Patent Grant
11840426
The present disclosure relates to a large manipulator for concrete pumps comprising a distributor boom, which comprises an articulated boom, is mounted on a boom pedestal, is made up of multiple boom arms connected to one another in an articulated manner and having a boom tip and multiple joints for pivoting the boom arms with respect to the boom pedestal or an adjacent boom arm, said large manipulator including a control device for controlling the movement of the articulated boom with the aid of drive unit actuating elements for drive units respectively associated with the articulated joints. In this case, the boom pedestal can be arranged on a frame and can be rotatable about a vertical axis. The disclosure also relates to a method for damping the mechanical vibrations of a distributor boom of a large manipulator for concrete pumps.
Such a large manipulator and such a method for damping mechanical vibrations of the distributor boom of a large manipulator for concrete pumps is known from EP 1 319 110 B1. The large manipulator of EP 1 319 110 B1 comprises a distributor boom with an articulated boom composed of at least three boom arms, the boom arms of which can be pivoted to a limited extent about respectively horizontal and parallel articulated axes by means of a drive unit. This large manipulator includes a control device for boom movement with the aid of actuating elements associated with the individual drive units and means for damping mechanical vibrations in the articulated boom. With regard to boom damping in the case of the large manipulator, a time-dependent measured variable derived from the mechanical vibration of the boom arm in question is determined, which measured variable is processed in an evaluation unit to generate a dynamic damping signal and is connected to an actuating element controlling the drive unit in question.
The structure of the distributor boom of such a large manipulator is a resiliently oscillatory system that can be excited to natural oscillations. A resonant excitation of such vibrations can cause the boom tip to vibrate at amplitudes of one meter and more. Vibrations can be excited, for example, through the pulsating operation of a concrete pump and the resulting periodic acceleration and deceleration of the concrete column pushed through the delivery line. As a result, the concrete can no longer be evenly distributed and the worker who guides the end hose is put in danger.
The present disclosure provides a large manipulator for concrete pumps with a damping behavior that is more stable than known large manipulators and a method for damping the mechanical vibrations of large manipulators that enables undesired vibrations to be efficiently damped regardless of the postures of the large manipulator.
One embodiment comprises a large manipulator for concrete pumps that comprises a distributor boom. The distributor boom comprises an articulated boom which is mounted on a boom pedestal, is made up of multiple boom arms connected to one another in articulated manner, and has a boom tip and multiple joints for pivoting the boom arms with respect to the boom pedestal or an adjacent boom arm. The large manipulator includes a control device for controlling the movement of the articulated boom with the aid of drive unit actuating elements for drive units respectively associated with the articulated joints. In the large manipulator, a device is provided for determining the vertical speed v∥ of a boom arm location on at least one boom arm in a plane parallel to the articulated boom and in a coordinate system referenced to the frame. Also provided is a device for determining the articulated angles of the joints.
In such a large manipulator, the vertical speed v∥ of a boom arm location is understood to be the speed of the boom arm location in the direction of gravity.
The control device controls the movement of the articulated boom by providing positioning control variables SDi for the actuating elements of the drive units, which positioning control variables depend on a vertical speed v∥ of the boom arm location which has been determined by the device for determining a vertical speed v∥ of a boom arm location, and on the articulating angles εi of the joints determined by the device for determining the articulating angles of the joints, and on control signals S for adjusting the distributor boom generated by a controller that can be operated by a boom operator.
According to one preferred embodiment of the large manipulator, the control device includes a controller assembly which is coupled to the device for determining the vertical speed of a boom arm location and to the device for determining the articulating angles of the joints and is intended for controlling the actuating elements, and which includes a distributor boom damping routine. In this case, the distributor boom damping routine determines, based on a vertical speed v∥ of the boom arm location determined by the device for determining the speed, a damping force FD∥, and divides the damping force determined into component damping forces associated with the individual joints. Based on the component damping forces and from the articulating angles determined using the device for determining the articulating angle εi of the joints of the drive units associated with the articulated joints and from known physical quantities of the distributor boom, damping control variables DSi for controlling the drive unit actuating elements are then determined for damping the articulated boom are included in the positioning control variables SDi for the actuating elements of the drive units.
The known physical variables of the distributor boom preferably include the joint kinematics of the joints of the distributor boom and the geometry of the boom arms, in particular their length.
The device for determining the speed of a boom arm location on at least one boom arm in the large manipulator can, in particular, be designed to determine the vertical speed v∥ of the boom tip of the articulated boom.
In one embodiment, the distributor boom damping routine determines, based on the component damping force associated with a joint and based on the articulating angle εi determined for the joint, a target component damping force FDi to be generated by means of the drive unit associated with the joint, or a target component damping torque MDi that can be generated by means of the drive unit associated with the joint.
In particular, the large manipulator can include a device for determining an actual force Fi generated by means of the drive unit associated with the joint, or for determining an actual torque Mi generated by means of the drive unit associated with the joint.
In this context, is advantageous if the distributor boom damping routine includes a control stage that determines the damping control variables DSi for the drive unit for damping the distributor boom, based on a comparison between the actual force Fi generated by the drive unit and the target component damping force FDi to be generated, or from a comparison between the actual torque Mi generated by the drive unit and the component target damping torque MDi to be generated.
This target component damping force FDi or this target component damping torque MDi is then generated by means of the drive unit associated with the joint. In this case, the control device in the large manipulator can include a controller that supplies control signals S to the controller assembly, the controller assembly then preferably having a distributor boom posture setpoint routine which translates the control signals S into posture setpoint values PSi in the form of setpoints for the articulating angles εi of the joints of the distributor boom.
In another embodiment, the controller assembly includes a distributor boom control routine which determines the posture control variables SDi for the actuating elements of the drive units based on the actual posture values PIi in the form of actual values of the articulating angles εi of the joints of the distributor boom supplied by the controller assembly and the setpoint values PSi. The distributor boom control routine can, e.g., determine the difference between actual posture values PIi and target posture values PSi, process this difference in a zero order hold filter and feed it as a controlled variable to a control stage designed as a PI controller (proportional-integral-derivative controller), which outputs the positioning control variables SDi.
The controller assembly preferably has a superimposition routine for superimposing the damping control variables DSi and the positioning control variables SDi to form control signals SWi for the actuating elements of the drive units. In particular, one concept of the invention is that of the superimposition routine being designed as an adding routine which adds the damping control variables DSi to the positioning control variables SDi.
In addition, the device for determining the vertical speed v∥ of a boom arm location on at least one boom arm should include a speed sensor arranged on the boom arm and/or an acceleration sensor and/or an angle sensor that detects the position of the boom arm in relation to the direction of gravity.
According to a further embodiment, the large manipulator can comprise a device, e.g., a processor, for calculating the actual forces Fi or actual torques Mi generated by the drive units, in which case the control device includes a controller assembly with a distributor boom vertical damping routine which is continuously supplied with the actual forces Fi or actual torques Mi generated by the drive units, as well as the vertical speed v∥ determined for the boom arm location and the joint angles εi determined for the articulated joints. The distributor boom vertical damping routine thereby determines a vertical force F∥ acting on the boom arm location based on the supplied actual forces Fi or actual torques Mi and the supplied joint angles εi of the joints, and known physical variables of the distributor boom. The distributor boom vertical damping routine transfers the vertical force F∥ acting on the boom arm location into a vertical target speed v∥target of the boom arm location. Based on the target vertical speed v∥target of the boom arm location and the vertical speed v∥ determined for the boom arm location, the distributor boom vertical damping routine determines a vertical comparison value Δv∥. This vertical comparison value Δv∥ is then converted into a reverse transformation angular velocity {dot over (ε)}i Inv of the articulated joint by means of a reverse transformation based on the supplied joint angles εi of the joints and based on known physical variables of the placing boom. The distributor boom vertical damping routine includes a distributor boom control routine which compares the reverse transformation angular velocity {dot over (ε)}i Inv obtained by reverse transformation of the articulated joints with an actual angular velocity {dot over (ε)}i fed to the distributor boom control routine and, based on this comparison, determines the positioning control variables SDi for the actuating elements of the drive units.
In an advantageous embodiment of said large manipulator, it is provided that the controller feeds control signals S to the controller assembly, which are converted in the controller assembly into target posture values PSi in the form of target values of the articulating angles εi of the articulated joints of the distributor boom.
In this case, the device for determining the vertical speed v∥ of a boom arm location on at least one boom arm is preferably designed to determine the speed of the boom tip of the articulated boom.
It should be noted that the device for determining the vertical speed v∥ of a boom arm location on at least one boom arm can include a speed sensor and/or acceleration sensor arranged on the boom arm and/or an angle sensor that detects the position of the boom arm in relation to the direction of gravity.
The present disclosure also extends to a large manipulator in which the boom pedestal is arranged on a frame and can be rotated about a vertical axis, the control device being designed for controlling a rotary movement of the boom pedestal about the vertical axis with the aid of at least one actuating element of a drive unit associated with the boom pedestal, in which cases a device for determining the horizontal speed v⊥ of a boom arm location in a plane perpendicular to the vertical axis and in a coordinate system referenced to the frame is provided, as well as a device for determining the angle of rotation ε18 of the boom pedestal about the vertical axis, with the control device controlling the movement of the articulated boom by providing positioning variables SD90 for the at least one actuating element of the drive unit associated with the boom pedestal, which positioning control variables depending on a horizontal speed v⊥ of the boom arm location determined by means of the device for determining the horizontal speed v⊥ of a boom arm location, and on control signals S for adjusting the distributor boom which are generated by the device for determining the angle of rotation of the boom pedestal about the vertical axis, and by a controller that can be operated by a boom operator.
