EP2186968B1 - Large scale manipulator - Google Patents
Large scale manipulator Download PDFInfo
- Publication number
- EP2186968B1 EP2186968B1 EP20090166553 EP09166553A EP2186968B1 EP 2186968 B1 EP2186968 B1 EP 2186968B1 EP 20090166553 EP20090166553 EP 20090166553 EP 09166553 A EP09166553 A EP 09166553A EP 2186968 B1 EP2186968 B1 EP 2186968B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- mast
- control device
- remote control
- large manipulator
- housing
- 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.)
- Not-in-force
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—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
- B66C13/063—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
- B66C1/44—Gripping members engaging only the external or internal surfaces of the articles and applying frictional forces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/08—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for depositing loads in desired attitudes or positions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
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- 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
- B66C13/44—Electrical transmitters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/46—Position indicators for suspended loads or for crane elements
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T137/00—Fluid handling
- Y10T137/8158—With indicator, register, recorder, alarm or inspection means
- Y10T137/8225—Position or extent of motion indicator
- Y10T137/8275—Indicator element rigidly carried by the movable element whose position is indicated
-
- 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
-
- 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
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
Definitions
- the invention relates to a large manipulator, in particular a truck-mounted concrete pump, with a arranged on a frame, in particular on a chassis, about a substantially vertical axis of rotation by means of a drive unit rotatable mast block, a composite of at least two Mastarmen articulated mast, which mast arms to each horizontal, parallel to each other Bending axes relative to the mast gantry or an adjacent mast arm by means of a further drive unit limited pivotally, with one of the mast top of the last mast arm hanging down pendulum element, arranged in a control device actuator and responsive to output signals of the actuator, the drive units of the kink and rotary axes in accordance with a by means of the actuator relative to the instantaneous position of the mast top indicating adjusting actuation computer-assisted coordinate encoder, wherein the mast top the spatial Movements of the actuator is trackable.
- Large manipulators of this type are implements such as truck-mounted concrete pumps, mixer pumps, spraying robots and the like to understand that can be used with suitable support with full 360 ° swivel range of the girder even when stretched horizontal position of the kink.
- the operator is responsible for the control of the large manipulator and the positioning of the arranged on the last arm of the articulated mast, preferably designed as a tail hose shuttle.
- the present invention seeks to improve the large manipulator with its fixed to the shuttle control device to the effect that the positioning of the control device on the shuttle is facilitated and simplified.
- the invention provides that the control device has a first pendulum element-fixed three-dimensional inertial sensor as an actuator and a second, frame-fixed three-dimensional inertial sensor as a reference for the determination of the momentary frame fixed pendulum element coordinates, and that the coordinate encoder to the output from the two inertial sensors output data to form the drive signals for the drive units of the rotary and bending axes responds.
- the inertial sensors also allow a certain twisting of the end hose, which would lead to inaccuracies in the mast control when using tilt sensors.
- the inertial sensors according to the invention advantageously have a number of degrees of freedom corresponding number of gravitational sensors or gyro units.
- the drive units of the articulated mast and the mastbuck are activated via the coordinate encoder expediently while maintaining the height of the mast top in a predetermined horizontal plane.
- This ensures that the mast tip follows the actuator on the pendulum element in such a way that it always remains at a certain height distance above the ground.
- it is ensured that the mast tip is tracked only at a predetermined minimum deflection of the pendulum element, for example, ⁇ 50 cm.
- a hand-operated height adjustment element can additionally be provided on the pendulum element.
- the further actuator is in a pendulum element fixedly arranged housing and is over a signal path connected to the concrete pump, wherein it communicates advantageously on the input side without contact with an external actuator.
- the further actuator for this purpose, two of a flow rate increase or reduction corresponding set inputs, which are contactlessly actuated via a radio link.
- RFID Radio Frequency Identification
- each control input is assigned a separate RFID read receiver, while the at least one RFID transponder can be integrated in a work glove.
- a further preferred embodiment of the invention provides an additional radio remote control unit, which the operator carries with him and which includes a plurality of communication via a radio link with the mast drive and / or the pump drive control units, the control units of the radio remote control unit and the actuators in a hose end housing fixed over a switching element on the radio remote control unit can be activated.
- the operator can optionally use the radio remote control device or the end hose-resistant remote control device for the mast actuation and the pumping operation.
- the radio remote control device carries an RFID transponder (RFID tag), the content of which in the end hose fixed Housing arranged RFID reader (RFID reader) is readable and identifiable.
- the actuator of the remote control device is designed as an end hose fixed, three-dimensional inertial sensor. Furthermore, a second, frame-mounted, three-dimensional inertial sensor is provided as reference element for the determination of the instantaneous end hose coordinates which are fixed to the frame.
