Position control of a boom tip

A boom and control system technology, which is applied in the processing of building materials, load hanging components, construction, etc., can solve the problem of not being able to use position control, and achieve the effect of preventing false values

Active Publication Date: 2017-11-28
FRIEDRICH WILH SCHWING GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

Therefore, they cannot be used to implement position control

Method used

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  • Position control of a boom tip
  • Position control of a boom tip
  • Position control of a boom tip

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Embodiment Construction

[0027] figure 1 A schematic view of a jib arm 10 according to the invention is shown with the means for measuring inclination 34 , 36 , 38 in a first configuration. The large robotic arm has a jib arm 10 which is foldable and has a turntable 12 rotatable about a vertical axis and a plurality of jib sections 14 , 16 , 18 . The boom sections 14 , 16 , 18 are pivotable to a limited extent relative to the adjacent boom sections 14 , 16 , 18 or the turntable 12 by means of a drive assembly 26 , 28 , 30 , respectively. The boom arm 10 preferably has three to five boom sections 14 , 16 , 18 . The large robotic arm according to the invention has at least one inertial sensor 34, 36, 38 for sensing the inclination of the boom section 14, 16, 18 relative to the earth. The inertial sensors 34, 36, 38 all preferably include biaxial acceleration sensors and rotational speed sensors. The axis of the rotational speed sensor is ideally positioned orthogonally to the acceleration axis of the...

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Abstract

The invention relates to a large manipulator, which has a boom arm (10), which can be folded out and which has a turntable (12) that is rotatable about a vertical axis and a plurality of boom segments (14, 16, 18), wherein each boom segment (14, 16, 18) can be pivoted to a limited extent by a drive unit (26, 28, 30) with respect to an adjacent boom segment (14, 16, 18) or the turntable (12) about a horizontal axis of articulation at an articulation joint (20, 22, 24). The problem addressed by the invention is that of developing such a large manipulator in such a way that the dynamics of the system can be sensed metrologically and can be used in respect of control. Overall, a large manipulator for which vertical motion of the boom tip (32) can be reduced should be provided. The problem is solved in that the large manipulator has at least one inertial sensor (34, 36, 38, 40) for measuring the tilt and / or the acceleration of at least one boom segment (14, 16, 18). The invention further relates to a truck-mounted concrete pump.

Description

technical field [0001] The present invention relates to a large robotic arm having a boom arm that is foldable and includes a turntable that is rotatable about a vertical axis and a plurality of boom sections, wherein the boom sections can be respectively pivoting to a limited extent at an articulation joint about a corresponding horizontal bending axis relative to an adjacent jib section or turntable by means of a drive assembly, on which jib arm the means for measuring the inclination is arranged, The invention also relates to a truck-mounted concrete pump with a large mechanical arm according to the invention. Background technique [0002] In modern truck-mounted concrete pumps, dual-piston pumps are usually used to feed liquid concrete. The change between the phases of activity of the individual pistons results in an interruption of the concrete flow. Especially at high feed rates, this causes the jib to be excited in a pulsed manner. This cyclic excitation causes a m...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B66C13/06B66C13/46
CPCB66C13/066B66C13/46E04G21/0463
Inventor J·赫尼克尔W·克梅特米勒A·库吉
Owner FRIEDRICH WILH SCHWING GMBH
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