A large manipulator of this kind can include a controller assembly that is coupled to the device for determining the horizontal speed v⊥ and to the device for determining the articulating angle of the articulated joints, and which is intended for controlling the actuating elements, which actuating elements include a distributor boom damping routine which determines a damping force FD⊥ based on the horizontal speed of the portion of the at least one boom arm determined by the device for determining the horizontal speed v⊥, and which determines, based on said damping force FD⊥ and based on the articulating angles determined by means of the device for determining the articulating angles of the articulated joints and from known physical variables of the distributor boom, damping control variables DSi for the drive unit associated with the boom pedestal, for damping the articulated boom, which control variables enter into the positioning control variables SD90 for controlling the at least one actuating element of the drive unit associated with the boom pedestal.
Alternatively, it is also possible for the large manipulator to include a device, e.g., a processor, for calculating the actual force Fi or actual torque Mi generated by means of the drive unit associated with the vertical axis, in which case the control device includes a controller assembly having a distributor boom horizontal damping routine to which the determined actual force Fi generated by the drive unit associated with the vertical axis, or the determined actual torque Mi generated by the drive unit associated with the vertical axis, as well as the determined horizontal speed v⊥ of the boom location and the determined articulating angle εi of the articulated joints are continuously supplied, with the distributor boom horizontal damping routine determining, based on the supplied actual force Fi or the supplied actual torque Mi as well as the supplied articulating angles εi of the joints, as well as known physical variables of the distributor boom, a horizontal force F⊥ acting on the boom arm location, converting the horizontal force F⊥ acting on the boom arm location into a horizontal target speed v⊥Target for the boom arm location, determining, based on the horizontal target speed v⊥Target of the boom arm location and the determined horizontal speed v⊥ of the boom arm location, a horizontal comparison value Δv⊥, converting the horizontal comparison value Δv⊥, by means of an inverse transformation on the basis of the supplied articulating angles εi of the joints and on the basis of known physical variables of the distributor boom, into an inverse transformation angular velocity {dot over (ε)}18 Inv of the boom pedestal about the vertical axis thereof, whereby the boom horizontal damping routine includes a distributor boom control routine which compares the inverse transformation angular velocity {dot over (ε)}18 Inv of the boom frame about the vertical axis thereof, obtained by inverse transformation, with an actual angular speed {dot over (ε)}i of the articulated joints, fed to the distributor boom control routine, and determining, based on this comparison, the positioning control variables SD90 for the drive unit associated with the vertical axis.
In this case, the boom arm location can be a boom tip of the articulated boom. It should be noted that the device for determining the horizontal speed v⊥ of the boom arm location on at least one boom arm can include a speed sensor and/or acceleration sensor arranged on the boom arm, and/or an angle sensor that detects the angle of rotation of the boom pedestal about the vertical axis.
Also disclosed herein is a method for damping mechanical vibrations of an articulated boom of a large manipulator for concrete pumps comprising an articulated boom, which is mounted on a boom pedestal and is made up of multiple boom arms connected to one another in an articulated manner and having a boom tip and multiple articulated joints for pivoting the boom arms about respectively horizontal, parallel articulated axes with respect to the boom pedestal or an adjacent boom arm, as well as including a control device for controlling the movement of the articulated boom with the aid of actuating elements for drive units respectively associated with the articulated joints. In this case, the vertical speed v∥ of a boom arm location is determined in a plane parallel to the articulated boom and in a coordinate system referenced to the frame. The joint angles of the articulated joints are determined, and positioning control variables SDi are generated for the actuating elements of the drive units, which positioning control variables depend on a vertical speed v∥ of the boom arm location determined by the device for determining a vertical speed v∥ of a boom arm location, and on the articulating angles εi of the joints determined by means of the device for determining the articulating angles of the joints, and on control signals S for adjusting the distributor boom generated by a controller that can be operated by a boom operator.
In this context, one embodiment includes determining a damping force FD∥ based on the vertical speed v∥ determined for the boom arm location, the determined damping force FD∥ is divided into component damping forces associated with the individual articulated joints, and particular damping control variables DSi for controlling the drive unit actuating elements for damping the articulated boom, which variables enter into the positioning control variables SDi for the actuating elements of the drive units, are provided from the component damping forces and from the determined articulating angles εi for the drive units associated with the articulated joints, and from known physical variables of the distributor boom for damping the boom arms.
As an alternative thereto, it is also possible for the actual forces Fi or actual torques Mi generated by the drive units to be determined, the vertical speed v∥ of a boom arm location to be determined on at least one boom arm, and the articulating angles εi of the articulated joints to be determined, in which case a vertical force F∥ acting on the boom arm location is determined based on the supplied actual forces Fi or actual torques Mi and the supplied articulating angles εi of the joints, as well as from known physical variables of the distributor boom, with the vertical force F∥ acting on the boom arm location being converted into a vertical target speed v∥Target for the boom arm location, a vertical comparison value Δv∥ being determined from the vertical target speed v∥Target of the boom arm location and the vertical speed v∥ determined for the boom arm location, the vertical comparison value Δv∥ being converted, by means of an inverse transformation based on the supplied articulating angle εi of the joints and on the basis of known physical variables of the distributor boom, into an inverse transformation angular velocity {dot over (ε)}i Inv of the articulated joints, and the inverse transformation angular velocities {dot over (ε)}i Inv of the articulated joints, obtained by inverse transformation, being compared with the actual angular velocities {dot over (ε)}i of the articulated joints, and positioning control variables SDi for the actuating elements of the drive units being determined from this comparison.
In this case, the vertical speed v∥ of the boom tip can be determined as the vertical speed v∥ of a boom arm location.
Also disclosed is a method for damping mechanical vibrations of an articulated boom in a large manipulator for concrete pumps, comprising a boom pedestal that is arranged on a frame and is rotatable on the frame about a vertical axis, comprising an articulated boom which is mounted on the boom pedestal and is made up of multiple boom arms connected to one another in an articulated manner, and having a boom tip and multiple articulated joints for pivoting the boom arms about respectively horizontal and mutually parallel articulated axes with respect to the boom pedestal or an adjacent boom arm, and comprising a control device for controlling the movement of the articulated boom about the vertical axis by means of an actuating element of a drive unit associated with the vertical axis, in which the horizontal speed v⊥ of a boom arm location is determined in a plane perpendicular to the vertical axis and in a coordinate system referenced to the frame, and in which the articulating angles of the articulated joints are determined, in which case the movement of the articulated boom is controlled by providing positioning control variables SD90 for the at least one actuating element of the drive unit associated with the boom pedestal, which control variables are dependent on a horizontal speed v⊥ of the boom arm location determined by means of the device for determining the horizontal speed v⊥, and on control signals S for adjusting the placing boom which are generated by the device for determining the angle of rotation ε18 of the boom pedestal about the vertical axis, and by a controller that can be operated by a boom operator.
In this case, according to an advantageous embodiment of this method, a damping force FD⊥ is determined based on the determined horizontal speed v⊥, and damping control variables DSi are determined from this damping force FD⊥ and from the determined articulating angles εi for the drive units associated with the articulated joints and from known physical variables of the distributor boom for damping the articulated boom, which control variables are included in the positioning control variables SD90 for the at least one actuating element the drive unit associated with the boom pedestal.
Alternatively, it is also possible for the determined actual force Fi generated by the drive unit associated with the vertical axis, or the determined actual torque Mi generated by the drive unit associated with the vertical axis, the horizontal speed v⊥ of a boom arm location on at least one boom arm, and the articulating angle εi of the articulated joints, as well as the angle of rotation ε18 of the boom pedestal about the vertical axis thereof to be determined, in which case a horizontal force F⊥ acting on the boom arm location is determined from the actual force or the supplied actual torque and the supplied articulating angles εi of the joints, as well as from known physical variables of the distributor boom, with the horizontal force F⊥ acting on the boom arm location being converted into a horizontal target speed v⊥Target of the boom arm location, a horizontal comparison value Δv⊥ being determined from the horizontal target speed v⊥Target of the boom arm location and the determined horizontal speed v⊥ of the boom arm location, the horizontal comparison value Δv⊥ being converted, by means of an inverse transformation on the basis of the supplied articulating angles εi of the joints and on the basis of the known physical variables of the distributor boom, into an inverse transformation angular velocity {dot over (ε)}18 Inv of the boom pedestal about the vertical axis thereof, and the inverse transformation angular velocity {dot over (ε)}18 Inv of the boom pedestal about the vertical axis thereof, obtained by inverse transformation, being compared with an actual angular speed {dot over (ε)}i of the articulated joints, supplied to the distributor boom control routine, and determining, based on this comparison, the positioning control variables SD18 for the drive unit associated with the vertical axis.
It should be noted that, in particular, the horizontal speed v⊥ of the boom tip can be determined as the horizontal speed v⊥ a boom arm location.
