Device for actuating a bending mast in a large manipulator and a large manipulator comprising said device
The invention relates to a device for monitoring the safety of a bending pole ( 22 ) in a large manipulator, whereby the arms ( 23 - 27 ) of the mast can be pivoted in relation to each other by means of a drive unit ( 34 - 38 ). The relative position of the arms of the mast in relation to the respective adjacent arm of the mast or frame of the mast ( 21 ) is measured for adjusting the position thereof. According to the invention, the positing measuring values (ε I ) of the arms of the mast are used in order to control the safety of the drive units ( 34 - 38 ) or the actuators thereof ( 80 - 84 ) in relation to a variation of predefined safety values.
1. A device for operating an articulated boom ( 22 ) of a concrete placement boom ( 14 ) linked to a boom block ( 21 ), of which the articulated boom includes at least two boom arms ( 23 through 27 ), which are respectively limitedly pivotable relative to the boom block ( 21 ) or an adjacent boom arm about respective parallel horizontal articulation axes ( 28 through 32 ) via hydraulic drive units ( 34 through 38 ), the device comprising:
a remote control element ( 50 ) for transmission of control signals and a receiver ( 70 ) and micro-controller ( 74 ) for receiving said control signals for boom movement with help of actuator elements ( 80 through 84 ) associated with the individual drive units ( 34 through 38 ), the micro-controller including a position controller ( 92 ), and
sensors ( 96 ) associated with the individual boom arms, articulation axes and/or drive units for measurement of path or angle for the position controller ( 92 ),
wherein the drive units ( 34 - 38 ) are supplied with hydraulic fluid via a common supply line ( 104 ),
wherein a supply valve ( 106 ) is located in the common supply line ( 104 ), and wherein the micro-controller ( 74 ) includes a computer readable memory on which a safety program ( 100 , 100 ′) is recorded, said safety program being responsive to output data of the sensors ( 96 ) for controlling the supply valve ( 106 ) depending upon a value of a predetermined safety criteria, wherein the safety program ( 100 ′) includes an evaluation component, which is responsive to the switch-on condition (SV) of the supply valve ( 106 ).
2. The device according to claim 1 , wherein the safety program ( 100 ′) includes at least one evaluation component for triggering an acoustic or optical warning signal through an acoustic or optical signal device ( 114 ).
3. The device according to claim 1 , wherein each drive unit ( 34 through 38 ) includes a double acting hydraulic cylinder, wherein the hydraulic cylinder is acted upon with hydraulic fluid via respectively one of the associated actuating elements ( 80 - 64 ) in the form of a proportional changeover valve, and wherein the proportional changeover valves are supplied with hydraulic fluid via the common supply line ( 104 ).
4. The device according to claim 3 , wherein the supply valve ( 106 ) is a simplex valve for selective supplying of the proportional change valves associated with the mast arms and for supplying the support strut valves.
5. The device according to claim 1 , wherein the safety program ( 100 ′) includes an evaluation component, which is responsive to the presence or absence of movement instructions (F ε ) from the remote control ( 60 ).
6. The device according to claim 1 , wherein the safety program ( 100 ′) includes an evaluation component, which is responsive to path or angle oriented control deviations (Δε) which are greater than the predetermined threshold value (Δε g ).
7. The device according to claim 1 , wherein the safety program ( 100 ′) includes an evaluation component, which is responsive to the velocity of the path or angle referenced control deviation (V Δε ), which is greater than the predetermined threshold value (Δ Δεg ).
8. The device according to claim 1 , wherein the safety program ( 100 ′) includes an evaluation component, which is responsive to an angular velocity (V ε ), which is greater than the predetermined threshold value (V εg ).
9. The device according to claim 1 , wherein pressure sensors are provided on the piston side and rod side ends of the drive unit ( 34 through 38 ), which is in the form of a hydraulic cylinder, and wherein the safety program includes an evaluation component responsive to the output data of the pressure sensors.
10. A device for operating an articulated boom ( 22 ) of a concrete placement boom ( 14 ) linked to a boom block ( 21 ), of which the articulated boom includes at least two boom arms ( 23 through 27 ), which are respectively limitedly pivotable relative to the boom block ( 21 ) or an adjacent boom arm about respective parallel horizontal articulation axes ( 28 through 32 ) via hydraulic drive units ( 34 through 38 ), the device comprising:
a control device for input of control signals and a micro-controller ( 74 ) receiving said control signals for boom movement with help of actuator elements ( 80 through 84 ) associated with the individual drive units ( 34 through 38 ), the micro-controller including a position controller ( 92 ), and
sensors ( 96 ) associated with the individual boom arms, articulation axes and/or drive units for measurement of path or angle for the position controller ( 92 ),
wherein the drive units ( 34 - 38 ) are supplied with hydraulic fluid via a common supply line ( 104 ),
wherein a supply valve ( 106 ) is located in the common supply line ( 104 ), and
wherein the micro-controller ( 74 ) includes a computer readable memory on which a safety program ( 100 , 100 ′) is recorded, said safety program being responsive to output data of the sensors ( 96 ) for controlling the supply valve ( 106 ) depending upon a value of a predetermined safety criteria, wherein the safety program ( 100 ′) includes an evaluation component, which is responsive to the switch-on condition (SV) of the supply valve ( 106 ).
11. The device according to claim 10 , wherein the safety program ( 100 ′) includes at least one evaluation component for triggering an acoustic or optical warning signal through an acoustic or optical signal device ( 114 ).
12. The device according to claim 10 , wherein each drive unit ( 34 through 38 ) includes a double acting hydraulic cylinder, wherein the hydraulic cylinder is acted upon with hydraulic fluid via respectively one of the associated actuating elements ( 80 - 84 ) in the form of a proportional changeover valve, and wherein the proportional changeover valves are supplied with hydraulic fluid via the common supply line ( 104 ).
13. The device according to claim 12 , wherein the supply valve ( 106 ) is a simplex valve for selective supplying of the proportional change valves associated with the mast arms and for supplying the support strut valves.
14. The device according to claim 10 , wherein the safety program ( 100 ′) includes an evaluation component, which is responsive to the presence or absence of movement instructions (F ε ) from the control device.
15. The device according to claim 10 , wherein the safety program ( 100 ′) includes an evaluation component, which is responsive to path or angle oriented control deviations (Δε) which are greater than the predetermined threshold value (Δε g ).
16. The device according to claim 10 , wherein the safety program ( 100 ′) includes an evaluation component, which is responsive to the velocity of the path or angle referenced control deviation (V Δε ), which is greater than the predetermined threshold value (V Δεg ).
17. The device according to claim 10 , wherein the safety program (100′) includes an evaluation component, which is responsive to an angular velocity (V ε ), which is greater than the predetermined threshold value (V εg ).
18. The device according to claim 10 , wherein pressure sensors are provided on the piston side and rod side ends of the drive unit ( 34 through 38 ), which is in the form of a hydraulic cylinder, and wherein the safety program includes an evaluation component responsive to the output data of the pressure sensors.