Device for actuating an articulated mast, especially for concrete pumps
The invention relates to a device for monitoring the safety of an articulated mast ( 22 ), especially of a concrete distribution mast, whose mast segments ( 23 to 27 ) are controlled via a remote control ( 50 ) and a control device ( 62 ) that is responsive to the remote control signals using a computer-assisted circuit arrangement ( 80 ). Safety monitoring is made possible by the provision of an interrupter element ( 112, 112 ′) in the control device ( 62 ) which disrupts, via a delay member ( 116 ), the connection to the control inputs of the actuators ( 92, 94 ) associated drive units and/or the feed units ( 98, 100 ) for the purpose of power or pressured oil feed once the remote control elements ( 52 ) of the remote control device ( 50 ) are in the off-position.
1. A device for operating an articulated boom ( 22 ) linked to a boom block ( 21 ), in particular a concrete placement boom, which boom block ( 21 ) is rotatable via a preferably hydraulic actuated drive assembly, and which articulated boom ( 22 ) includes at least three boom segments ( 23 through 27 ), which are each respectively limitedly pivotable relative to the boom block ( 21 ) or an adjacent boom segment about articulation axes ( 28 through 32 ), which axes are parallel to each other and perpendicular to the axis of rotation ( 13 ) of the boom block ( 21 ), by means of respectively one preferably hydraulic actuated drive assembly ( 34 through 38 ), with a control device ( 62 ) for movement of the boom with the aid of individual drive assemblies and/or a supply assembly ( 100 ) for supplying energy or hydraulic pressure to associated actuating elements ( 94 ), and with a remote control device ( 50 ) communicating with an input stage ( 60 ) of the control device ( 62 ), which includes at least one remote control element ( 52 , 54 ) moveable back and forth by hand through a zero position in respectively at least one main adjustment direction and thereby generating a remote control signal, as well as additional remote control signal emitting switch elements ( 64 , 66 , 66 ′), wherein the control device ( 62 ) includes a computer assisted first circuit arrangement ( 80 ) receiving information from the remote control signal via the input stage ( 60 ), which is connected on the output side with control inputs ( 88 , 90 ) of the actuating elements ( 92 , 94 ), wherein the control device ( 62 ) includes an interruption element ( 112 , 112 ′) which, when the at least one remote control element ( 52 ) is in the zero position, interrupts the connection to the control inputs ( 90 ) of the actuators associated with the drive assembly and/or the supply unit ( 100 ) for providing the energy or hydraulic pressure to the associated control elements ( 94 ), wherein the interruption can be selectively bypassed by operation of a supplemental switch or key element ( 66 ).
2. A device according to claim 1 , wherein the first circuit arrangement ( 80 ) includes a computer assisted position controller for the articulated axes ( 28 through 32 ) with associated path or angle providers and/or a computer assisted damping device with associated pressure probes on the hydraulic drive assemblies ( 34 through 38 ).
3. A device according to claim 1 , wherein the interruption element ( 112 , 112 ′) is under the control of a delay element ( 116 , 116 ′).
4. A device according to claim 3 , wherein the delay element is a delay relay ( 116 , 116 ′).
5. A device according to claim 3 , wherein the delay element exhibits a time constant smaller than 3 seconds, preferably between 0.2 and 1.5 seconds.
6. A device according to claim 1 , wherein the at least one remote control element ( 52 , 54 ) is a control lever provided on the remote control device ( 50 ), and that the interruption element is responsive to the remote control signal generated by the at least one zero position contact of the control lever.
7. A device according to claim 1 , wherein the first circuit arrangement ( 80 ) includes a computer assisted coordinate transformer, via which in a first main adjustment direction of the at least one remote control element ( 52 ) the drive assemblies ( 34 through 38 ) of the articulated axes ( 28 through 32 ) of the boom segments ( 23 through 27 ) carry out of an extension or retraction movement of the articulated boom ( 22 ) depending upon the value of a predetermined path tilt characteristic and in a second main adjustment direction the drive assembly ( 19 ) of the boom block ( 21 ) is operable.
8. A device according to claim 1 , wherein the control device ( 62 ) includes a second circuit arrangement ( 82 ) connected with the input stage ( 60 ), which on the output side is connected with the control inputs of the control elements and thereby each main positioning direction of the remote control element ( 52 , 54 ) is associated with one of the drive assemblies ( 19 , 34 through 38 ).
9. A device according to claim 8 , wherein both circuit arrangements ( 80 , 82 ) exhibit, on the output side, connector receptacles ( 84 , 84 ′) compatible with each other for connecting a wiring harness leading to the control inputs ( 88 , 90 ) of the control elements ( 92 , 94 ).
10. A device according to claim 8 , wherein the two circuit arrangements ( 80 , 82 ) exhibit a common input stage ( 60 ).
11. A device according to claim 10 , wherein the input stage ( 60 ) includes a radio receiver ( 58 ) for reception of the remote control signal transmitted by the remote control device ( 50 ).
12. A device according to claim 1 , wherein the input stage ( 60 ) of the control device ( 62 ) is connected with the first circuit arrangement ( 80 ) via a preferably CAN-bus data bus for transmission of the data associated with the remote control signal.
13. A device according to claim 1 , wherein the drive assemblies ( 19 , 34 through 38 ) include a reciprocating hydraulic cylinder or hydraulic motor, that the supply assembly ( 98 , 100 ) is a supply valve for the common hydraulic pressure fluid supply to the drive assemblies, that via the control device ( 62 ) is operable via an electro-magnetic actuating element ( 92 , 94 ) and that the interruption element ( 112 , 112 ′, 122 , 122 ′) is a switch contact ( 112 ′, 122 ′) provided in the supply line of the actuating element ( 92 , 94 ), preferably controllable via a delay element ( 116 ).
14. A device according to claim 13 , wherein the supply valve ( 98 , 100 ) is a component of a simplex drive valve controllable via the control device ( 50 ) for the selective driving of the boom movement or driving vehicle supporting struts ( 40 , 42 ).
15. A device according to claim 13 , wherein the control device ( 62 ) includes an interruption element ( 98 ), which in the case of the zero positioning of the at least one remote control element ( 52 , 54 ) or in the case of driving of the boom movement interrupts the connection to the control inputs of the actuating elements ( 92 ) associated with the drive assemblies and/or the supply valve ( 98 ) for supplying the energy or hydraulic pressure for supporting a vehicle chassis ( 40 , 42 ).