Another disclosed embodiment provides a large manipulator for concrete pumps, comprising a distributor boom (20), which comprises an articulated boom (32) which is mounted on the boom pedestal (30) and is made up of multiple boom arms (44, 46, 48, 50, 52) connected to one another in an articulated manner and having a boom tip (64) and multiple joints (34, 36, 38, 40, 42) for pivoting the boom arms (44, 46, 48, 50, 52) with respect to the boom pedestal (30) or an adjacent boom arm (44, 46, 48, 50, 52), and said large manipulator comprising a control device (86) for controlling the movement of the articulated boom (32) with the aid of drive unit actuating elements (90, 92, 94, 96, 98100) for drive units (68, 78, 80, 82, 84) respectively associated with the articulated joints (34, 36, 38, 40, 42), comprising a device (102) for determining the vertical speed v∥ of a boom arm location on at least one boom arm (44, 46, 48, 50, 52), and comprising a device (116) for determining the articulating angles εi of the joints (34, 36, 38, 40, 42), the control device (86) controlling the movement of the articulated boom (32) by providing control signals SWi for the actuating elements (90, 92, 94, 96, 98, 100) of the drive units (68, 78, 80, 82, 84), which positioning control variables depend on a vertical speed v∥ of a boom arm location determined by the device (102) for determining a vertical speed v∥ of a boom arm location, and on the articulating angles εi of the joints (34, 36, 38, 40, 42) determined by means of the device (116) for determining the articulating angles of the joints (34, 36, 38, 40, 42), and on control signals S for adjusting the distributor boom (20) generated by a controller (87) that can be operated by a boom operator, characterized in that the control device (86) includes a controller assembly (89) which is coupled to the device (102) for determining the vertical speed v∥ of a boom arm location and to the device (116) for determining the articulating angles εi of the articulated joints (34, 36, 38, 40, 42), includes a distributor boom vertical damping routine (1154), and comprises the device (176) for calculating the actual forces Fi or actual torques Mi generated by the drive units (68, 78, 80, 82, 84), wherein the controller (87) supplies the controller assembly (89′) with a control signal S which is converted, in the controller (89), into target posture values PSi in the form of target values of the articulating angles εi of the articulated joints (34, 36, 38, 40, 42) of the distributor boom (20), wherein the determined actual forces Fi or actual torques Mi generated by the drive units (68, 78, 80, 82, 84), and the vertical speed v∥ of the boom arm location are determined by said device (116), and the determined articulating angles εi of the articulated joints (34, 36, 38, 40, 42) are continuously supplied to the distributor boom vertical damping routine (1154), wherein the distributor boom vertical damping routine (1154): determines, based on the supplied actual forces Fi or actual torques Mi, and the supplied articulating angles εi of the joints, as well as known physical variables of the distributor boom (20), a vertical force F∥ acting on the boom arm location (64), converts the vertical force F∥ acting on the boom arm location (64) into a vertical target speed v∥Target for the boom arm location (64), determines a vertical comparison value Δv∥ between the vertical target speed v∥Target of the boom arm location (64) and the vertical speed v∥ determined for the boom arm location (64), the vertical comparison value Δv∥ being converted, by means of an inverse transformation based on the supplied articulating angles εi of the joints and based on known physical variables of the distributor boom (20) into an inverse transformation angular velocity {dot over (ε)}i Inv of the articulated joints (34, 36, 38, 40, 42), and the inverse transformation angular velocity {dot over (ε)}i Inv of the articulated joints (34, 36, 38, 40, 42) then being integrated, in an angular velocity calculation stage (163) designed as an integration stage, over a constant time interval, to form target values of the articulating angles of the joints, defining the target posture values PSi, the controller assembly (89′) comprising a distributor boom control routine (1156) which receives target posture values PIi, from an input routine (152), in the form of actual values of the articulating angles εi of the joints (34, 36, 38, 40, 42) determined by the device (116) for determining the articulating angles of the joints (34, 36, 38, 40, 42), and which determines regulated positioning control variables SDi for the actuating elements (90, 92, 94, 96, 98, 100) of the drive units (68, 78, 80, 82, 84), based on the actual posture values PIi and the target posture values PSi, by means of a control loop implemented therein, which positioning control variables are converted, in an output routine (162), into the control signals SWi for the actuating elements (90, 92, 94, 96, 98, 100) of the drive units (68, 78, 80, 82, 84).
Another disclosed embodiment provides a large manipulator for concrete pumps, comprising a boom pedestal (30) that is arranged on a frame (16) and is rotatable, on the frame (16), about a vertical axis (18), comprising a distributor boom (20), which comprises an articulated boom (32) which is mounted on the boom pedestal (30) and is made up of multiple boom arms (44, 46, 48, 50, 52) connected to one another in an articulated manner and having a boom tip (64), and multiple articulated joints (34, 36, 38, 40, 42) for pivoting the boom arms (44, 46, 48, 50, 52) about respectively horizontal and mutually parallel articulating axes with respect to the boom pedestal (30) or an adjacent boom arm (44, 46, 48, 50, 52), and comprising a control device (86) for controlling the movement of the articulated boom (32) about the vertical axis (18) with the aid of an actuating element (90) of a drive unit (26) associated with the vertical axis (18), comprising a device (110) for determining the horizontal speed v⊥ of a boom arm location in a plane perpendicular to the vertical axis (18) and in a coordinate system (104) referenced to the frame (16), as well as a device (128) for determining the angle of rotation ε18 of the boom pedestal (30) about the vertical axis (18), wherein the control device (86) controls the movement of the articulated boom (32) by providing control signals SW90 for the at least one actuating element (90) for the drive unit (26) associated with the boom pedestal (30), which positioning control variables depend on a horizontal speed v⊥ of the boom arm location determined by the device (110) for determining a horizontal speed v⊥, and on control signals S for adjusting the distributor boom (20) that are generated by means of the device (128) for determining the angle of rotation ε18 of the boom pedestal (30) about the vertical axis (18), as well as by a controller (87) that can be operated by a boom operator, characterized by a device (176) for calculating the actual torque M18 generated by means of the drive unit (26), wherein the controller (87) supplies the controller assembly (89) with control signals S which are converted, in the controller assembly (89), into target posture values PS18 in the form of target values of the angle of rotation ε18 of the boom pedestal (30) about the vertical axis (18), and by the control device (86) including a controller assembly (89′) including a distributor boom horizontal damping routine (1155), to which the determined actual torque M18, generated by the drive unit (26), and the determined horizontal speed v⊥ of the boom arm location and the determined angle of rotation ε18 of the boom pedestal (30) about the vertical axis (18), are continuously supplied, wherein the distributor boom horizontal damping routine (1155): determines, based on the supplied actual torques Mi8, and the supplied angles of rotation ε18 of the boom pedestal (30) about the vertical axis (18), as well as known physical variables of the distributor boom (20), a vertical horizontal force F⊥ acting on the boom arm location, converts the horizontal force F⊥ acting on the boom arm location (64) into a horizontal target speed v⊥Target of the boom arm location (64), determines a horizontal comparison value Δv⊥ based on the horizontal target speed v⊥Target of the boom arm location (64) and the determined horizontal speed v⊥ of the boom arm location (64), converts the horizontal comparison value Δv⊥, by means of an inverse transformation on the basis of the supplied angle of rotation ε18 of the boom pedestal (30) about the vertical axis (18) and on the basis of known physical variables of the distributor boom (20), into an inverse transformation angular velocity {dot over (ε)}18Inv of the angle of rotation ε18 of the boom pedestal (30) about the vertical axis (18), and the inverse transformation angular velocity {dot over (ε)}18Inv of the angle of rotation ε18 of the boom pedestal (30) about the vertical axis (18) is integrated, in an angular velocity calculation stage (163) designed as an integration stage, over a constant time interval, to form a target value of the angle of rotation ε18 defining the target posture values PS18, wherein the controller assembly (89′) includes a distributor boom control routine (1156) which receives actual posture values PI18, from an input routine (152), in the form of actual values from the device (116) for determining the angle of rotation ε18 of the boom pedestal (30) about the vertical axis (18), and determining, by means of a control loop implemented therein, controlled posture values PG18, as positioning control variables SD18, based on the actual posture values PI18 and the target posture values PS18, which controlled posture values are converted, in an output routine (162), into the control signals SW90 for the actuating element (90) of the drive unit (26) associated with the vertical axis (18).
Yet another disclosed embodiment provides a method for damping mechanical vibrations of an articulated boom (32) of a large manipulator for concrete pumps, comprising a distributor boom (20), which comprises an articulated boom (32) which is mounted on a boom pedestal (30) and is made up of multiple boom arms (44, 46, 48, 50, 52) connected to one another in an articulated manner and having a boom tip (64) and multiple articulated joints (34, 36, 38, 40, 42) for pivoting the boom arms (44, 46, 48, 50, 52) about respectively horizontal and mutually parallel articulating axes with respect to the boom pedestal (30) or an adjacent boom arm (44, 46, 48, 50, 52), in which a movement of the articulated boom (32) is controlled with the aid of actuating elements (90, 92, 94, 96, 98100) for drive units (26, 68, 78, 80, 82, 84) respectively associated with the articulated joints (34, 36, 38, 40, 42), in which the vertical speed v∥ of a boom arm location (64) is determined in a plane in parallel with the articulated boom (32) and in a coordinate system (104) referenced to the frame (16), in which the articulating angles of the articulated joints (34, 36, 38, 40, 42) are determined, and in which positioning control variables SDi for the actuating elements (90, 92, 94, 96, 98, 100) of the drive units (68, 78, 80, 82, 84) are generated, which positioning control variables depend on a vertical speed v∥ of a boom arm location determined by the device (102) for determining a vertical speed v∥ of a boom arm location, and on the articulating angles εi of the joints (34, 36, 38, 40, 42) determined by means of the device (116) for determining the articulating angles of the joints (34, 36, 38, 40, 42), and on control signals S for adjusting the distributor boom (20) generated by a controller (87) that can be operated by a boom operator, characterized in that the actual forces Fi or actual torques Mi generated are determined by means of the drive units (68, 78, 80, 82, 84), a vertical force F∥ acting on the boom arm location (64) is determined based on the actual forces Fi or actual torques Mi supplied and the articulating angles εi supplied for the joints, as well as known physical variables of the distributor boom (20), the vertical speed v∥ of a boom arm location (64) on at least one boom arm (44, 46, 48, 50, 52) is determined, and the vertical force F∥ acting on the boom arm location (64) is converted into a vertical target speed v∥Target of the boom arm location (64); a vertical comparison value Δv∥ is determined based on the target vertical speed v∥Target of the boom arm location (64) and the vertical speed v∥ determined for the boom arm location (64), and the vertical comparison value Δv∥ is converted, by means of an inverse transformation based on the supplied articulating angles εi of the joints and based on known physical variables of the distributor boom (20) into an inverse transformation angular velocity {dot over (ε)}i Inv of the articulated joints (34, 36, 38, 40, 42), and the inverse transformation angular velocities {dot over (ε)}i Inv of the articulated joints (34, 36, 38, 40, 42) are integrated, over a constant time interval, to form target values of the articulating angles εi of the joints defining the target posture values PSi wherein the positioning control variables SDi for the actuating elements (90, 92, 94, 96, 98, 100) of the drive units (68, 78, 80, 82, 84) are determined, by means of a control loop, based on the actual posture values PIi and the target posture values PSi, and then being converted into control signals for the actuating elements (90, 92, 94, 96, 98, 100) of the drive units (68, 78, 80, 82, 84).
