortening movement of the articulated mast in accordance with a predetermined path-swivel Characteristic and the drive unit of the mast bracket can be actuated in a second main direction of adjustment.
- control device has a second circuit arrangement connected to the input stage, which is connected on the output side to the control inputs of the actuators and thereby assigns one of the drive units to each main direction of the remote control elements.
- a preferred embodiment of the invention provides that both circuit arrangements have slots on the output side that are compatible with one another for the connection of a cable harness leading to the control inputs of the actuators. In this way it is possible, by simply repositioning the cable harness, to operate the articulated mast either conventionally by actuating the individual mast segments via a main actuating direction of the remote control elements (second circuit arrangement) or via intelligent computer-aided electronics (first circuit arrangement).
- Both circuit arrangements have a common input stage which, for example, has a radio receiver for receiving the remote control signals transmitted by the remote control device.
- the input stage can be connected to the first circuit arrangement via a data bus, in particular a CAN bus, for transmitting the digitized remote control signals.
- the drive units are designed as double-acting hydraulic cylinders or as hydraulic motors
- the feed unit is designed as a feed valve for the common pressure oil supply to the drive units, which can be actuated via the control device by means of an electromagnetic actuator and that the interrupter element is designed as a switching contact which is arranged in the feed line of the actuator and can preferably be controlled via the delay element.
- the feed valve is part of an alternating operation valve that can be controlled via the remote control device for the optional control of the mast movement or a chassis support.
- the control device expediently has an interrupter element which, when the changeover control valve is switched to chassis support, preferably interrupts the connection to the control inputs of the actuators assigned to the drive units for the mast movement and / or a feed unit for their energy and pressure oil supply.
- the control device also expediently has an interrupter element which, when the at least one remote control element is in the zero position or when the mast movement is actuated, interrupts the connection to control inputs of the actuators associated with the drive assemblies for the chassis support and / or a feed unit for their energy or pressure oil supply.
- the actuating device according to the invention is advantageously used in a truck-mounted concrete pump with an articulated mast and electronic control of the mast movement.
- the remote control elements are preferably designed as control levers in a radio remote control device.
- a radio remote control device it is also possible to use an end hose arranged at the tip of the articulated mast as a remote control element, the remote control signals triggered by the deflection of the end hose being able to be implemented in instructions for the articulated mast movement in a coordinate generator of the first circuit arrangement.
- the further switching or sensing elements which emit a remote control signal, and in particular the sensing element which triggers mast damping, can be arranged on a remote control device connected to the end hose.
- Fig. 1 is a side view of a truck-mounted concrete pump with a folded mast
- FIG. 2 shows the truck-mounted concrete pump according to FIG. 1 with an articulated mast in the working position
- Fig. 3 is a schematic circuit diagram of a device for actuating the articulated mast and the chassis support with safety circuit.
- the truck-mounted concrete pump 10 comprises a transport vehicle 11, e.g. As a two-cylinder piston pump, a thick matter pump 12 and a concrete placing boom 14 rotatable about a vehicle-mounted vertical axis 13 as a support for a concrete delivery line 16. Via the concrete delivery line 16, liquid concrete, which is continuously introduced into a feed container 17 during concreting, is removed from the location of the vehicle 11 arranged pouring 18 promoted.
- the placing boom 14 consists of a mast bracket 21 which can be rotated about the vertical axis 13 by means of a hydraulic rotary drive 19 and an articulated mast 22 which can be pivoted thereon and which can be continuously adjusted to a variable range r and height difference h between the vehicle 11 and the concreting point 18.
- the articulated mast 22 consists of five articulated mast segments 23 to 27 which can be pivoted about axes 28 to 32 running parallel to one another and at right angles to the vertical axis 13 of the mast bracket 21.
- the articulation angles ⁇ to ⁇ 5 (FIG.
- the operator controls the mast movement by means of a wireless remote control device 50, through which the mast tip 33 with the end hose 43 is guided over the area to be concreted.
- the end hose 43 has a typical length of 3 to 4 m and, because of its articulated suspension in the area of the mast tip 33 and because of its inherent flexibility, can be held by a hose man in a favorable position relative to the concreting point 18 with its outlet end.
- the vehicle can be supported by means of a chassis support consisting of front and rear support legs 40, 42 at the location of the vehicle while lifting the wheels on the floor 44.
- the support legs 40, 42 can be extended with the aid of hydraulic drive units (not shown) from the transport position shown in FIG. 1 to the support position shown in FIG. 2 on the vehicle.
- the operator also uses the remote control device 50, which is also intended for controlling the mast movement and the pump operation.
- the remote control device 50 contains two remote control members 52, 54 which are designed as control levers and can be moved back and forth in three main setting directions by emitting remote control signals.
