EP3303732A1 - Large manipulator with articulated mast that can be quickly folded and unfolded - Google Patents
Large manipulator with articulated mast that can be quickly folded and unfoldedInfo
- Publication number
- EP3303732A1 EP3303732A1 EP16731808.8A EP16731808A EP3303732A1 EP 3303732 A1 EP3303732 A1 EP 3303732A1 EP 16731808 A EP16731808 A EP 16731808A EP 3303732 A1 EP3303732 A1 EP 3303732A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- mast
- articulated
- speed
- large manipulator
- control device
- 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
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- 238000000034 method Methods 0.000 claims abstract description 15
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- 238000013016 damping Methods 0.000 description 6
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
-
- 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
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
-
- 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
Definitions
- the invention relates to a large manipulator, in particular a truck-mounted concrete pump, with a rotatable about a vertical axis mast bracket, which is arranged on a frame, a folding mast, which comprises two or more mast arms, wherein the mast arms are connected by means of articulated joints with the respectively adjacent Mastbock or Mastarm by means of a respective pivot drive, with a drives controlling the control device for the mast movement and with a mast sensor for detecting the position of at least one point of the articulated mast or a swivel angle of at least one articulated joint.
- the invention relates to a method for controlling the movement of a articulated mast of a large manipulator, in particular a truck-mounted concrete pump.
- WO 2014/1 66637 A1 discloses a large manipulator with articulated mast.
- a pivoting drives which are used for pivoting the mast arms about the articulated joints relative to the respective adjacent mast arm or Mastbock
- hydraulic cylinders are typically used. These are controlled by proportional control valves of an electronic control device to specify the travel speed of the individual hydraulic cylinder variable.
- the traversing speed of the individual hydraulic cylinder is usually limited in known large manipulators because too fast movement of the articulated mast represents a threat to people in the area.
- the control valves of the hydraulic cylinders are operated in the prior art via a remote control connected to the control device (wireless or wired).
- the control valves (for example, in an emergency operation) can be manually controlled by hand lever.
- the control valves are designed so that a certain position of an operating lever on the remote control a defined volume flow of the hydraulic fluid, i. corresponds to a defined travel speed of the respective hydraulic cylinder, regardless of the pressure conditions prevailing in the hydraulic system.
- the control valves are designed so that when simultaneous pivoting of all joints with maximum travel speed and fully extended articulated mast the maximum speed of the mast top is not reached.
- This design of the control valves has the disadvantage that the legally permitted frame speed for the movement speed of the mast tip is used very poorly in most practical cases.
- the previously mentioned "worst case" in which all joints are moved at maximum speed with fully extended articulated mast, practically never occurs.
- the limitation of the movement speed therefore leads in most cases to a very slow mast movement Knickmastes considerable time delays, which makes the
- the aforementioned WO 2014/1 6637 A1 proposes a large manipulator, in which the control device provides a rapid traverse for the rotary drive of the mast block to rotate the articulated mast with increased speed in the desired working position, the rapid traverse is selectable only when the Mast or boom is completely folded.
- a single sensor which cooperates with the control device, is provided in the previously known large manipulator, wherein it can be determined via the sensor, whether the Articulated mast completely folded or not. The sensor generates a release signal to the control device, as long as it is ensured that the articulated mast is folded and thus has a minimum radius. In this condition, the articulated mast can be rotated at an increased speed.
- the permissible frame for the speed of the mast top is still insufficiently utilized. Only with fully folded articulated mast a rotary movement of the mast with increased speed is possible. In all partially unfolded positions, however, the articulated mast is still moved only at a reduced movement speed corresponding to the "worst case", in such a way that the legally permissible maximum speed of the mast tip is never exceeded, regardless of the mast position Thus, the achieved mast speed is still well below the legally permissible still take the unfolding and folding of the articulated mast too long.
- the articulated mast should be able to be brought from its fully folded state into its desired working position in minimal time. Likewise, the articulated mast from the working position in minimal time in the fully folded position can be transferred. In addition, the articulated mast should be able to move quickly from a working position to another working position when set up.
- This object is achieved by the invention starting from a large manipulator of the type mentioned above in that the control device is set up to limit the speed of the mast movement based on the output signal of the mast sensor.
- the pivot angle of at least one articulated joint of the articulated mast is limited depending on the current swing angle.
- the position of a point of the mast is detected, for example, the distance of this point to the mast block, and based on the control of the speed of the mast movement limited so that a maximum allowable speed of this point, or the derived speed of another point of the articulated mast , is not exceeded.