Still another disclosed embodiment provides a method for damping mechanical vibrations of an articulated boom (32) in a large manipulator for concrete pumps, comprising a boom pedestal (30) that is arranged on a frame (16) and is rotatable, on the frame (16), about a vertical axis (18), comprising a distributor boom (20), which comprises an articulated boom (32) which is mounted on the boom pedestal (30) and is made up of multiple boom arms (44, 46, 48, 50, 52) connected to one another in an articulated manner and having a boom tip (64) and multiple articulated joints (34, 36, 38, 40, 42) for pivoting the boom arms (44, 46, 48, 50, 52) about respectively horizontal and mutually parallel articulating axes with respect to the boom pedestal (30) or an adjacent boom arm (44, 46, 48, 50, 52), in which the movement of the articulated boom (32) about the vertical axis (18) is controlled with the aid of an actuating element (90, 92, 94, 96, 98, 100) of a drive unit (26) associated with the vertical axis (18), wherein the horizontal speed v⊥ of a boom arm location is determined in a plane perpendicular to the vertical axis (18) and in a coordinate system (104) referenced to the frame (16), wherein the articulating angles of the articulated joints (34, 36, 38, 40, 42) are determined, and wherein the movement of the articulated boom (32) is controlled by providing positioning control variables SD90 for the at least one actuating element (90) for the drive unit (26) associated with the boom pedestal (30), which positioning control variables depend on a horizontal speed v⊥ of the boom arm location determined by the device (110) for determining a horizontal speed v⊥, and on control signals S for adjusting the distributor boom (20) that are generated by means of the device (128) for determining the angle of rotation ε18 of the boom pedestal (30) about the vertical axis (18), as well as by a controller (87) that can be operated by a boom operator, characterized in that the actual force Fi generated by means of the drive unit (26) associated with the vertical axis (18) or the actual torque Mi generated by means of the drive unit (26) associated with the vertical axis (18) is determined, the horizontal speed v⊥ of a boom arm location (64) on at least one boom arm (44, 46, 48, 50, 52) is determined, and the articulating angles εi of the articulated joints (34, 36, 38, 40, 42) and the angle of rotation ε18 of the boom pedestal (30) about the vertical axis (18) thereof are determined, a horizontal force F⊥ acting on the boom arm location (64) is determined based on the actual force Fi or the actual torque Mi supplied and the articulating angles εi supplied for the joints, as well as known physical variables of the distributor boom (20), the horizontal force F⊥ acting on the boom arm location (64) is converted into a horizontal target speed v⊥Target of the boom arm location (64), wherein a horizontal comparison value Δv⊥ is determined based on the horizontal target speed v⊥Target of the boom arm location (64) and the horizontal speed v⊥ determined for the boom arm location (64), wherein the horizontal comparison value Δv⊥ is converted, by means of an inverse transformation on the basis of the angle of rotation ε18 supplied for the boom pedestal (30) about the vertical axis (18) and on the basis of known physical variables of the distributor boom (20), into an inverse transformation angular velocity {dot over (ε)}18Inv of the boom pedestal (30) about the vertical axis (18) thereof, and the inverse transformation angular velocity {dot over (ε)}18Inv of the angle of rotation ε18 of the boom pedestal (30) about the vertical axis (18) being integrated, over a constant time interval, to form a target value of the angle of rotation ε18 defining the target posture value PS18, wherein controlled posture values SD18, in the form of positioning control variables SD18, for the drive unit (26) associated with the boom pedestal (30) are determined based on the actual posture values PI18 and the target posture values PS18 by means of a control loop, and are converted into control signals SW90 for the actuating element (90) of the drive unit (26) associated with the vertical axis (18).
The above mentioned and other features of this invention, and the manner of attaining them, will become more apparent and the invention itself will be better understood by reference to the following description of embodiments of the invention taken in conjunction with the accompanying drawings, wherein:
Corresponding reference characters indicate corresponding parts throughout the several views. Although the exemplification set out herein illustrates embodiments of the invention, in several forms, the embodiments disclosed below are not intended to be exhaustive or to be construed as limiting the scope of the invention to the precise forms disclosed.
It should be noted that the large manipulator is, in principle, not only arranged on a transport vehicle, on a frame fixed to the vehicle, but can rather also be arranged on a frame having a fixed location, e.g., arranged on a construction site. In this case, the concrete delivery line received on the distributor boom of the large manipulator is connected to a preferably mobile concrete pump.
The distributor boom 20 comprises a rotatable boom pedestal 30, which can be rotated by means of a drive unit 26, which is designed as a hydraulic rotary drive, about the vertical axis 18 of the articulating joint 28, which axis forms a rotation axis. The distributor boom 20 includes an articulated boom 32 which can be pivoted on the boom pedestal 30 and which can be continuously adjusted to a variable range and height difference between the vehicle 12 and the concreting point 25. In the embodiment shown, the articulated boom 32 has five boom arms 44, 46, 48, 50, 52 articulated to one another by articulated joints 34, 36, 38, 40, 42, which boom arms are pivotable about articulation axes 54, 56, 58, 60, 62 which are arranged so as to be mutually parallel and at right angles to the vertical axis 18 of the boom pedestal 30.
For moving the boom arms about the articulation axes 54, 56, 58, 60, and 62 of the articulated joints 34, 36, 38, 40, 42, the large manipulator has drive units, e.g., hydraulic drives, 68, 78, 80, 82, and 84 associated with the articulated joints.
The arrangement about the articulation axes 54, 56, 58, 60, 62, of the articulated joints 34, 36, 38, 40, 42 and the articulation angles εi, i=34, 36, 38, 40, 42 (
The articulated boom 32 comprises a boom tip 64 on which an end hose 66 is arranged, through which liquid concrete can be discharged from the delivery line 22 of the distributor boom 20 to the concreting point 25.
The large manipulator of the truck-mounted concrete pump 10, together with the transport vehicle 12, forms a vibratory system that can be excited to forced vibrations by the pulsating thick matter pump 14 during operation. These vibrations can lead to deflections of the boom tip 64 and the end hose 66 hanging thereon at vibration amplitudes of up to one meter or even more, the frequencies of these vibrations being between 0.5 Hz and several Hz.
The large manipulator of the truck-mounted concrete pump 10 includes a control device with a mechanism that actively dampens such vibrations by generating additional forces or additional torques by the drive units 26, 68, 78, 80, 82, 84 in the large manipulator. These additional forces or additional torques produce a damping force acting on the distributor boom 20. This damping force is preferably a damping force FD⊥ that acts, for example, perpendicularly on the boom tip 64 and in the horizontal direction, by means of which the rotatory vibrations of the distributor boom 20 about the axis of rotation 18 are weakened (see
It should be noted, however, that, in a modified embodiment of the large manipulator of the truck-mounted concrete pump 10, it may also be possible for the additional forces or additional torques generated to lead to a damping force that acts on the distributor boom 20 in accordance with a point at a distance from the boom tip 64, e.g., on the first, second, third, or fourth boom arm 44, 46, 48, 50, preferably in the area of the articulated joints 36, 38, 40 or 42. Furthermore, it is possible for several additional forces and/or additional torques to be generated in the distributor boom 20 by means of the drive units 26, 68, 78, 80, 82, 84, which act on said boom at the same time in order to dampen it.
In this case, the drive unit 68 generates an actual force Fi, i=68, acting in the direction of the double arrow 77, which is transmitted to the lever element 74 and, owing to the guide element 76 connected to the lever element 74, brings about an actual torque Mi, i=60, around the articulating axis 60 of the articulated joint 40, introduced as a torque from the boom arm 48 into the boom arm 50.
In order to control the movement of the boom arms of the articulated boom 32, the large manipulator has a control device 86, which is explained below with reference to
As a result of the program-controlled activation of the drive units 26, 68, 78, 80, 82, and 84 which are associated, individually, with the articulating axes 54, 56, 58, 60, and 62 and the axis of rotation 18, the articulated boom 32 can be unfolded at different distances and/or height differences between the concreting point 25 and the vehicle location (see, e.g.,
The boom operator controls the distributor boom 20 by, means of, e.g., a control assembly 85 comprising a controller 87. The controller 87 is designed as a remote control and includes operating elements 83 for adjusting the distributor boom 20 with the articulated boom 32, which remote control generates control signals S which can be fed to a controller assembly 89.
The control signals S are transmitted via a radio link 91 to a vehicle-mounted radio receiver 93 which is connected, on the output side, to the controller assembly 89 by means of a bus system 95 that is designed, for example, as a CAN bus.
The control device 86 includes a device 102 for determining the boom tip vertical speed v∥ in a coordinate system 104 referenced to the frame 16 in a plane parallel with the articulated boom 32, and defined by the axis of rotation 18 and the boom tip 64. The device 102 for determining the boom tip vertical speed v∥ has an acceleration sensor 106 arranged on the boom arm 52, which sensor is combined with an evaluation stage circuitry 108. By means of integration over time, the boom tip vertical speed v∥ in the (usually vertical) plane in parallel with the articulated boom 32, in which the axis of rotation 18 of the boom pedestal 30 and the boom tip 64 are located, is determined in the controller assembly 89 based on the signal v′∥ from the acceleration sensor 106.