- the remote control signals are transmitted via a radio link 56 to the vehicle-mounted radio receiver 58, which is integrated in the input stage 60 of a control device 62.
- the remote control device 50 contains a number of further switching elements 64, 66, 66 ', when actuated they transmit further radio signals to the radio receiver 58 via the radio link 56 become.
- a first switching element 64 is designed as a selector switch for the optional release of the support legs (line 74) and the mast movement (line 76) with a neutral central position, to whose remote control signals the switch 68 in the input stage 60 of the control device 62 responds.
- the changeover switch 70 located in the input stage 60 responds to the remote control signals of the sensing elements 66, 66 ', via which the motor for driving the hydraulic pumps is started via the line 72 when the sensing element 66 is actuated.
- a remote control signal is triggered by the remote control device, which trigger the opening of a zero position contact 78 in the mast release line 76 in the input stage.
- the control device 62 comprises a first circuit arrangement 80 and a second circuit arrangement 82 which, independently of one another, are suitable for linking the remote control signals arriving in the radio receiver 58 and arriving in the input stage 60 in the form of electrical signals in such a way that the drive units of the Chassis support 40, 42 and the placing boom 14 and the concrete pump can be controlled electrically.
- the two circuit arrangements 80, 82 have compatible slots 84, 84 ', onto which the cable harness 86, which is provided with a suitable connector and leads to the control inputs of the actuators for the drive units, can optionally be attached.
- the slots 84, 84 ' are shown in simplified form in FIG. 3.
- the feed valves 98, 100 for the common pressure oil supply to the drive units of the support legs 40 , 42 or the mast segments 23 to 27 and the rotating mechanism 19 electromagnetically opened and closed.
- the feed valves 98, 100 are connected on the inlet side to the pressure line of a hydraulic pump and are part of a changeover valve.
- the multiple contacts 102 for controlling the actuators of the drive units 19, 34 to 38 for the mast movement are also indicated in FIG. 3.
- the second circuit arrangement 82 contains a logic circuit 104 in which the remote control signals converted into electrical signals in the input stage are galvanically converted into output signals which are transmitted to the wiring harness 86 via the slot 84 ′.
- the remote control signals triggered by mast releases via the selector switch 68 via the control levers 50, 52 are individually converted to the drive units 19, 34 to 38 of the distribution mast assigned to the main control directions of the control levers.
- the single-axis actuation has the advantage that the individual mast segments can be brought individually into any position that is only limited by their swivel range.
- Each axis of the articulated mast and the mast bracket is assigned a main setting direction of the remote control elements, so that the operation becomes confusing, especially when there are more than three mast segments.
- the operator must always keep an eye on both the actuated axes and the end hose in order to avoid the risk of uncontrolled movements in the end hose and thus endanger the construction site personnel.
- the circuit arrangement 80 has a computer-based logic circuit 106, with which the remote control signals transmitted from the input stage 60 via a data bus 108 are linked to one another using a predetermined algorithm and are output in this form to the slot 84 for actuating the actuators.
- the logic circuit 106 includes, among other things, a computer-assisted coordinate transformer which, inter alia, has the properties described in DE-A-4306127. ten.
- the remote control signals generated in a first main position of the remote control member 52 become the drive units 34 to 38 of the redundant articulation axes 28 to 32 of the mast segments 23 to 27 by executing a stretching or shortening movement of the articulated mast in accordance with a predetermined path-swivel characteristic and the drive unit 19 of the mast bracket 21 is actuated in a second main setting direction.
- the drive units 34 to 38 of the articulated axes 28 to 32 can be actuated independently by executing a lifting and lowering movement of the mast tip 33. This includes modifying the travel-swivel characteristic in the coordinate transformer in accordance with the load-dependent bending and torsional moments acting on the individual mast segments.
- the partially automatic control processes in the logic circuit 106 are problematic with a manipulator insofar as malfunctions in the electronics or in the measuring system could lead to uncontrolled movement sequences.
- the following safety precautions are intended to solve this problem:
- a relay contact 112 ′ which belongs to the relay 112 in the circuit arrangement 80, is located in the output line 110 leading to the mast contact 90 of the two-way operating valve 98, 100 in the slot 84.
- the relay 112 can be controlled once via a contact in the sensing element 66 in the remote control device via the changeover switch 70, the line 72 and the diode path 114 in the control device 62.
- the switch 66 the function of an approval button is used to close the relay contact 112 '.
- the enabling relay 112 is arranged via a make contact 116 'of the delay relay 116, which can be controlled behind the zero position contact 78 via the mast release line 76 coming from the input stage 60.