- the control device processes according to the invention, the detected pivoting angle and calculated from the positions of the mast joints and the travel speeds of the rotary actuators in particular the resulting speed of the mast top. Based on this calculation, the drives of the articulated joints can then be controlled and the speed of at least one of the drives can be limited.
- the control device is set up to control the individual drives proportionally in accordance with a travel command, the travel command specifying the desired speeds of the drives.
- the move command results, for example, from the signals of a remote control, which is used by an operator of the large manipulator to control the mast movement.
- the control device controls the individual drives in such a way that the respective travel speed corresponds to the setpoint speed in accordance with the travel command.
- the Control device determine the speed of the tip of the articulated boom resulting from the travel command, the Mastarmandern and the instantaneous pivoting angles, as explained above.
- the control device can accordingly reduce the speeds of the individual drives with respect to the travel command as soon as the speed of the tip of the articulated mast exceeds a predetermined limit, which corresponds, for example, to a legally prescribed maximum speed.
- the control device is designed to control the speed of the tip of the articulated mast by controlling the drives to a value that is less than or equal to the predetermined limit.
- control device reduces the speeds of all drives with respect to the travel command by the same factor, so that the speed of the tip of the articulated mast is always less than or equal to the predetermined limit, regardless of the current mast position resulting from the sensed pivoting angles of Articulated joints results.
- the control device is designed to derive the travel command, ie the setpoint speeds of the individual drives, from an operating signal which specifies the desired movement of the tip of the articulated mast.
- an operating signal which specifies the desired movement of the tip of the articulated mast.
- the control device determines according to an advantageous embodiment of the invention, taking into account the mast position and the mast speed, the kinetic energy in the mast movement and limits the mast speed via the control of the mast drives so that a maximum kinetic energy of the articulated mast is not exceeded during its movement. This measure prevents a mechanical overloading of the articulated boom during an abrupt acceleration or deceleration of the mast movement.
- control device may include a ramp control for the speed, if necessary in conjunction with a vibration damping. As a result, the acceleration or deceleration of the articulated boom movement can be limited.
- the invention makes it possible to allow higher traversing speeds at individual articulated joints of the mast, so that the legally prescribed frame for the mast speed can be utilized better than in the prior art.
- the sensory detection of the mast position and the derivation of the mast kinematics from the swivel angles is the basis of a regulation of the travel speeds of the drives, in which compliance with the legal speed limit is always ensured.
- the articulated mast can be moved considerably faster in most practical situations than in the large manipulators known from the prior art. When unfolding and folding the articulated mast, this results in great temporal advantages over the previously known systems.
- Figure 1 inventive large manipulator with
- FIG. 3 Block diagram of the control of the
- FIG. 1 shows schematically a large manipulator according to the invention, namely a truck-mounted concrete pump, which is designated overall by the reference numeral 1.
- a mast bracket 3 is arranged, which is rotatable about a vertical axis of the truck-mounted concrete pump 1 by means of a (not shown) rotary drive.
- articulated mast is articulated, which comprises four mast arms 5, 6, 7 and 8 in the illustrated embodiment.
- the first mast arm 5 is pivotally mounted on the mast block 3 via a hinge about a horizontal axis. The pivoting movement is effected by a (not shown for clarity) pivot drive.
- the remaining mast arms 6, 7 and 8 are pivotally connected to the respective adjacent mast arms via articulated joints about mutually parallel, horizontal axes.
- the pivoting movement also causes each one (not shown) pivot drive.
- the part-turn actuators each have one (or more) hydraulic cylinders, which are controlled via proportional control valves. These in turn are controlled by an electronic control device (not shown) for the mast movement.
- the large manipulator 1 has a mast sensor system (eg in the form of angle sensors for the joints, displacement sensors for detecting the piston positions of the individual hydraulic cylinders or geodetic inclination sensors).
- a mast sensor system eg in the form of angle sensors for the joints, displacement sensors for detecting the piston positions of the individual hydraulic cylinders or geodetic inclination sensors.
- the control device by appropriate control of the valves of the hydraulic cylinder controls the speed of the mast movement depending on the instantaneous pivot angles ⁇ 1, ⁇ 2, ⁇ 3 and ⁇ 4 of the articulated joints.
- the elastic deformation of the individual boom arms 5, 6, 7, 8 is neglected, so that these are regarded as rigid bodies.
- the absolute movements of the system are described in the inertial coordinate system O o x o y o z o , that is, in the coordinate system fixed relative to the chassis 2.
- O d X d y d Z d denotes that coordinate system which is rotated relative to the inertial coordinate system by the angle of rotation ⁇ .
