EP 3759294 A1 20210106 - LARGE MANIPULATOR WITH VIBRATION DAMPER
Title (en)
LARGE MANIPULATOR WITH VIBRATION DAMPER
Title (de)
GROSSMANIPULATOR MIT SCHWINGUNGSDÄMPFER
Title (fr)
MANIPULATEUR DE GRANDE TAILLE COMPRENANT UN AMORTISSEUR DE VIBRATIONS
Publication
Application
Priority
- DE 102018104491 A 20180227
- EP 2019054392 W 20190221
Abstract (en)
[origin: WO2019166330A1] The invention relates to a large manipulator for concrete pumps with a distributor boom (20). The distributor boom (20) comprises an articulated boom (32), which is mounted on the boom pedestal (30), 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 for drive units (26, 68, 78, 80, 82, 84) respectively assigned to the articulated joints (34, 36, 38, 40, 42). According to the invention, the large manipulator includes a device (102) for determining the vertical speed vII and/or horizontal speed vI of a boom arm location on at least one boom arm (44, 46, 48, 50, 52) in a system of coordinates (104) based on the frame (16) for reference. It also has a device for determining the articulating angle (116) of the joints (34, 36, 38, 40, 42). The control device (86) controls the movement of the articulated boom (32) by providing positioning manipulated variables SDi, for the actuating elements (90, 92, 94, 96, 98, 100) of the drive units (68, 78, 80, 82, 84), which depend on a vertical speed vII, determined by means of the device (102) for determining a vertical speed vn of a boom arm location and/or horizontal speed vI of the boom arm location and on 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 also on control signals S for adjusting the distributor boom (20), generated by means of a control unit (87) that can be operated by a boom operator.
IPC 8 full level
E04G 21/04 (2006.01); B25J 9/16 (2006.01); B66C 13/06 (2006.01); G05B 19/416 (2006.01)
CPC (source: EP KR US)
B66C 13/066 (2013.01 - EP KR US); B66C 13/18 (2013.01 - US); B66F 9/20 (2013.01 - US); E04G 21/0436 (2013.01 - EP KR US); E04G 21/0454 (2013.01 - EP KR US)
Citation (search report)
See references of WO 2019166330A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
Designated extension state (EPC)
BA ME
DOCDB simple family (publication)
DE 102018104491 A1 20190829; CN 112041520 A 20201204; CN 112041520 B 20220311; EP 3759294 A1 20210106; JP 2021515855 A 20210624; JP 7186235 B2 20221208; KR 102607528 B1 20231128; KR 20200135795 A 20201203; US 11840426 B2 20231212; US 2020385242 A1 20201210; WO 2019166330 A1 20190906
DOCDB simple family (application)
DE 102018104491 A 20180227; CN 201980028622 A 20190221; EP 19708414 A 20190221; EP 2019054392 W 20190221; JP 2020545132 A 20190221; KR 20207027688 A 20190221; US 202017002841 A 20200826