- the delay relay 116 drops out with an adjustable time constant of 0.2 to 3 s when the selector switch 68 is switched from the mast release in the direction of the support leg release or when the contact 78 is opened when the remote control element 52 is in the zero position. Due to the enabling relay 112, mast actuation is therefore only possible if the selector switch 68 for mast release is switched to line 76 and the remote control element 52 relevant for mast actuation is moved out of the zero position at least in one main direction.
- the delay when relay 116 drops out is set such that the mast actuation is not abruptly interrupted and a control process previously performed in logic circuit 106 is completed.
- a relay contact 122 ′ which belongs to a relay 122, is likewise located in the output line 120 for the support leg release in the changeover operating valve 98.
- the relay 122 is activated via the support leg release line 74 coming from the input stage 60 when the selector switch 64, 68 reaches its support leg release position.
- the actuator 92 is actuated via the output line 120 and the drive units of the support legs 40, 42 are pressurized with pressure oil via the feed valve 98.
- the relays 112 and 122 each have a further positively driven contact 112 ", 122" in the activation line to the emergency stop relay 124. This This measure serves to ensure that if the contacts 112 ', 122' get stuck, the emergency stop relay 124 with its contacts 124 ', 124 "can no longer be activated. It must be taken into account that each time the control device 62 is started up, the Emergency stop 124 must be activated so that the supply valves 98, 100 of the shuttle valve can be energized, which is a reset function in which the horn is actuated for acoustic acknowledgment.
- the invention relates to a device for safety monitoring of an articulated mast 22, in particular a concrete placing boom, the mast segments 23 to 27 of which can be controlled via a remote control device 50 and a control device 62 which responds to its remote control signals using a computer-assisted circuit arrangement 80.
- the safety monitoring is carried out in that the control device 62 has an interrupter element 112, 112 'which, when the remote control elements 52 of the remote control device 50 are in the zero position, connects via a delay element 16 to the control inputs of the drive units and / or the feed units 98, 100 for their energy or pressure oil supply associated actuators 92.94 interrupts.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
- Control Of Non-Positive-Displacement Pumps (AREA)
- Operation Control Of Excavators (AREA)
- Reciprocating Pumps (AREA)
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10116407A DE10116407A1 (en) | 2001-04-02 | 2001-04-02 | Device for actuating an articulated mast, in particular for concrete pumps |
DE10116407 | 2001-04-02 | ||
PCT/EP2002/001877 WO2002079596A1 (en) | 2001-04-02 | 2002-02-22 | Device for actuating an articulated mast, especially for concrete pumps |
Publications (2)
Publication Number | Publication Date |
---|---|
EP1373661A1 true EP1373661A1 (en) | 2004-01-02 |
EP1373661B1 EP1373661B1 (en) | 2005-10-12 |
Family
ID=7680113
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP02706747A Expired - Lifetime EP1373661B1 (en) | 2001-04-02 | 2002-02-22 | Device for actuating an articulated mast, especially for concrete pumps |
Country Status (9)
Country | Link |
---|---|
US (1) | US7011108B2 (en) |
EP (1) | EP1373661B1 (en) |
JP (1) | JP4288075B2 (en) |
KR (1) | KR100836351B1 (en) |
CN (1) | CN1228527C (en) |
AT (1) | ATE306598T1 (en) |
DE (2) | DE10116407A1 (en) |
ES (1) | ES2249557T3 (en) |
WO (1) | WO2002079596A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017174576A1 (en) * | 2016-04-07 | 2017-10-12 | Schwing Gmbh | Remote control device for a large manipulator having a control lever |
Families Citing this family (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7989979B2 (en) * | 2004-04-28 | 2011-08-02 | The Will-Burt Company | Pneumatically telescoping mast having DC operated controls |
CN100591880C (en) * | 2006-12-31 | 2010-02-24 | 三一重工股份有限公司 | Intelligent cantilever crane control device |
US8322093B2 (en) * | 2008-06-13 | 2012-12-04 | Tindall Corporation | Base support for wind-driven power generators |