In addition, the control device 86 includes a device 110 for determining the boom tip horizontal speed v⊥ in the plane perpendicular to the axis of rotation 18 of the boom pedestal 30, in which the boom tip 64 is located. The device 110 for determining the boom tip horizontal speed v⊥ has an acceleration sensor 112 which is arranged on the boom arm 52 and is combined with an evaluation stage circuitry 114. Based on the signal v′⊥ from the acceleration sensor 112, the boom tip speed v⊥ in the (usually horizontal) plane perpendicular to the axis of rotation 18 of the boom pedestal 30 is determined in the controller assembly 89.
In a further, alternative embodiment of the large manipulator, it may be possible for the controller assembly 89 to receive the speed of a portion of a boom arm determined by a device for determining the speed of a boom arm location of a boom arm, e.g., the speed of the boom tip, without this having to be calculated in the controller assembly 89.
The control device 86 also includes a device 116 for determining the articulating angles εi, i=34, 36, 38, 40, 42 of the articulated joints 34, 36, 38, 40, 42 comprising angle sensors 118, 120, 122, 124, 126, and 199 and a device 128 for determining the angle of rotation εi, i=18 about the vertical axis 18 of the articulating joint 28 by means of an angle sensor 129.
In this context, it should be noted that, in a further alternative embodiment of the large manipulator, it may be possible for the controller assembly 89 to include a device for determining the boom tip vertical speed v∥, in which the boom tip speed is calculated (forward transformation) based on the evolution over time of the articulating angles ε, i=34, 36, 38, 40, 42 of the articulated joints 34, 36, 38, 40, 42 of the articulated boom 32 and the geometry thereof.
The control device 86 includes pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148, which are associated with the drive units 26, 68, 78, 80, 82 and 84 designed as hydraulic cylinders. These pressure sensors are used to measure the rod-side pressure pSi, i=130, 134, 138, 142, 146, and the piston-side pressure pKi i=132, 136, 140, 144, 148, of the hydraulic oil. The pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148 enable the determination of the actual force Fi, i=68, 78, 80, 82, 84, which is generated by means of the drive units 68, 78, 80, 82 and 84, and is generated and introduced into the boom arms 44, 46, 48, 50, 52 of the articulated boom 32.
Regarding the drive unit 26 designed as a hydraulic rotary drive, the control device 86 comprises a torque sensor 150 which is designed to detect the actual torque Mi, i=18, introduced into the boom pedestal 30 as a torque by means of the rotary drive.
The controller assembly 89 is used to control the actuating elements 90, 92, 94, 96, 98, 100 of the drive units 26, 68, 78, 80, 82 and 84. The actuating elements 90, 92, 94, 96, 98, 100 are designed as proportional shuttle valves, the output lines 101, 103 of which are connected, on the bottom and on the rod side, to the drive units 68, 78, 80, 82, and 84 designed as double-acting hydraulic cylinders, or as hydraulic motors.
The controller assembly 89 generates control signals SWi, i=90, 92, 94, 96, 98, and 100 for the actuating elements of the drive units of the distributor boom 20 based on the control signals S from the control assembly 85. By means of controlling the actuating elements 90, 92, 94, 96, 98, 100, the postures of the distributor boom 20 are adjusted to target values Wtarget that can be specified by the control assembly 85, by evaluating the position of the articulating angles εi, i=34, 36, 38, 40, 42 of the articulated joints 34, 36, 38, 40, 42, detected by the angle sensors 118, 120, 122, 124 and 126, by means of the angle sensors 118, 120, 122, 124 and 126, and of the angle of rotation εi, i=18 of the boom pedestal 30 about the axis of rotation 18, detected by the angle sensor 129.
In this case, the controller assembly 89 superimposes positioning control variables SDi, i=90, 92, 94, 96, 98, 100 for the actuating elements 90, 92, 94, 96, 98, 100, which regulate the postures of the distributor boom 20 to the target values Wtarget, additional damping control variables DSi, i=90, 92, 94, 96, 98, 100, with which undesired vibrations of the boom tip 64 of the articulated boom 32 in the distributor boom 20 are counteracted.
The controller assembly 89 has circuitry for an input routine 152, by means of which the device 102 for determining the boom tip vertical speed v∥, the device 110 for determining the boom tip horizontal speed v⊥ in a plane perpendicular to the axis of rotation 18 of the boom pedestal 30, and the device 116 for determining the articulating angle εi, i=18 of the articulated joints 34, 36, 38, 40, 42 by means of the angle sensors 118, 120, 122, 124 and 126, and the device 128 for determining the angle of rotation εi, i=18 about the vertical axis 18 of the articulating joint 28 is continuously queried by means of the angle sensor 129. The input routine 152 also continuously receives the signals pSi, pKi from the pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148. The control signals S are also read from the control assembly 85 by means of the input routine 152.
The controller assembly 89 includes circuitry for a first distributor boom damping routine 154 and a further distributor boom damping routine 155 parallel thereto. The distributor boom damping routine 154 determines, based on a boom tip speed determined by the device 102 for determining the boom tip speed v∥ in the plane in parallel to the articulated boom 32, a target damping force
FD∥=v∥D∥,
in which D∥ is an appropriately selected damping constant. The distributor boom damping routine 154 then divides the target damping force FD determined in this way into several component target damping forces FDi, i=34, 36, 38, 40, 42, which are associated with the individual articulated joints 34, 36, 38, 40, 42:
the factors ni being parameters selected in a device-specific manner that meet the following boundary conditions:
Then, for each actuating element 92, 94, 96, 98, and 100, a damping control variable DSi, i=92, 94, 96, 98, 100 is determined based on the component target damping forces FDi, i=34, 36, 38, 40, 42 and the articulating angles εi, i=34, 36, 38, 40, 42, determined by means of the device 116 for determining the articulating angles of the articulated joints 34, 36, 38, 40, 42, for the drive units that are associated with the articulated joints 34, 36, 38, 40, 42, for damping the distributor boom 20.
In the further distributor boom damping routine 155 of the controller assembly 89, a target damping torque MD⊥=v⊥ D⊥ is determined by the device 110 based the boom tip horizontal speed v⊥ in the plane perpendicular to the axis of rotation 18 of the boom pedestal 30. In this case, the variable D⊥ is again an appropriately selected damping constant.
Then, a damping control variable SD90 is determined for the actuating element 90 based on the target damping torque MD⊥ and the angle of rotation εi, i=18 determined for the drive unit 26 associated with the boom pedestal 30 by means of the device 128 for determining the angle of rotation of the boom pedestal 30 about the axis of rotation 18 thereof.
The controller assembly 89 includes circuitry for an output routine 162 which outputs control signals SWi, i=90, 92, 94, 96, 98, 100 to the actuating elements 90, 92, 94, 96, 98, and 100.
The controller assembly 89 includes circuitry for a distributor boom control routine 156 and a distributor boom target posture value routine 158. The distributor boom target posture value routine 158 receives the control signals S of the controller 87 from the input routine 152 and translates these into target posture values PSi in the form of target values for the articulating angles εi, i=34, 36, 38, 40, 42 of the articulated joints 34, 36, 38, 40, 42 and the angle of rotation ε18 of the boom pedestal 30 about the vertical axis 18.
The distributor boom control routine 156 receives actual posture values PIi, in the form of actual values of the angles εi detected by the angle sensors 118, 120, 122, 124, 126, 129, from the input routine 152. Using a control loop implemented in the distributor boom control routine 156, the positioning control variables SDi, i=90, 92, 94, 96, 98, 100 for the actuating elements 90, 92, 94, 96, 98, and 100 of the drive units 26, 6878, 80, 82, 84 are determined in the controller assembly 89 based on the actual posture values PIi and the target posture values PSi.
In circuitry for a superimposition routine 160, the damping control variables DSi, i=92, 94, 96, 98, 100 are added to the positioning control variables SDi, i=92, 94, 96, 98, 100 and fed to circuitry for an output routine 162. This sends corresponding control signals SWi, i=92, 94, 96, 98, 100, which are generated as control signals SWi=DSi+SDi based on the positioning control variables SDi and damping control variables DSi, i=92, 94, 96, 98, 100, to the actuating elements 92, 94, 96, 98 and 100.
Correspondingly, in circuitry for a superimposition routine 161, the damping signal DS90 is added to the positioning control variable SD90 and fed to the output routine 162, which transfers the corresponding sum signal SW90=DS90+SD90 to the actuating element 90 as an actuating signal SW90.
The signals of the angle sensors supplied to the input routine 152 are fed to the distributor boom control routine 156 in the controller assembly 89 as actual posture values PIi, i=18, 34, 36, 38, 40, 42. The control signal S transmitted to the input routine 152 by the control assembly 85 outputs this to the distributor boom target posture routine 158.
Said signal thus determines target posture values PSi, i=18, 34, 36, 38, 40, 42 in the form of settings of the articulating angles εi, i=34, 36, 38, 40, 42 of the articulated joints and the angle of rotation ε18 of the swivel joint 28. The target posture values PSi are stored in the target posture value routine 158, in a target value memory 193. From this target value memory 193, the target posture values PSi are continuously fed to the distributor boom control routine 156.
Based on the physical variables known for the distributor boom 20, i.e., the mass mi, i=44, 46, 48, 50, 52 and the length li, i=44, 46, 48, 50, 52 of the boom arms 44, 46, 48, 50, 52 and the articulating angles εi, i=34, 36, 38, 40, 42 of the articulated joints 34, 36, 38, 40, 42, the target torques MSi, i=54, 56, 58, 60, 62 to be generated by means of the drive units 68, 78, 80, 82 and 84, in the joint axes 54, 56, 58, 60, 62 of the articulated joints 34, 36, 38, 40, 42 are then generated in an axial torque calculation stage 172. The adjustment forces of the drive units 68, 78, 80, 82 and 84 that are required for generating the target torques MSi are then determined, in circuitry for a calculation stage 174, as the component target damping forces FD∥i, i=34, 36, 38, 40, 42 to be generated by means of the drive units 68, 78, 80, 82 and 84, in the joint axes 54, 56, 58, 60, 62 of the articulated joints 34, 36, 38, 40, 42.