- the inertial sensors according to the invention advantageously have a number of degrees of freedom corresponding number of gravitational sensors and / or gyro units.
- FIG. 1a, b and 5 schematically illustrated as a truck concrete pump trained large manipulator has a chassis 10, arranged in the vicinity of the front axle 12 and the cab 14 of the chassis 10 to a vertical axis of rotation 18 rotatable by 360 °, a folding mast 20-bearing mast block 16 and a not shown in the drawing , via the mast arms 1,2,3,4,5 of the articulated mast guided delivery line, which opens in the region of the mast tip 55 in a pendulum element forming end hose 50.
- a remote control device which comprises a signal generator 53 and a vehicle-mounted central control system that communicates galvanically or wirelessly with the signal generator 53.
- a remote control device For adjusting the mast tip 55 and arranged thereon, hanging down Endschlauchs 50 at least one communicating with the signal generator 53 actuator 52,54 is provided, which is actuated by the operator 51.
- a transformation matrix T ( ⁇ , ⁇ , ⁇ ) is required in each case, where ⁇ , ⁇ , ⁇ mean the Euler angles of the coordinate systems to be transformed.
- the Cartesian coordinates are also in the frame-fixed cylindrical coordinates of the articulated mast (r, h, ⁇ ), where r is the distance of the end hose from the axis of rotation 18 of the mast 16, h the height of the end hose above the ground 41 and ⁇ the angle of rotation of the articulated mast 20 about the axis of rotation 18.
- the variables r and h are dependent variables, which are calculated from the given geometry and the measured angular positions of the mast arms within the kink mast.
- an actuator 60+, 60- be accommodated for the operation of the feed pump.
- the forwarding of the setting data of this actuator can also be done via the CAN bus or via a radio link.
- actuation of the actuators 60+, 60- for the concrete pump takes place via a radio link using RFID transmitters 62, 64, which are arranged in the illustrated embodiment in the gloves 66 of the operator 51.
- a detection area 68 can be set, within which a switching or control process can be triggered.
- a further preferred embodiment of the invention provides that the operator 51 additionally carries a radio remote control device 80, for example on its belt, which has a plurality of control units communicating via a radio link with the mast drive and / or the pump drive (cf. Fig. 1a, b) ,
- the control units of the radio remote control unit 80 and the inertial sensors 53 in the end hose-fixed sensor belt can be activated optionally via a switching element from the radio remote control unit.
- the radio remote control device 80 may additionally carry an RFID transponder whose content can be read out and identified via the RFID read receiver 44 arranged in the end tube-fixed sensor belt.
- the operator 51 can control the concrete pump either from a greater distance with the remote control device 80 or when approaching the end hose 50 directly on this. The activation takes place via the RFID system.
- the invention relates to a large manipulator, in particular truck concrete pump with a mounted on a frame, in particular on a chassis 10 about a substantially vertical axis of rotation 18 rotatable mast bracket 16, with a buckling mast 20 with a from the mast top of the kink mast after
- the pendulum element fixed three-dimensional inertial sensor 53 as an actuator and a second, frame-fixed three-dimensional inertial sensor 57 as a reference member for the determination the current frame-fixed pendulum element coordinates, and wherein the coordinate encoder on the from the two inertial sensors 53,57 output data output to form drive signals for the drive units of the rotary and bending axes responds.
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- 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)
- Manipulator (AREA)
Abstract
Description
Die Erfindung betrifft einen Großmanipulator, insbesondere eine Autobetonpumpe, mit einem auf einem Gestell, insbesondere auf einem Fahrgestell angeordneten, um eine im Wesentlichen vertikale Drehachse mittels eines Antriebsaggregats verdrehbaren Mastbock, einem aus mindestens zwei Mastarmen zusammengesetzten Knickmast, welche Mastarme um jeweils horizontale, zueinander parallele Knickachsen gegenüber dem Mastbock oder einem benachbarten Mastarm mittels je eines weiteren Antriebsaggregats begrenzt verschwenkbar sind, mit einem von der Mastspitze des letzten Mastarms nach unten hängenden Pendelelement, mit einem in einer Steuereinrichtung angeordneten Stellglied und mit einem auf Ausgangssignale des Stellglieds ansprechenden, die Antriebsaggregate der Knick- und Drehachsen nach Maßgabe eines mittels des Stellglieds relativ zur augenblicklichen Position der Mastspitze anzeigenden Verstellwegs betätigenden rechnerunterstützten Koordinatengebers, wobei die Mastspitze den räumlichen Bewegungen des Stellglieds nachführbar ist.The invention relates to a large manipulator, in particular a truck-mounted concrete pump, with a arranged on a frame, in particular on a chassis, about a substantially vertical axis of rotation by means of a drive unit rotatable mast block, a composite of at least two Mastarmen articulated mast, which mast arms to each horizontal, parallel to each other Bending axes relative to the mast gantry or an adjacent mast arm by means of a further drive unit limited pivotally, with one of the mast top of the last mast arm hanging down pendulum element, arranged in a control device actuator and responsive to output signals of the actuator, the drive units of the kink and rotary axes in accordance with a by means of the actuator relative to the instantaneous position of the mast top indicating adjusting actuation computer-assisted coordinate encoder, wherein the mast top the spatial Movements of the actuator is trackable.