DE102008047425A1 (en) * | 2008-09-15 | 2010-04-15 | Putzmeister Concrete Pumps Gmbh | Mobile work machine with remote control device |
KR101174576B1 (en) | 2010-10-18 | 2012-08-16 | 현대엠코 주식회사 | System for driving bypass valves in response to error of concrete high pressure pumping |
MX355029B (en) * | 2012-05-25 | 2018-03-28 | Schlumberger Technology Bv | Service line transport and deployment system. |
CN102880145B (en) * | 2012-09-28 | 2016-02-03 | 三一汽车制造有限公司 | leg control system and engineering machinery |
WO2015032845A1 (en) * | 2013-09-06 | 2015-03-12 | Putzmeister Engineering Gmbh | Working machine and method for operating said working machine |
KR101720033B1 (en) * | 2015-12-09 | 2017-03-27 | 김용호 | lift gate apparatus for truck |
US10543817B2 (en) | 2016-12-15 | 2020-01-28 | Schwing America, Inc. | Powered rear outrigger systems |
US10466719B2 (en) | 2018-03-28 | 2019-11-05 | Fhe Usa Llc | Articulated fluid delivery system with remote-controlled spatial positioning |
CN109052179B (en) * | 2018-10-10 | 2023-09-08 | 山东省建设高压容器有限公司 | Mast crane control system for installation of cement waste heat boiler |
CN111452970A (en) * | 2020-04-08 | 2020-07-28 | 胡国斌 | Unmanned aerial vehicle delivery high-value target releaser and control method thereof |
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GB2106756A (en) * | 1981-09-09 | 1983-04-13 | Carruthers And Company Limited | Remote control system using a radio link |
DE4306127C2 (en) | 1993-02-27 | 2002-08-08 | Putzmeister Ag | Large manipulator, especially for truck-mounted concrete pumps |
DE4412643A1 (en) * | 1993-08-26 | 1995-03-02 | Putzmeister Maschf | Large manipulator, in particular for truck-mounted concrete pumps, and method for handling it |
DE4330137A1 (en) * | 1993-09-07 | 1995-03-09 | Putzmeister Maschf | Hydraulic pressure supply and control unit for a truck-mounted concrete pump |
EP0669462A1 (en) * | 1995-01-30 | 1995-08-30 | Aliva Aktiengesellschaft | Method to adjust the pulse amplitude and concrete pump |
DE19503895A1 (en) * | 1995-02-07 | 1996-08-08 | Putzmeister Maschf | Mobile concrete pumping unit with segmented delivery arm |
DE19520166C2 (en) * | 1995-06-01 | 2000-03-23 | Konrad Schauer | Mast control for non-vibration-free multi-joint devices, especially for multi-unit concrete pump distribution booms |
JP4120905B2 (en) | 1999-03-31 | 2008-07-16 | 石川島建機株式会社 | Operation control device for boom-equipped concrete pump car |
DE10046546A1 (en) * | 2000-09-19 | 2002-03-28 | Putzmeister Ag | Heavy manipulator for concrete pumping, incorporates damping of mechanical oscillation of handling mast |
-
2001
- 2001-04-02 DE DE10116407A patent/DE10116407A1/en not_active Withdrawn
-
2002
- 2002-02-22 CN CNB028052927A patent/CN1228527C/en not_active Expired - Fee Related
- 2002-02-22 DE DE50204528T patent/DE50204528D1/en not_active Expired - Lifetime
- 2002-02-22 KR KR1020037012920A patent/KR100836351B1/en not_active IP Right Cessation
- 2002-02-22 US US10/473,277 patent/US7011108B2/en not_active Expired - Fee Related
- 2002-02-22 JP JP2002577987A patent/JP4288075B2/en not_active Expired - Fee Related
- 2002-02-22 EP EP02706747A patent/EP1373661B1/en not_active Expired - Lifetime
- 2002-02-22 AT AT02706747T patent/ATE306598T1/en not_active IP Right Cessation
- 2002-02-22 ES ES02706747T patent/ES2249557T3/en not_active Expired - Lifetime
- 2002-02-22 WO PCT/EP2002/001877 patent/WO2002079596A1/en active IP Right Grant
Non-Patent Citations (1)
Title |
---|
See references of WO02079596A1 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017174576A1 (en) * | 2016-04-07 | 2017-10-12 | Schwing Gmbh | Remote control device for a large manipulator having a control lever |
US11214970B2 (en) | 2016-04-07 | 2022-01-04 | Schwing Gmbh | Remote control device for a large manipulator having a control lever |
Also Published As
Publication number | Publication date |
---|---|
CN1492961A (en) | 2004-04-28 |
CN1228527C (en) | 2005-11-23 |
DE50204528D1 (en) | 2006-02-23 |
JP2004526084A (en) | 2004-08-26 |
US7011108B2 (en) | 2006-03-14 |
KR100836351B1 (en) | 2008-06-09 |
ATE306598T1 (en) | 2005-10-15 |
EP1373661B1 (en) | 2005-10-12 |
KR20040004574A (en) | 2004-01-13 |
US20040094212A1 (en) | 2004-05-20 |
DE10116407A1 (en) | 2002-10-17 |
JP4288075B2 (en) | 2009-07-01 |
ES2249557T3 (en) | 2006-04-01 |
WO2002079596A1 (en) | 2002-10-10 |
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