The distributor boom damping routine 154 includes, as a device 176 for determining the actual force Fi which is generated by means of the drive unit 78, 80, 82, 84 associated with the joint 34, 36, 38, 40, 42, circuitry for a force calculation routine which includes the signals of the pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148 associated with the drive units 68, 78, 80, 82 and 84, in order to thereby determine, on the basis of the geometric dimensions of the hydraulic cylinders of the drive units 68, 78, 80, 82 and 84, the generated actual force Fi, i=68, 78, 80, 82, 84 which is introduced into the boom arms 44, 46, 48, 50, 52.
The distributor boom damping routine 154 also includes a control stage 178 to which, as a controlled variable, the difference determined in a difference routine 177 between the actual force Fi, i=68, 78, 80, 82, 84 generated in each case by the drive units 68, 78, 80, 82 and 84 and the corresponding target component damping force FD∥i, i=34, 36, 38, 40, 42, in order to thereby generate a damping control variable DSi, i=92, 94, 96, 98, 100 for the actuating element 92, 94, 96, 98, 100 associated with the drive units 68, 70, 80, 82, 84 in each case, which control variable is output at the superimposition routine 160 shown in
Based on the physical variables known for the distributor boom 20, i.e., the mass mi and length li, i=44, 46, 48, 50, 52 of the boom arms 44, 46, 48, 50, 52, and the articulating angles εi, i=34, 36, 38, 40, 42 of the articulated joints, the target damping torque MD⊥26 to be generated by the drive unit 26 is then calculated in a torque calculation stage 186.
The distributor boom damping routine 155 includes a torque control stage 188 which is supplied, as a controlled variable, the difference determined in a difference routine 187 between the actual torque MIi, i=26 generated by means of the drive unit 26, about the axis of rotation 18 and the corresponding target torque MD⊥26, in order to thereby generate a damping control variable DSi, i=90 for the actuating element 90 of the drive unit 26, which control variable is ultimately output to the superimposition routine 161.
The distributor boom control routine 156 includes a difference routine 194 which feeds the difference between the actual posture values PIi and the target posture values PSi to a zero order hold filter 196, which discretizes this difference by multiplying it with a sampling function and uses it as a control variable of a control stage 198 designed as a PI regulator which outputs the positioning control variable SDi.
The effect of the zero order hold filter 196 is that, only when the deviation of an actual posture value PIi from a target posture value PSi exceeds a threshold value, the control stage 198 receives a controlled variable different from the value zero, and only then receives a corresponding positioning control variable SDi for the posture correction. In contrast, the distributor boom damping routine 154, 155 regulates the damping force FD∥ or FD⊥ for damping boom vibrations by continuously providing the damping control variables DSi.
The positioning control variable SDi generated by the distributor boom control routine 156 based on the target posture values PSi and the actual posture values PIi are combined, in the superimposition routines 160 and 161, with the damping control variables DSi from the distributor boom damping routines 154, 155, and then supplied, as the control signal SWi, to the output routine 162 which supplies each of the actuating elements 90, 92, 94, 96, 98, 100 with the corresponding control signal SWi. In this case, the superimposition routines 160 and 161 are designed as adding routines which add the damping control variables DSi to the actuation signals.
The distributor boom damping routines 154, 155, the distributor boom control routine 156, and the distributor boom target posture value routine 158 work in step with the processor clock 192 and are called up in the controller assembly 89. In this case, the distributor boom target posture value routine 158 takes place at times t3 only after the distributor boom damping routines 154, 155 have been called up several times, the distributor boom damping routines 154, 155 being called up, in this case, at times t1<<t3. The distributor boom control routine 156 called up at times t2, only after the distributor boom damping routines 154, 155 have been called up several times, but between two distributor boom target posture value routines 158. In this case, the following applies: t1<<t2<<t3.
In contrast to the controller assembly 89, the controller integration is implemented in a serial structure in the controller assembly 89′. For this purpose, the controller assembly 89′ again includes a first distributor boom damping routine 154′ and a further distributor boom damping routine 155′ in parallel therewith for generating control signals SWi, i=90, 92, 94, 96, 98, 100, which are output to the actuating elements 90, 92, 94, 96, 98 and 100 by means of the output routine 162.
In this case, the distributor boom damping routine 154′ in turn has a calculation stage 164 for calculating the boom tip vertical speed v∥, in the plane in parallel with the axis of rotation 18 of the distributor boom 20 and the articulated boom 32 thereof, from the signal of the device 102. In a damping force calculation stage 166, the damping force FD∥ is calculated on the basis of an empirically determined damping constant D∥ that is supplied to the distributor boom damping routine 154. The calculated damping force FD∥ is then separated into a linear combination FD∥=ΣiniFD∥, i=34, 36, 38, 40, 42 of individual component target damping forces FD∥i, in a separation stage 170, by means of a separation algorithm which is continuously optimized in an optimization stage 168 designed as an adjustment stage, the following applying:
Based on the physical variables known for the distributor boom 20, i.e., the mass mi, i=44, 46, 48, 50, 52 and the length li, i=44, 46, 48, 50, 52 of the boom arms 44, 46, 48, 50, 52 and the articulating angles εi, i=34, 36, 38, 40, 42 of the articulated joints 34, 36, 38, 40, 42, the target torques MSi, i=54, 56, 58, 60, 62 to be generated by means of the drive units 68, 78, 80, 82 and 84, in the joint axes 54, 56, 58, 60, 62 of the articulated joints 34, 36, 38, 40, 42 are then generated in an axial torque calculation stage 172. The adjustment forces of the drive units 68, 78, 80, 82 and 84 that are required for generating the target torques MSi are then determined, in the calculation stage 174, as the component target damping forces FD∥i, i=34, 36, 38, 40, 42 to be generated by means of the drive units 68, 78, 80, 82 and 84, in the joint axes 54, 56, 58, 60, 62 of the articulated joints 34, 36, 38, 40, 42.
The distributor boom damping routine 154 includes, as a device 176 for determining the actual force, a force calculation routine which contains the signals of the pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148 associated with the drive units 68, 78, 80, 82 and 84, in order to thereby determine, on the basis of the geometric dimensions of the hydraulic cylinders of the drive units 68, 78, 80, 82 and 84, the generated actual force Fi, i=68, 78, 80, 82, 84 which is introduced into the boom arms 44, 46, 48, 50, 52.
In contrast to the distributor boom damping routine 154, the distributor boom damping routine 154′ also receives the positioning control variables SDi directly from the distributor boom control routine 156, in order to supply it to the difference routine 177 in a superimposition routine 160′ for superimposition on the actual force Fi. From the difference routine 177, the control stage 178 receives, as a controlled variable, the difference between the actual force Fi, i=68, 78, 80, 82, 84 generated in each case by the drive units 68, 78, 80, 82 and 84 having superimposed positioning control variables SDi, and the corresponding target component damping force FD∥i, i=34, 36, 38, 40, 42, in order to thereby generate the damping control variable DSi, i=92, 94, 96, 98, 100 for the actuating element 92, 94, 96, 98, 100 associated with the drive units 68, 70, 80, 82, 84 in each case, which control variable is output at the superimposition routine 160.
In turn, the distributor boom damping routine 155′ has a calculation stage 182 for calculating the boom tip horizontal speed v⊥ in the plane perpendicular to the axis of rotation 18 of the distributor boom 20 in which the boom tip 64 is arranged. In a damping force calculation stage 184, the damping force FD⊥ is calculated on the basis of an empirically determined damping constant D⊥ supplied to the distributor boom damping routine 155.
Based on the physical variables known for the distributor boom 20, i.e., the mass mi and length li, i=44, 46, 48, 50, 52 of the boom arms 44, 46, 48, 50, 52, and the articulating angles εi, i=34, 36, 38, 40, 42 of the articulated joints, the target damping torque MD⊥26 to be generated by the drive unit 26 is then calculated in a torque calculation stage 186.
The distributor boom damping routine 155′ is supplied with the actual torque MIi, i=26, generated by means of the drive unit 26, and, in contrast to the distributor boom damping routine 155, also the corresponding positioning control variable SDi, i=26, in order to superimpose thereon, in a superimposition routine 161′, the actual torque MIi, i=26 generated by the drive unit 26, about the axis of rotation 18, and to then perform the difference routine 187. The difference routine 187 determines the difference between the actual torque MIi, i=26 generated by the drive unit 26, about the axis of rotation 18 with the superimposed positioning control variable SDi, i=26, and the corresponding target damping torque MD⊥26. This difference forms a controlled variable for the torque control stage 188, which thus generates a damping control variable DSi, i=90 for the actuating element 90 of the drive unit 26, which is finally output to the superimposition routine 161.
Insofar as the assemblies and elements of the further control device 86′ correspond to the assemblies and elements of the first control device 86, these are identified by the same reference symbols.
In addition, in the further large manipulator, the further control device 86′ serves to control the movement of the boom arms of the articulated boom 32. The further control device 86′ controls the movement of the articulated boom 32 with the aid of actuating elements 90, 92, 94, 96, 98, 100 for the drive units 26, 68, 78, 80, 82, and 84 associated with the articulated joints 34, 36, 38, 40, 42 and the swivel joint 28.