Unter Großmanipulatoren dieser Art sind Arbeitsgeräte wie Autobetonpumpen, Mischerpumpen, Spritzroboter und dergleichen zu verstehen, die bei geeigneter Abstützung mit vollem 360°-Schwenkbereich des Mastbocks auch bei gestreckter horizontaler Lage des Knickmasts eingesetzt werden können. Der Bediener ist für die Steuerung des Großmanipulators und die Positionierung des am letzten Arm des Knickmasts angeordneten, vorzugsweise als Endschlauch ausgebildeten Pendelelements zuständig.Large manipulators of this type are implements such as truck-mounted concrete pumps, mixer pumps, spraying robots and the like to understand that can be used with suitable support with full 360 ° swivel range of the girder even when stretched horizontal position of the kink. The operator is responsible for the control of the large manipulator and the positioning of the arranged on the last arm of the articulated mast, preferably designed as a tail hose shuttle.
Bei einem als Autobetonpumpe ausgebildeten Großmanipulator mit einer Fernsteuereinrichtung ist es bereits bekannt (
Ausgehend hiervon liegt der Erfindung die Aufgabe zugrunde, den Großmanipulator mit seiner am Pendelelement fixierten Steuereinrichtung dahingehend zu verbessern, dass die Positionierung der Steuereinrichtung am Pendelelement erleichtert und vereinfacht wird.Proceeding from this, the present invention seeks to improve the large manipulator with its fixed to the shuttle control device to the effect that the positioning of the control device on the shuttle is facilitated and simplified.
Zur Lösung dieser Aufgabe werden die in den Ansprüchen 1 und 13 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 and 13 are proposed. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims.
Die Erfindung sieht vor, dass die Steuereinrichtung einen ersten pendelelementfesten dreidimensionalen Inertialsensor als Stellglied und einen zweiten, gestellfesten dreidimensionalen Inertialsensor als Bezugsglied für die Bestimmung der momentanen gestellfesten Pendelelementkoordinaten aufweist, und dass der Koordinatengeber auf die von den beiden Inertialsensoren abgegebenen Ausgangsdaten unter Bildung der Ansteuersignale für die Antriebsaggregate der Dreh- und Knickachsen anspricht. Mit diesen Maßnahmen wird erreicht, dass es auf eine bei der Verwendung von Neigungsgebern notwendige verschiebe- und drehfeste Fixierung der Steuereinrichtung am Pendelelement nicht ankommt. Außerdem erlauben die Inertialsensoren auch eine gewisse Verdrehung des Endschlauchs, die beim Einsatz von Neigungssensoren zu Ungenauigkeiten in der Maststeuerung führen würde. Die erfindungsgemäßen Inertialsensoren weisen vorteilhafterweise eine der Anzahl Freiheitsgrade entsprechende Anzahl Gravitationssensoren oder Kreiseleinheiten auf.The invention provides that the control device has a first pendulum element-fixed three-dimensional inertial sensor as an actuator and a second, frame-fixed three-dimensional inertial sensor as a reference for the determination of the momentary frame fixed pendulum element coordinates, and that the coordinate encoder to the output from the two inertial sensors output data to form the drive signals for the drive units of the rotary and bending axes responds. With these measures it is achieved that it does not depend on a necessary in the use of inclinometers sliding and rotationally fixed fixation of the control device on the shuttle. In addition, the inertial sensors also allow a certain twisting of the end hose, which would lead to inaccuracies in the mast control when using tilt sensors. The inertial sensors according to the invention advantageously have a number of degrees of freedom corresponding number of gravitational sensors or gyro units.