- a local coordinate system 0 iii z i is defined for each mast arm 5, 6, 7, 8, whose x i axis extends along the longitudinal axis of the respective mast arm 5, 6, 7, 8. Since the mast arms for i> 2 typically have a kink at the beginning, their longitudinal axis does not intersect the respective hinge axis. The origin of each local coordinate system is therefore placed on the intersection of the longitudinal axis with that orthogonal line passing through the hinge axis.
- the kinematic relationships between the local coordinate systems and the inertial coordinate system can be represented by rotation matrices and translation vectors.
- the inertial coordinates of a point on the longitudinal axis of the / mast arm described in local coordinate system i are by
- Inertial coordinate system o is by
- L j denotes the length of the y-th mast arm.
- the inertial coordinates of the end point EP of the N-th mast arm can thus as a function of the positions of the N joints and the mast bracket 3 by with the vector of degrees of freedom
- the speed of the end point EP in the direction of the individual coordinate axes is obtained by differentiation according to time
- the operator of the large manipulator is enabled to proportionally control the travel speeds of the individual hydraulic cylinders.
- the resulting joint angular velocities can be determined with knowledge of the translation of the joint kinematics based on the target speeds for the hydraulic cylinder.
- the piston position s z, i of a cylinder can generally be represented as a nonlinear function of the corresponding joint angle ⁇ i ,
- the control device controls the hydraulic cylinders in accordance with this modified travel command and limits their movement speed, so that the mast tip EP never moves faster than allowed by law.
- the travel speed can be maximally fast within the legal framework in any mast position, whereby considerable time can be saved when unfolding and folding the articulated mast 4, but also when moving the mast between two working positions, compared to the prior art.
- sensors for detecting the positions of the end points of the mast arms relative to the mast block or chassis are proposed. These are generally known to the person skilled in the art and can be embodied, for example, as GPS, radio or ultrasound sensors. As shown in Fig. 2 for the position of the end point EP of the last mast element 8, for example, the horizontal distance (the radius) of the mast tip to the inertial coordinate system detected by measurement. If only the horizontal path speed is independent of the movement specifications for the individual cylinders to a value be restricted, results in the particularly simple requirement for compliance with the inequality Furthermore, it should be mentioned that for the implementation of the invention not all joint angles have to be detected. For example, the angle of the last joint not detected, the algorithm can be modified so that speed of the mast top speed
- the end point of the penultimate mast segment is index N-1 monitored. Depending on its position, a maximum permissible speed for this end point can be determined, in compliance with which the maximum permitted speed of the mast tip is independent of the joint angle can not be exceeded. Even with this restriction, a significant time savings in the construction and dismantling of the machine over the prior art is possible.
- An active vibration damping can reduce the dynamic load, since vibrations that occur can be quickly compensated.
- the first rash of a vibration caused by an abrupt change in motion given by the user remains largely preserved despite vibration damping, but can be effectively reduced, for example, by a ramp control become.
- This can, for. B. be implemented as a control rate limit, in which the amount of the rate of change of the speed setpoints is limited to a maximum value. Describe the speed specifications at the sampling times
- the rate limit can be set in the form
- Embodiment of a ramp control is a time-delayed first-order holding member.
- the fact is used that the user-specified target speed with a slower time constant and being sampled. So that can
- This approach has the advantage that results for the user a uniform deceleration behavior of the system for the entire control range.
- FIG. 3 shows a block diagram with an embodiment of the mast sensor for controlling the boom arm 4 of a large manipulator 1 according to the invention, in which the control or limiting the speed of the mast movement is dependent on the instantaneous mast position.
- the articulated mast 4 is controlled by a remote control 10 from an operator via the two joysticks 1 1 a and 1 1 b.
- the joystick 1 1 a for example, the rotational movement of the rotary drive of the articulated mast 4 is controlled and with the joystick 1 1 b, for example, the rotary actuators of the individual articulated joints of the articulated mast 4 are controlled.
- the position A is selected in particular during the concreting process.
- very low limit speeds are preset for the individual drives of the articulated mast 4.
- the position B corresponds to the simple control of the mast arm 4 as in the state of the technique.
- the mast speed is optimized or maximized according to the invention.
- the control signals of the joysticks 1 1 a, 1 1 b and the switching position of the rotary switch 12 are passed via a radio interface 13/14 to the mast control 15 with processor 17.
- the processor 17 receives via the signal lines 26a-d, the output signals of the mast sensor which correspond to the swivel angles ⁇ 1 to ⁇ 4 of the individual articulated joints of the articulated mast 4 or can be derived therefrom.