As a result of the program-controlled activation of the drive units 26, 68, 78, 80, 82, and 84 which are associated, individually, with the articulating axes 54, 56, 58, 60, and 62 and the axis of rotation 18, the articulated boom 32 can be unfolded at different distances and/or height differences between the concreting point 25 and the vehicle location (see, e.g.,
Here, too, the boom operator controls the distributor boom 20 by means of, e.g., a control assembly 85 with a controller 87. The controller 87 is designed as a remote control and includes operating elements 83 for adjusting the distributor boom 20 with the articulated boom 32, which remote control generates control signals S which can be fed to a controller assembly 89.
The control signals S are transmitted via a radio link 91 to a vehicle-mounted radio receiver 93 which is connected, on the output side, to the controller assembly 89 by means of a bus system 95 that is designed, for example, as a CAN bus.
The control device 86′ includes a device 102, shown in
In addition, the control device 86′ includes a device 110 for determining the boom tip horizontal speed v⊥ in the plane perpendicular to the axis of rotation 18 of the boom pedestal 30 in which the boom tip 64 is located. The device 110 for determining the boom tip horizontal speed v⊥ includes an acceleration sensor 112 which is arranged on the boom arm 52 and which is combined with an evaluation stage circuitry 114. Based on the signal v′⊥ from the acceleration sensor 112, the boom tip horizontal speed v⊥ is determined in the controller assembly 89′ in the (usually horizontal) plane perpendicular to the axis of rotation 18 of the boom pedestal 30.
It should be noted that, in a further embodiment of the large manipulator that is an alternative to the embodiment described above, in addition or as an alternative to devices 102, 110 for determining the boom tip speed, a device can also be provided which is used for determining the speed of a boom arm location on one of the boon arms that is different from the boom tip 64 of the articulated boom 32. It should also be noted that, in principle, multiple devices can also be provided which are used to determine the speed of a boom arm location on one of the boom arms that is different from the boom tip 64 of the articulated boom 32. In particular, the large manipulator can include acceleration sensors 106′, 112′ for this purpose, which are arranged on the boom arms 44, 46, 48 and 50 of the articulated boom 32 (see
It should also be noted that, in a further alternative embodiment of the large manipulator, it may be possible for the controller assembly 89′ to receive the speed of a portion of a boom arm determined by a device for determining the speed of a boom arm location on a boom arm, e.g., the speed of the boom tip, without this having to be calculated in the controller assembly 89′.
The control device 86′ also includes a device 116 for determining the articulating angles εi, i=34, 36, 38, 40, 42 of the articulated joints 34, 36, 38, 40, 42 using angle sensors 118, 120, 122, 124, 126, and 199, and a device 128 for determining the angle of rotation εi, i=18 about the vertical axis 18 of the swivel joint 28 using an angle sensor 129.
There are pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148 in the control device 86′ which are associated with the drive units 26, 68, 78, 80, 82, and 84 designed as hydraulic cylinders. These pressure sensors are used to measure the rod-side pressure pSi, i=130, 134, 138, 142, 146, and the piston-side pressure pKi i=132, 136, 140, 144, 148, of the hydraulic oil. The pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148 enable the determination of the actual force Fi, i=68, 78, 80, 82, 84, which is generated by means of the drive units 68, 78, 80, 82 and 84, and is generated and introduced into the boom arms 44, 46, 48, 50, 52 of the articulated boom 32.
Regarding the drive unit 26 designed as a hydraulic rotary drive, the control device 86′ includes a torque sensor 150 which is designed to detect the actual torque Mi, i=18 introduced into the boom pedestal 30 as a torque, by means of the rotary drive.
The controller assembly 89′ is used to control the actuating elements 90, 92, 94, 96, 98, 100 of the drive units 26, 68, 78, 80, 82 and 84. The actuating elements 90, 92, 94, 96, 98, 100 are designed as proportional shuttle valves, the output lines 101, 103 of which are connected, on the bottom and on the rod side, to the drive units 68, 78, 80, 82, and 84 designed as double-acting hydraulic cylinders, or as hydraulic motors.
The controller assembly 89′ generates actuating signals SWi, i=90, 92, 94, 96, 98, and 100 for the actuating elements of the drive units of the distributor boom 20 on the basis of the control signals S from the control assembly 85. By means of controlling the actuating elements 90, 92, 94, 96, 98, 100, the postures of the distributor boom 20 are adjusted to target values Wtarget that can be specified by the control assembly 85, by evaluating the position of the articulating angles εi, i=34, 36, 38, 40, 42 of the articulated joints 34, 36, 38, 40, 42, detected by the angle sensors 118, 120, 122, 124 and 126, by means of the angle sensors 118, 120, 122, 124, and 126, and of the angle of rotation εi, i=18 of the boom pedestal 30 about the axis of rotation 18, detected by the angle sensor 129.
The controller assembly 89 has an input routine 152, by means of which the device 102 for determining the boom tip vertical speed v∥, the device 110 for determining the boom tip horizontal speed v⊥ in a plane perpendicular to the axis of rotation 18 of the boom pedestal 30, and the device 116 for determining the articulating angles εi, i=18 of the articulated joints 34, 36, 38, 40, 42 by means of the angle sensors 118, 120, 122, 124, and 126, and the device 128 for determining the angle of rotation εi, i=18 about the vertical axis 18 of the swivel joint 28 is continuously queried by means of the angle sensor 129 having a cycle time t1. According to the invention, the cycle time t1 is very much shorter than the characteristic period TG of a fundamental oscillation of the distributor boom. It is advantageous if the cycle time t1 is also very much smaller than a characteristic period Tn of a first, second, third, or even higher harmonic of the distributor boom.
The input routine 152 also continuously receives the rod-side and piston-side pressures pSi, pKi as signals from the pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148. The control signals S are also read from the control assembly 85 by means of the input routine 152.
The controller assembly 89′ also includes a routine complex 153 with a distributor boom vertical damping routine 1154 and a distributor boom horizontal damping routine 1155, and a distributor boom control routine 1156. The distributor boom damping routines 1154, 1155 and the routines in the routine complex 153 with the distributor boom control routine 1156 operate in step with the processor clock 192 and are called up in the controller assembly 89′.
In the controller assembly 89′, there is an output routine 162 which outputs control signals SWi, i=90, 92, 94, 96, 98, 100 to the actuating elements 90, 92, 94, 96, 98, and 100. The distributor boom control routine 1156 provides the output routine 162 with controlled posture values PGi.
The distributor boom vertical damping routine 1154 receives the signals pSi, pKi of the pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148 from the input routine 152 at the cycle time t2≥t1. In this case, the cycle time t2 preferably satisfies the following relationship: TG>>t2.
The distributor boom vertical damping routine 1154 also receives the articulating angles εi, i=34, 36, 38, 40, 42 detected by the device 116 and the boom tip vertical speed v∥ determined by the device 102 at the cycle time t2≥t1 supplied by the input routine 152. In addition, configuration data of the large manipulator, from the group of rod-side cylinder surfaces Aki and bottom-side cylinder surfaces Asi, stored in a data memory, are fed into the distributor boom vertical damping routine 1154, from the input routine 152, at the cycle time t2≥t1.
The distributor boom vertical damping routine 1154 has a device 176 for calculating the actual force Fi, which is generated in each case by means of the drive units 26, 68, 78, 80, 82 and 84. For this purpose, the device 176 for calculating the actual force Fi receives the signals pSi, pKi from the pressure sensors 130, 132, 134, 136, 138, 140, 142, 144, 146, 148 and calculates therefrom, on the basis of the rod-side and base-side cylinder surfaces Aki, Asi of the pistons in the hydraulic cylinders, the actual force Fi provided by a drive unit 26, 68, 78, 80, 82, and 84 in each case.
In a calculation stage 1174 of the distributor boom vertical damping routine 1154, the calculated actual forces Fi are converted into actual torques Mi on the basis of the determined articulating angles εi, i=34, 36, 38, 40, 42, and on the basis of the known physical variables of the distributor boom 20.
Then, in a force calculation stage 1172, a vertical force F∥ acting on the boom tip 64 is determined from said actual torque Mi, on the basis of the articulating angles εi, i=34, 36, 38, 40, 42 and based on the known physical variables of the distributor boom 20, in particular based the length li of the boom arms 44, 46, 48, 50, and 52.
The distributor boom vertical damping routine 1154 includes a target speed calculation stage 1166. The nominal speed calculation stage 1166 converts the calculated vertical force F∥ acting on the boom tip 64 into a target vertical speed v∥target for the boom tip 64 through division by an empirical constant D∥.
The distributor boom vertical damping routine 1154 also includes a difference routine 1177. In the difference routine 1177, the target vertical speed v∥Target of the boom tip 64 is compared with the boom tip vertical speed v∥ which is calculated in the distributor boom vertical damping routine 1154, either by temporal integration of the signal v′∥ of the acceleration sensor 106 as a value of the boom tip acceleration in the integration stage 181, or which is supplied to the distributor boom vertical damping routine 1154 as a measured variable.
The difference routine 1177 forms the target vertical speed v∥target of the boom tip 64 and the boom tip vertical speed v∥ of the vertical comparison value Δv∥ as the difference between the target vertical speed v∥target for the boom tip 64 and the boom tip vertical speed v∥.
The vertical comparison value Δv∥ is then fed to a differential element 165 in the routine complex 153 in the controller assembly 89′. The difference element 165 receives the default boom tip vertical speed v∥V set by the boom operator on the control panel 83 of the control assembly 85 at the cycle time t2≥t1 from the input routine 152. The task of the difference element 165 is to determine the difference between the default boom tip vertical speed v∥V and the vertical comparison value Δv∥ defined above, and to supply this variable to a vertical reverse transformation routine 157 in the routine complex 153 of the controller assembly 89 as a default target boom tip vertical speed v∥V-TARGET.