Eine vorteilhafte Ausgestaltung der Erfindung sieht vor, dass der Knickmast des als Autobetonpumpe ausgebildeten Großmanipulators als Betonverteiler ausgebildet ist, und dass über die Mastarme eine Betonförderleitung geführt ist, die an ihrem Ende in einen von der Mastspitze aus nach unten hängenden, das Pendelelement bildenden Endschlauch mündet.An advantageous embodiment of the invention provides that the articulated mast of trained as a truck concrete pump large manipulator is designed as a concrete distributor, and that on the mast arms, a concrete delivery line is guided, which opens at its end in one of the mast tip down hanging, the pendulum element forming end hose ,
Aus Gründen der Betriebssicherheit werden die Antriebsaggregate des Knickmasts und des Mastbocks über den Koordinatengeber zweckmäßig unter Beibehaltung der Höhe der Mastspitze in einer vorgegebenen Horizontalebene kombiniert angesteuert. Damit wird erreicht, dass die Mastspitze dem Stellglied am Pendelelement in der Weise folgt, dass sie immer in einem bestimmten Höhenabstand über dem Untergrund bleibt. Außerdem wird dafür gesorgt, dass die Mastspitze nur bei einer vorgegebenen Mindestauslenkung des Pendelelements von beispielsweise ± 50 cm nachgeführt wird. Zur Höhenverstellung der Mastspitze kann zusätzlich ein handbetätigtes Höhenstellelement am Pendelelement vorgesehen werden.For reasons of reliability, the drive units of the articulated mast and the mastbuck are activated via the coordinate encoder expediently while maintaining the height of the mast top in a predetermined horizontal plane. This ensures that the mast tip follows the actuator on the pendulum element in such a way that it always remains at a certain height distance above the ground. In addition, it is ensured that the mast tip is tracked only at a predetermined minimum deflection of the pendulum element, for example, ± 50 cm. To adjust the height of the mast top, a hand-operated height adjustment element can additionally be provided on the pendulum element.
Gemäß einer weiteren bevorzugten Ausgestaltung der Erfindung, bei welcher ein weiteres Stellglied zur Betätigung eines Fördermengenreglers der Betonpumpe vorgesehen ist, befindet sich das weitere Stellglied in einem pendelelementfest angeordneten Gehäuse und ist über eine Signalstrecke mit der Betonpumpe verbunden, wobei es eingangsseitig vorteilhafterweise mit einem externen Betätigungsorgan berührungsfrei kommuniziert. Mit dieser Maßnahme wird erreicht, dass eine Betätigung des Fördermengenreglers durch den Bediener möglich ist, ohne dass dieser seine Hände von dem als Endschlauch ausgebildeten Pendelelement abnimmt. Vorteilhafterweise weist das weitere Stellglied zu diesem Zweck zwei einer Fördermengensteigerung oder -reduzierung entsprechende Stelleingänge auf, die über eine Funkstrecke berührungslos betätigbar sind. Die Funkstrecke weist dabei zweckmäßig einen RFID-Transponder (RFID = Radio Frequency Identification) als Auslöseorgan und einen endschlauchfesten RFID-Leseempfänger auf, wobei der mindestens eine RFID-Transponder bei jedem Sendevorgang ein Identitäts- und Grunddatenpaket über den RFID-Leseempfänger an die Fernsteuerung überträgt. Dadurch ist sichergestellt, dass nur ein zugelassener Bediener, der über den RFID-Transponder (RFID-Tag) verfügt, die Betonpumpe über die Fernbedienung betätigen kann. Zweckmäßig ist jedem Stelleingang ein eigener RFID-Leseempfänger zugeordnet, während der mindestens eine RFID-Transponder in einem Arbeitshandschuh integriert sein kann.According to a further preferred embodiment of the invention, in which a further actuator for actuating a flow regulator of the concrete pump is provided, the further actuator is in a pendulum element fixedly arranged housing and is over a signal path connected to the concrete pump, wherein it communicates advantageously on the input side without contact with an external actuator. With this measure, it is achieved that an operation of the flow regulator by the operator is possible without this decreases his hands from the pendulum element designed as a final hose. Advantageously, the further actuator for this purpose, two of a flow rate increase or reduction corresponding set inputs, which are contactlessly actuated via a radio link. The radio link expediently has an RFID transponder (RFID = Radio Frequency Identification) as a triggering device and a RFID end-reading fixed RFID reader, wherein the at least one RFID transponder transmits an identity and basic data packet via the RFID reader to the remote control during each transmission , This ensures that only an authorized operator who has the RFID transponder (RFID tag) can operate the concrete pump via the remote control. Suitably, each control input is assigned a separate RFID read receiver, while the at least one RFID transponder can be integrated in a work glove.