- the angles can be detected, for example, directly by means of rotational angle sensors, which also operate without contact (eg according to the Hall principle).
- the bending angles of the articulated mast 4 can also be determined in the processor 17 by means of signals from geodesic inclination sensors which are mounted on the individual boom arms 5-8.
- the processor 17 will not consider the swivel angle ⁇ 1 to ⁇ 4 in the control of the articulated mast 4 and the hydraulic valves 20 and 21 ac control so that the predetermined movement speeds of the individual drives to fixed values are limited, which ensures compliance with legal standards, regardless of the instantaneous pivoting angles, ie the articulated mast behaves in the control as known in the art.
- the control signals from the processor 17 are passed via the control lines 24a - 24d and 25 to the proportional hydraulic valves 20 and 21 a to 21 d, wherein the hydraulic valve 20, for example, a hydraulic motor 22 drives, which sets the mast block 3 in a rotary motion and the hydraulic valves 21st a - 21 d, the hydraulic cylinder 23a-d drive, the pivoting of the mast arms 5 - 8 of the articulated mast 4, if necessary. With the aid of suitable lever, cause.
- the processor 17 determines on the basis of the determined bending angle ⁇ 1 to ⁇ 4, the pole position of the articulated mast 4. It then controls the movement of the articulated mast 4 via the hydraulic valves 20, 21 a-21 d so that the web speed of the articulated mast 4 does not exceed a predetermined speed of the end point EP at the end point EP , The processor 17 also determines from the mast position and the calculated mast speed, the kinetic energy of the mast 4 and takes this into account, as explained above, in the control of the hydraulic valves 20, 21 a-21 d. As a result, a maximum permitted kinetic energy of the moving articulated mast 4 is not exceeded.
- the processor 17 can apply a vibration damping algorithm, whereby vibrations of the articulated mast 4, for example during braking or during concreting work are reduced.
- the load on the articulated mast 4 can also be reduced, in particular when the mast is being decelerated, as already explained above.
- the processor 17 may provide ramp control, as described in detail above. The ramp control further reduces the load on the articulated mast 4.
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102015108473.2A DE102015108473A1 (en) | 2015-05-28 | 2015-05-28 | Large manipulator with quick folding and unfolding articulated mast |
PCT/EP2016/062183 WO2016189169A1 (en) | 2015-05-28 | 2016-05-30 | Large manipulator with articulated mast that can be quickly folded and unfolded |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3303732A1 true EP3303732A1 (en) | 2018-04-11 |
EP3303732B1 EP3303732B1 (en) | 2024-03-06 |
Family
ID=56203311
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16731808.8A Active EP3303732B1 (en) | 2015-05-28 | 2016-05-30 | Large manipulator with articulated mast that can be quickly folded and unfolded |
Country Status (5)
Country | Link |
---|---|
US (1) | US10625990B2 (en) |
EP (1) | EP3303732B1 (en) |
CN (1) | CN107849856B (en) |
DE (1) | DE102015108473A1 (en) |
WO (1) | WO2016189169A1 (en) |
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DE102016125145A1 (en) * | 2016-12-21 | 2018-06-21 | Schwing Gmbh | Large manipulator with automated mast construction |
DE102017107430A1 (en) | 2017-04-06 | 2018-10-11 | Schwing Gmbh | Rotation angle sensor holding system |
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CN109057350A (en) * | 2018-09-30 | 2018-12-21 | 中铁六局集团广州工程有限公司 | Concrete casting device and casting system |
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DE102019129810A1 (en) * | 2019-11-05 | 2021-05-06 | Putzmeister Engineering Gmbh | Method, control device, system, concrete placing boom and computer program for controlling the movement of an end hose |
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2015
- 2015-05-28 DE DE102015108473.2A patent/DE102015108473A1/en active Pending
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2016
- 2016-05-30 EP EP16731808.8A patent/EP3303732B1/en active Active
- 2016-05-30 WO PCT/EP2016/062183 patent/WO2016189169A1/en active Application Filing
- 2016-05-30 CN CN201680041348.2A patent/CN107849856B/en active Active
- 2016-05-30 US US15/577,706 patent/US10625990B2/en active Active
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CN107849856B (en) | 2020-06-16 |
EP3303732B1 (en) | 2024-03-06 |
CN107849856A (en) | 2018-03-27 |
DE102015108473A1 (en) | 2016-12-01 |
WO2016189169A1 (en) | 2016-12-01 |
US20180162701A1 (en) | 2018-06-14 |
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