The horizontal inverse transformation routine 157 converts the default target boom tip speed v∥V-TARGET, on the basis of the articulating angle εi of the joints supplied with the cycle time t2≥t1 from the input routine 152 and based on known physical variables of the distributor boom 20, in particular the length li of the boom arms 44, 46, 48, 50, and 52, and on the basis of the default boom tip vertical speed set by the boom operator on the control panel 83 of the control assembly 85, into a corresponding inverse transformation angular velocity {dot over (ε)}i Inv of the articulated joints 34, 3638, 40, 42.
This inverse transform angular velocity {dot over (ε)}i Inv is then fed, in the controller assembly 89, to an angular velocity calculation stage 163 designed as an integration stage, in the routine complex 153, which stage integrates the inverse transformation angular velocity {dot over (ε)}i Inv, over a constant time interval Δt, to form a target angle εi_target, i=34, 36, 38, 40, 42, i.e., to the target values for the angles εi of the boom arms 44, 46, 48, 50, and 52, in order to then store them in the target value memory 193 in the routine complex 153. These setpoint values of the angles εi of the boom arms 44, 46, 48, 50, and 52 define the boom posture of the distributor boom 20.
From this target value memory 193, the target posture values εPSi are continuously fed to the distributor boom control routine 1156.
The distributor boom horizontal damping routine 1155 receives, from the input routine 152 at the cycle time t2≥t1 from the input routine 152, the signals of the torque sensor 150 for the detection of the actual torque Mi, i=18 introduced into the boom pedestal 30 as a torque by means of the rotary drive.
In a calculation stage 175 in the distributor boom horizontal damping routine 1155, the actual torque Mi, i=18 is converted, on the basis of the determined articulating angles εi, i=34, 36, 38, 40, 42 and on the basis of the known physical variables of the distributor boom 20, into a horizontal force F⊥ acting on the boom tip 64 of the distributor boom.
The distributor boom horizontal damping routine 1155 includes a target speed calculation stage 1166. The target speed calculation stage 1166 converts the calculated horizontal force F⊥ acting on the boom tip 64, by means of division by an empirically determined constant D⊥, into a target horizontal speed v⊥Target for the boom tip 64.
The distributor boom horizontal damping routine 1155 also includes a difference routine 179. In the difference routine 179, the target horizontal speed v⊥Target of the boom tip 64 is compared with the horizontal boom tip speed v⊥ which is calculated, in the distributor boom vertical damping routine 1154, either by temporal integration of the signal v′⊥ of the acceleration sensor 112, as a value of the boom tip acceleration, in the integration stage 181, or which is alternatively supplied to the distributor boom vertical damping routine 1154 as a measured variable.
The difference routine 179 forms, based on the target horizontal speed v⊥Target of the boom tip and the horizontal boom tip speed v⊥, the horizontal comparison value Δv⊥, as the difference between the target horizontal speed v⊥Target of the boom tip 64 and the horizontal boom tip speed v⊥.
The horizontal comparison value Δv⊥ is then fed to a further differential element 165′ in the routine complex 153, in the controller assembly 89′. The difference element 165′ receives the default horizontal boom tip speed v⊥V set by the boom operator on the control panel 83 of the control assembly 85 at the cycle time t2≥t1 from the input routine 152.
The task of the further difference element 165′ is to form the difference between the default horizontal boom tip speed v⊥V provided by the input routine 152 at the cycle time t2≥t1, and the horizontal comparison value Δv⊥ defined above, and to feed this variable, which corresponds to a circular arc speed of the boom tip 64, into the routine complex 153 of the controller assembly 89′ as a default target horizontal boom tip speed v⊥V-TARGET of a horizontal inverse transformation routine 159.
The horizontal reverse transformation routine 159 converts the default target boom tip speed v⊥V-TARGET based on the articulating angle εi of the joints supplied with the cycle time t2≥t1 from the input routine 152 and based on known physical variables of the distributor boom 20 into a corresponding reverse transformation angular velocity {dot over (ε)}18 Inv of the swivel joint 28 about the vertical axis 18.
This inverse transformation angular velocity {dot over (ε)}18Inv is then fed, in the controller assembly 89′, to a further angular velocity calculation stage 163′ designed as an integration stage, in the routine complex 153, which integrates the inverse transformation angular velocity {dot over (ε)}18Inv over a constant time interval Δt to form a target value angle ε18Inv, in order to then also store this in the target value memory 193.
Based on this target value memory 193, the target posture values PSi are fed continuously to the distributor boom control routine 1156.
The distributor boom control routine 1156 receives actual posture values PIi from the input routine 152 in the form of actual values of the angles εi detected by means of the angle sensors 118, 120, 122, 124, 126, 129. Using a control loop implemented in the distributor boom control routine 1156, the positioning control variables SDi, i=90, 92, 94, 96, 98, 100 for the actuating elements 90, 92, 94, 96, 98, and 100 of the drive units 26, 6878, 80, 82, 84 are then determined in the controller assembly 89 based on the actual posture values PIi and the target posture values PSi.
The positioning control variables SDi, i=90, 92, 94, 96, 98, 100 for the actuating elements 90, 92, 94, 96, 98, and 100 are fed to an output routine 162. The latter routes corresponding control signals SWi, i=92, 94, 96, 98, 100, which are formed as control signals from the positioning control variables SDi, to the actuating elements 92, 94, 96, 98, and 100.
It should be noted that, in an alternative embodiment of the controller assembly 89, it may be possible for the routines in the routine complex 153 to take into account only every nth signal from the group consisting of actual posture values PIi, signals pSi, pKi from the pressure sensors, default boom tip vertical speed v∥V, articulating angles εi of the joints, etc., provided by the input routine 152 at cycle time t1.
Where the cycle time t2 satisfies the relationship: TG>>t2, or that for every nth signal from the aforementioned group, provided by input routine 152 at cycle time t1, the following applies: TG>>n t1, a runtime behavior of the routines in the controller assembly 89′ which optimizes computing time and which are used for the active damping of undesired vibrations of the large manipulator of the truck-mounted concrete pump 10, can be achieved. The frequency of calls to the vertical inverse transformation routine 157 and the horizontal inverse transformation routine 159 is minimized in this way, and the frequency of calls to the input routine 152 and the distributor boom control routine 1156 in the controller assembly 89′ is maximized in this way. In the case of the large manipulator, this has the effect of optimizing the runtime behavior overall.
In summary, the following advantageous features of the disclosed embodiments should be noted: A large manipulator for concrete pumps comprises a distributor boom 20. The distributor boom 20 comprises an articulated boom 32, which is mounted on the boom pedestal 30 and is made up of multiple boom arms 44, 46, 48, 50, 52 connected to one another in an articulated manner and having a boom tip 64 and multiple joints 34, 36, 38, 40, 42 for pivoting the boom arms 44, 46, 48, 50, 52 with respect to the boom pedestal 30 or an adjacent boom arm 44, 46, 48, 50, 52, and includes a control device 86 for controlling the movement of the articulated boom 32 with the aid of drive unit actuating elements 90, 92, 94, 96, 98, 100 for drive units 68, 78, 80, 82, 94 respectively associated with the articulated joints 34, 36, 38, 40, 42. The large manipulator includes a device 102 for determining the vertical speed v∥ and/or horizontal speed v⊥ of a boom arm location on at least one boom arm 44, 46, 48, 50, 52 in a coordinate system 104 referenced to the frame 16. Said large manipulator also comprises a device for determining the articulating angles 116 of the joints 34, 36, 38, 40, 42. The control device 86 controls the movement of the articulated boom 32 by providing positioning control variables SDi for the actuating elements 90, 92, 94, 96, 98, 100 of the drive units 68, 78, 80, 82, 84, which positioning control variables depend on a vertical speed v∥ and/or horizontal speed v⊥ of the boom arm location determined by the device 102 for determining a vertical speed v∥ of a boom arm location, and on the articulating angles εi of the joints 34, 36, 38, 40, 42 determined by means of the device 116 for determining the articulating angles of the joints 34, 36, 38, 40, 42, and/or on an angle of rotation ε18 of the boom pedestal 30 about a vertical axis 18, and on control signals S for adjusting the distributor boom 20 generated by a controller 87 that can be operated by a boom operator.
While this invention has been described as having an exemplary design, the present invention may be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2018 104 491.7 | Feb 2018 | DE | national |
This is a continuation-in-part of PCT/EP2019/054392 entitled LARGE MANIPULATOR WITH VIBRATION DAMPER filed Feb. 21, 2019 and which claims priority from DE 10 2018 104 491.7 filed on Feb. 27, 2018 the disclosures of both of which are hereby incorporated herein by reference.
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|---|---|---|---|
| 11142886 | Renger | Oct 2021 | B2 |
| 20100095835 | Yuan | Apr 2010 | A1 |
| 20130189060 | Lamonte | Jul 2013 | A1 |
| 20130270194 | Allen | Oct 2013 | A1 |
| 20140338233 | Albers | Nov 2014 | A1 |
| 20150321594 | Harms, Jr. | Nov 2015 | A1 |
| 20180119375 | Renger | May 2018 | A1 |
| 20200385242 | Heiker | Dec 2020 | A1 |
| Number | Date | Country |
|---|---|---|
| 514116 | Oct 2014 | AT |
| 202689566 | Jan 2013 | CN |
| 103234002 | Dec 2014 | CN |
| 102015208577 | Nov 2016 | DE |
| 1319110 | Mar 2008 | EP |
| 2778466 | Sep 2014 | EP |
| Entry |
|---|
| English translation of the International Search Report, PCT/EP2019/054392, dated Jun. 26, 2019, 2 pages. |
| English translation of the Internation Preliminary Report on Patentability, PCT/EP2019/054392, dated Jun. 10, 2020, 5 pages. |
| Number | Date | Country | |
|---|---|---|---|
| 20200385242 A1 | Dec 2020 | US |
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/EP2019/054392 | Feb 2019 | US |
| Child | 17002841 | US |