Eine weitere bevorzugte Ausgestaltung der Erfindung sieht ein zusätzliches Funkfernsteuergerät vor, das der Bediener mit sich führt und das mehrere über eine Funkstrecke mit dem Mastantrieb und/oder dem Pumpantrieb kommunizierende Steuereinheiten umfasst, wobei die Steuereinheiten des Funkfernsteuergeräts und die Stellglieder in einem endschlauchfesten Gehäuse wahlweise über ein Schaltelement am Funkfernsteuergerät aktivierbar sind. Mit diesen Maßnahmen wird erreicht, dass der Bediener wahlweise das Funkfernsteuergerät oder die endschlauchfeste Fernsteuereinrichtung für die Mastbetätigung und den Pumpbetrieb zum Einsatz bringen kann. Um Fehlbedienungen durch nicht befugte Bediener zu vermeiden, wird gemäß der Erfindung ferner vorgeschlagen, dass das Funkfernsteuergerät einen RFID-Transponder (RFID-Tag) trägt, dessen Inhalt über einen im endschlauchfesten Gehäuse angeordneten RFID-Leseempfänger (RFID-Reader) auslesbar und identifizierbar ist.A further preferred embodiment of the invention provides an additional radio remote control unit, which the operator carries with him and which includes a plurality of communication via a radio link with the mast drive and / or the pump drive control units, the control units of the radio remote control unit and the actuators in a hose end housing fixed over a switching element on the radio remote control unit can be activated. With these measures it is achieved that the operator can optionally use the radio remote control device or the end hose-resistant remote control device for the mast actuation and the pumping operation. In order to avoid incorrect operation by unauthorized operators, it is further proposed according to the invention that the radio remote control device carries an RFID transponder (RFID tag), the content of which in the end hose fixed Housing arranged RFID reader (RFID reader) is readable and identifiable.
Die Erfindung bezieht sich ferner auf eine Fernsteuereinrichtung zur Fixierung am Endschslauch einer einen Betonverteilermost aufweisenden, vorzugsweise fahrbaren Betonpumpe, mit einem Gehäuse und mit mindestens einem im Gehäuse angeordneten auf die Auslenkung des Endschlanches ausprechenden Stellglied.The invention further relates to a remote control device for fixing the Endschslauch a Betonverteilermost having, preferably mobile concrete pump with a housing and at least one arranged in the housing on the deflection of the Endschlanches ausprechenden actuator.
Erfindungsgemäß ist das Stellglied der Fernsteuereinrichtung als endschlauch fester, dreidimensionalen Inertialsensor ausgebildet. Weiter ist ein zweiter, gestellfester dreidimensionalen Inertialsensor als Bezugsglied für die Bestimmung der momentanen gestellfesten Endschlauchkoordinaten vorgesehen. Die erfindungsgemäßen Inertialsensoren weisen vorteilhafterweise eine der Anzahl der Freiheitsgrade entsprechende Anzahl Gravitationssensoren und/oder Kreiseleinheiten auf.According to the invention, the actuator of the remote control device is designed as an end hose fixed, three-dimensional inertial sensor. Furthermore, a second, frame-mounted, three-dimensional inertial sensor is provided as reference element for the determination of the instantaneous end hose coordinates which are fixed to the frame. The inertial sensors according to the invention advantageously have a number of degrees of freedom corresponding number of gravitational sensors and / or gyro units.
Gemäß einer vorteilhaften Ausgestaltung der Erfindung, bei welcher ein weiteres Stellglied zur Betätigung eines Fördermengenreglers vorgesehen ist, befindet sich das weitere Stellglied in dem Gehäuse und kommuniziert eingangsseitig vorteilhafterweise berührungsfrei mit einem externen Betätigungsorgan. Mit dieser Maßnahme wird erreicht, dass eine Betätigung des Fördermengenreglers durch den Bediener möglich ist, ohne dass dieser seine Hände vom Pendelelement oder Endschlauch abnimmt. Vorteilhafterweise weist das weitere Stellglied zu diesem Zweck zwei einer Fördermengensteigerung oder -reduzierung entsprechende Stelleingänge auf, die über eine Funkstrecke berührungslos betätigbar sind.According to an advantageous embodiment of the invention, in which a further actuator for actuating a flow regulator is provided, the further actuator is in the housing and communicates on the input side advantageously without contact with an external actuator. With this measure it is achieved that an operation of the flow regulator by the operator is possible without that his hands from the shuttle or end hose decreases. Advantageously, the further actuator for this purpose, two of a flow rate increase or reduction corresponding set inputs, which are contactlessly actuated via a radio link.
Im Folgenden wird die Erfindung anhand der in der Zeichnung in schematischer Weise dargestellten Ausführungsbeispiele näher erläutert. Es zeigen
- Fig. 1 a und b
- eine Seitenansicht und eine Draufsicht einer Autobeton- pumpe mit auseinandergeklapptem Knickmast;
- Fig. 2
- einen Ausschnitt aus einem Endschlauch mit Sensorgürtel zur Veranschaulichung des Abstandsbereichs für die Betä- tigung der Stellglieder für die Fördermengeneinstellung;
- Fig. 3
- eine schaubildliche Darstellung eines Hochbaus mit Scha- lung und stationärer Betonpumpe als Beispiel für eine Sta- tionäranwendung der, erfindungsgemäßen Femsteuerein- richtung;
- Fig. 4
- eine schematische Darstellung des Bewegungsablaufs beim Betonieren unter Verwendung der erfindungsgemä- ßen Fernsteuereinrichtung zur Veranschaulichung der Posi- tionsänderungen der Mastspitze und des Endschlauchs;
- Fig. 5
- eine Darstellung der erdfesten, gestellfesten und end- schlauchfesten Koordinatensysteme einer fahrbaren Be- tonpumpe zur Veranschaulichung der bei der Verwendung von Inertialsensoren durchzuführenden Koordinatentrans- formationen.
