Large manipulator having an articulated mast that can be quickly folded and unfolded
A manipulator, articulated technology, applied in mechanical equipment, conveyors, transportation and packaging, etc., can solve the problem that the articulated mast takes too long to unfold and fold
Active Publication Date: 2019-09-03
FRIEDRICH WILH SCHWING GMBH
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- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
Articulated masts still take too long to deploy and fold
Method used
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Embodiment Construction
[0047] according to figure 1 The illustration of shows schematically a large robot 1 configured as a truck-type concrete pump with a chassis 2 on which a vertical axis 16 is arranged around the large robot 1 by means of a hydraulic rotary drive 6 Rotating turntable 3. An articulated mast 4 , generally designated by reference numeral 4 , is hinged to the turntable 3 , and in the exemplary embodiment shown, said mast comprises four mast sections 5 a , 5 b , 5 c and 5 d . The first mast section 5a is movably arranged on the turntable 3 via a joint pivotally about a horizontal axis. The pivoting movement is achieved by the pivot drive 6a. The remaining mast sections 5b, 5c and 5d are pivotally movable connected with the respective connected mast sections 5a, 5b, 5c, 5d via articulated joints about horizontal axes parallel to each other. The pivoting movement also affects the pivot drives 6a, 6b, 6c, 6d respectively. Pivot drives 6a, 6b, 6c, 6d each comprise one (or more) hydra...
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The invention relates to a large manipulator (1), in particular a truck-mounted concrete pump, comprising a turntable (3) that can be rotated about a vertical axis by means of a rotary drive and is arranged on a chassis (2), an articulated mast (4) which comprises two or more mast segments (5a, 5b, 5c, 5d), wherein the mast segments (5a, 5b, 5c, 5d) are each pivotably movably connected via articulated joints to the respective adjacent turntable (3) or mast segment (5a, 5b, 5c, 5d) by means of a drive (6, 6a, 6b, 6c, 6d), a control device (7) for mast movement, which actuates the drives (6, 6a,6b, 6c, 6d) in a normal operation, and a mast sensor system for detecting the position of at least one point of the articulated mast (4) or a pivoting angle ([phi]1, [phi]2, [phi]3, [phi]4) of at least one articulated joint. The problem addressed by the invention is to be able to bring the articulated mast in minimal time from the fully folded state to its desired working position. Furthermore, even in the event of a failure of the mast sensor system, it should be ensured that the displacement speed of the drives meets legal standards. To this end, the invention proposes that the control device (7) is designed to limit the speed of mast movement, in that the mast speed is limited to a maximum value as a function of the instantaneous output signals of the mast sensor system, wherein the drives (6, 6a, 6b, 6c, 6d) are manually controllable in an emergency operating mode, wherein at least one limiting means (11, 12, 13, 14) is provided, which, in the emergency operating mode, limits thedisplacement speed of at least one of the drives (6, 6a, 6b, 6c, 6d) to a fixedly predefined maximum value. The invention further relates to a method for controlling the movement of an articulated mast of a large manipulator.
Description
technical field [0001] The invention relates to a large manipulator, in particular a truck-type concrete pump, with: a turntable, rotatable about a vertical axis by means of a rotary drive, arranged on a chassis; an articulated mast comprising two or two or more mast sections, wherein each of said mast sections is pivotably and movably connected to a corresponding adjacent turntable or mast section via an articulated joint by means of a drive each; a control device for driving the drive in normal operation of the movement of the mast; and a mast sensor system for detecting the position of at least one point of said articulated mast or the pivot angle of at least one articulated joint. [0002] Furthermore, the invention relates to a method for controlling the movement of a large manipulator, in particular an articulated mast of a truck-type concrete pump. Background technique [0003] Large manipulators are known in various configurations in the prior art. For example, WO ...
Claims
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Patent Timeline
Login to View More IPC IPC(8): F15B13/00F15B20/00E04G21/04
CPCE04G21/0436E04G21/0445E04G21/0463F15B20/00F15B2211/30525F15B2211/3144F15B2211/324F15B2211/327F15B2211/35F15B2211/75F15B2211/8643B65G53/32F15B11/042F15B11/046F15B2211/55F15B2211/71F15B2211/895
Inventor J·赫尼克尔R·菲尔科滕A·莱曼J·施尼特克尔
Owner FRIEDRICH WILH SCHWING GMBH