- Fig. 1 a and b
- a side view and a plan view of a truck-mounted concrete pump with unfolded articulated mast;
- Fig. 2
- a section of a end tube with sensor belt to illustrate the distance range for the actuation of the actuators for the flow rate adjustment;
- Fig. 3
- a perspective view of a building construction with formwork and stationary concrete pump as an example of a stationary use of the invention, Femsteuerein- device;
- Fig. 4
- a schematic representation of the movement sequence during concreting using the remote control device according to the invention for illustrating the position changes of the mast top and the end hose;
- Fig. 5
- a representation of the earth-resistant, fixed to the frame and end-tube fixed coordinate systems of a mobile concrete pump to illustrate the to be performed in the use of inertial coordinate transformations.
Der in den
Zur Betätigung der Antriebsaggregate des Knickmasts 20 ist eine Fernsteuereinrichtung vorgesehen, die einen Signalgeber 53 und eine mit dem Signalgeber 53 galvanisch oder drahtlos kommunizierende fahrzeugfeste Zentralsteuerung umfasst. Zum Verstellen der Mastspitze 55 und des daran angeordneten, nach unten hängenden Endschlauchs 50 ist mindestens ein mit dem Signalgeber 53 kommunizierendes Stellglied 52,54 vorgesehen, das vom Bediener 51 betätigt wird.To actuate the drive units of the articulated
Eine Besonderheit der in
- (XgYgZg) = erdfestes Koordinatensystem
- (XfYfZf) = fahrzeugfestes Koordinatensystem
- (XeYeZe) = endschlauchfestes Koordinatensystem
- (X g Y g Z g ) = Earth-fixed coordinate system
- (X f Y f Z f ) = vehicle-fixed coordinate system
- (X e Y e Z e ) = end hose-fixed coordinate system
Für die Umrechnung der Koordinatensysteme bedarf es jeweils einer Transformationsmatrix T (Ψ, θ, Φ), wobei Ψ, θ, Φ die Euler'schen Winkel der zu transformierenden Koordinatensysteme bedeuten.For the conversion of the coordinate systems, a transformation matrix T (Ψ, θ, Φ) is required in each case, where Ψ, θ, Φ mean the Euler angles of the coordinate systems to be transformed.
In dem computergestützten Koordinatengeber werden die kartesischen Koordinaten außerdem in die gestellfesten Zylinderkoordinaten des Knickmasts (r, h, ϕ) umgerechnet, wobei r den Abstand des Endschlauchs von der Drehachse 18 des Mastbocks16, h die Höhe des Endschlauchs über dem Untergrund 41 und ϕ den Drehwinkel des Knickmasts 20 um die Drehachse 18 bedeuten. Die Größen r und h sind dabei abhängige Variablen, die sich aus der vorgegebenen Geometrie und den gemessenen Winkelstellungen der Mastarme innerhalb des Knickmasts errechnen.In the computer-aided coordinate generator, the Cartesian coordinates are also in the frame-fixed cylindrical coordinates of the articulated mast (r, h, φ), where r is the distance of the end hose from the axis of
In dem Gehäuse 30 des Sensorgürtels kann außerdem ein Stellglied 60+, 60- für die Betätigung der Förderpumpe untergebracht werden. Die Weiterleitung der Einstelldaten dieses Stellglieds kann ebenfalls über den CAN-Bus oder über eine Funkstrecke erfolgen. Bei dem in
Mit den erfindungsgemäßen Maßnahmen ist es möglich, durch einfaches Bewegen des Endschlauches 50 den Beton in der vom Bediener 51 gewünschten Weise in einer Einbringstelle 70 zu verteilen. Wie aus
Eine weitere bevorzugte Ausgestaltung der Erfindung sieht vor, dass der Bediener 51 zusätzlich ein Funkfernsteuergerät 80 beispielsweise an seinem Gürtel mitführt, das mehrere, über eine Funkstrecke mit dem Mastantrieb und/oder dem Pumpantrieb kommunizierende Steuereinheiten aufweist (vgl.
Zusammenfassend ist folgendes festzuhalten: Die Erfindung betrifft einen Großmanipulator, insbesondere Autobetonpumpe mit einem auf einem Gestell, insbesondere auf einem Fahrgestell 10 angeordneten um eine im Wesentlichen vertikale Drehachse 18 verdrehbaren Mastbock 16, mit einem als Knickmast 20 mit einem von der Mastspitze des Knickmasts aus nach unten hängenden vorzugsweise als Endschlauch 50 ausgebildeten Pendelelement, und mit einer Steuereinrichtung zur Ansteuerung der Antriebsaggregate der Knick- und Drehachsen des Knickmasts, wobei die Fernsteuereinrichtung einen ersten, pendelelementfesten dreidimensionalen Inertialsensor 53 als Stellglied und einen zweiten, gestellfesten dreidimensionalen Inertialsensor 57 als Bezugsglied für die Bestimmung der momentanen gestellfesten Pendelelementkoordinaten aufweist, und wobei der Koordinatengeber auf die von den beiden Inertialsensoren 53,57 abgegebenen Ausgangsdaten unter Bildung von Ansteuersignalen für die Antriebsaggregate der Dreh- und Knickachsen anspricht.In summary, the following should be noted: The invention relates to a large manipulator, in particular truck concrete pump with a mounted on a frame, in particular on a
Claims (20)
- Large manipulator, particularly a concrete pump truck, having a mast base (16) that can be rotated about an essentially vertical axis of rotation (18), by means of a drive unit, and is disposed on a frame, particularly on a chassis (10), having an articulated mast (20) composed of at least two mast arms (1, 2, 3, 4, 5), which mast arms can be pivoted, in limited manner, relative to the mast base (16) or an adjacent mast arm, about horizontal articulation axes that are parallel to one another, in each instance, by means of another drive unit, in each instance, having a pendulum element (50) that hangs down from the mast tip (55), having a setting element (53) disposed on a control device, and having a computer-assisted coordinate sensor that responds to output signals of the setting element (53), and activates the drive units of the articulation and rotation axes of the articulated mast in accordance with an adjustment path that is displayed by means of the setting element (53), relative to the current position of the mast tip (55), whereby the mast tip (55) can follow the spatial movements of the pendulum element (50), characterized in that the remote control device has a first three-dimensional inertial sensor (53) disposed in the housing affixed to the pendulum element as a setting element, and a second three-dimensional inertial sensor (57) that is fixed in place on the frame as a reference element for determining the current frame-fixed pendulum element coordinates, and that the coordinate sensor responds to the output data issued by the two inertial sensors (53, 57), forming control signals for the drive units of the axes of rotation and articulation.
- Large manipulator according to claim 1, characterized in that the articulated mast (20) is configured as a concrete distributor mast, and that a concrete feed line is guided by way of the mast arms (1, 2, 3, 4, 5), which feed line opens, at its end, into an end hose that hangs down from the mast tip (55) and forms the pendulum element (50).
- Large manipulator according to claim 1 or 2, characterized in that the inertial sensors (53, 57) comprises a number of gyroscope units and/or gravitation sensors that corresponds to the number of degrees of freedom.
- Large manipulator according to one of claims 1 to 3, having a feed amount regulator for the concrete pump that can be activated by means of at least one other setting element (60+, 60-), characterized in that the additional setting element (60+, 60-) is situated in the housing (30) disposed fixed in place on the end hose or on the sensor belt, and is connected with the concrete pump by way of a signal link, and on the input side, communicates, without contact, with an external activation organ (62, 64).
- Large manipulator according to claim 4, characterized in that the additional setting element (60+, 60-) has at least two setting inputs that correspond to a feed amount increase or decrease, which can be activated without contact, by way of a radio link.
- Large manipulator according to claim 5, characterized in that the radio link comprises at least one RFID transponder (62, 64) as the triggering organ, as well as an RFID reader (44) fixed in place on the pendulum element or end arm.
- Large manipulator according to claim 6, characterized in that the at least one RFID transponder (62, 64) transmits an identity and base data packet to the remote control device, by way of the RFID reader (44), during every transmission process.
- Large manipulator according to one of claims 5 to 7, characterized in that an RFID reader (44) is assigned to each setting input.
- Large manipulator according to one of claims 6 to 8, characterized in that the at least one RFID transponder (62, 64) is integrated into a work glove (66) of an operator (51).
- Large manipulator according to one of claims 1 to 9, characterized by a radio remote control device (80) having multiple control units that communicate with the mast drive and/or the pump drive by way of a radio link, whereby the control units of the radio remote control device and the setting elements in the housing (30) affixed to the pendulum element, or in the sensor belt, can optionally be activated by way of a switching element, from the radio remote control device.
- Large manipulator according to claim 10, characterized in that the radio remote control device (80) carries an RFID transponder (62, 64), the content of which can be read and identified by way of an RFID reader (44) disposed in the housing affixed to the pendulum element or to the sensor belt.
- Large manipulator according to claim 11, characterized in that an RFID transponder is disposed in the housing affixed to the pendulum element (30) or in the sensor belt, the content of which can be read and identified by way of an RFID reader (44) disposed in the remote control device.
- Remote control device for fixation on the end hose (50) of a concrete pump that has a concrete distributor mast (20), preferably a mobile concrete pump, having a housing (30) and having at least one setting element disposed in the housing, which responds to a deflection of the end hose (50), characterized in that the setting element is configured as a three-dimensional inertial sensor (53) that is fixed in place on the end hose, and that a second three-dimensional inertial sensor (57) that is fixed in place on the frame is provided as a reference element for determining the current frame-fixed end hose coordinates.
- Remote control device according to claim 13, characterized in that the inertial sensors (53, 57) comprises a number of gyroscope units and/or gravitation sensors that corresponds to the number of degrees of freedom.
- Remote control device according to one of claims 13 or 14, characterized in that an additional setting element (60+, 60-) is disposed in the housing (30), which, on the input side, communicates, without contact, with an external activation organ (64).
- Remote control device according to claim 15, characterized in that the additional setting element (60+, 60-) has at least two setting inputs that correspond to a feed amount increase or decrease, which can be activated without contact, by way of a radio link.
- Remote control device according to claim 16, characterized in that the radio link comprises at least one RFID transponder (62, 64) as the triggering organ, as well as an RFID reader (44) fixed in place on the end arm.
- Remote control device according to claim 17, characterized in that the at least one RFID transponder (62, 64) transmits an identity and base data packet, by way of the RFID reader (44), during every transmission process.
- Remote control device according to one of claims 16 to 18, characterized in that an RFID reader (44) is assigned to every setting input.
- Remote control device according to one of claims 17 to 19, characterized in that the at least one RFID transponder (62, 64) is integrated into a work glove (66) of an operator (51).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102007012575A DE102007012575A1 (en) | 2007-03-13 | 2007-03-13 | large manipulator |
EP20080708080 EP2118404B1 (en) | 2007-03-13 | 2008-01-22 | Large manipulator |
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EP08708080.0 Division | 2008-01-22 |
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EP2186968A1 EP2186968A1 (en) | 2010-05-19 |
EP2186968B1 true EP2186968B1 (en) | 2012-03-21 |
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EP20080708080 Not-in-force EP2118404B1 (en) | 2007-03-13 | 2008-01-22 | Large manipulator |
EP20090166553 Not-in-force EP2186968B1 (en) | 2007-03-13 | 2008-01-22 | Large scale manipulator |
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EP20080708080 Not-in-force EP2118404B1 (en) | 2007-03-13 | 2008-01-22 | Large manipulator |
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US (1) | US8281811B2 (en) |
EP (2) | EP2118404B1 (en) |
KR (1) | KR101449077B1 (en) |
CN (1) | CN101641485B (en) |
AT (2) | ATE510978T1 (en) |
DE (1) | DE102007012575A1 (en) |
ES (2) | ES2364940T3 (en) |
WO (1) | WO2008110397A1 (en) |
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- 2007-03-13 DE DE102007012575A patent/DE102007012575A1/en not_active Withdrawn
-
2008
- 2008-01-22 KR KR1020097015938A patent/KR101449077B1/en not_active IP Right Cessation
- 2008-01-22 EP EP20080708080 patent/EP2118404B1/en not_active Not-in-force
- 2008-01-22 WO PCT/EP2008/050715 patent/WO2008110397A1/en active Application Filing
- 2008-01-22 AT AT08708080T patent/ATE510978T1/en active
- 2008-01-22 EP EP20090166553 patent/EP2186968B1/en not_active Not-in-force
- 2008-01-22 CN CN2008800040783A patent/CN101641485B/en not_active Expired - Fee Related
- 2008-01-22 AT AT09166553T patent/ATE550503T1/en active
- 2008-01-22 US US12/449,365 patent/US8281811B2/en not_active Expired - Fee Related
- 2008-01-22 ES ES08708080T patent/ES2364940T3/en active Active
- 2008-01-22 ES ES09166553T patent/ES2382591T3/en active Active
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EP2118404B1 (en) | 2011-05-25 |
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ES2382591T3 (en) | 2012-06-11 |
ATE510978T1 (en) | 2011-06-15 |
US8281811B2 (en) | 2012-10-09 |
EP2118404A1 (en) | 2009-11-18 |
ES2364940T3 (en) | 2011-09-19 |
ATE550503T1 (en) | 2012-04-15 |
KR101449077B1 (en) | 2014-10-08 |
CN101641485B (en) | 2013-01-02 |
CN101641485A (en) | 2010-02-03 |
DE102007012575A1 (en) | 2008-09-18 |
US20100139792A1 (en) | 2010-06-10 |
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