Fluid handling – Processes
Patent
1996-02-23
1998-10-20
Chambers, A. Michael
Fluid handling
Processes
137615, 91363R, 141387, B67D 564
Patent
active
058232184
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The invention relates to a large manipulator, especially for self-propelled concrete pumps, having a rotary head rotatable about an essentially vertical axis of rotation by means of a driving system and arranged on a frame, especially a chassis; a jointed mast composed of at least three mast arms and preferably designed as a concrete-distributing mast, which mast arms are pivotally limited about horizontal, mutually parallel joint axes relative to the respectively adjacent rotary head or mast arm by means of a further driving system. The further driving system has a remote-control device. The remote-control device has a control member for controlling the driving system and for adjusting the mast top, which preferably carries an end hose, along a displacement path. The invention relates further to a method for operating the large manipulator.
BACKGROUND OF THE INVENTION
Self-propelled concrete pumps of this type are mobile tools, which with a full 360.degree. swivelling range of the rotary head can also be utilized when the jointed mast is in an extended horizontal position. The operator is responsible for the control of the self-propelled concrete pump and the positioning of the concrete end hose on the last arm of the jointed mast. He must operate more than three rotatoric degrees of freedom of the jointed mast through the associated driving systems while moving the jointed mast in a non-structured three-dimensional work space, while closely monitoring the building-site border conditions. By using proportional-radio telecontrols this operation was made easier since the operator is no longer encumbered with a cable attached to the self-propelled concrete pump. However, the risk that during a single-axis operation uncontrolled movement at the end hose continues, thusly endangering the building-site personnel. Furthermore, a quick correctional movement of the end hose requires a simultaneous control of several axes. In the past, a single control was required for each of the rotatoric degrees of freedom of the jointed mast. It has already been suggested in order to ease the handling of the large manipulator, to move the end hose through a suitable calculator support in a cartesian x-, y-, z-coordinate system with the help of switch levers, whereby a frame-fixed or building-site-fixed coordinate system can be selected. ("Computer controlled concrete distribution", Dr.-Ing. Hartmut Benckert, Putzmeister-Werk, Seiten 111-119, 8th Int. Symposium on automation and robotics, IPA (FHG) Stuttgart 1991). However, this type of operation has not proven to be rationally sufficient for many uses since the operation of the switch levers needed for this cannot always be precisely synchronized with the optically recognizable sequences of movement of the jointed mast.
Starting out from this the basic purpose of the invention is to improve the conventional large manipulator of the above-disclosed type in such a manner that it is possible for the operator to control any desired points within the area of the reach of the jointed mast by simple manipulations directly from the concrete-feeding point.
SUMMARY OF THE INVENTION
The basic thinking for the solution of the invention is that the operator easily directs the end hose manually toward the concrete-feeding point and that the mast top automatically follows it. A suitable signal-transmitting path is needed for this, with which the mast top can be moved by the operator with a computer assistance over a displacement path preferably specified by the end hose. In order to achieve this, the invention provides that the remote-control device has a signal transmitter, which is arranged at the mast top and can be mechanically, optically, electromagnetically or electrically released through the control member, for controlling a computer-assisted coordinate transmitter, which operates the driving systems of the jointed axes and axes of rotation in accordance with a displacement path directly indicated by means of the control member relative to the instantaneo
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Drawings from U.S. Ser. No. 08/713 339 filed Sep. 30, 1996 (Atty Ref: Wolf and Lutz Case 67)--1 sheet.
Benckert Hartmut
Schlecht Karl
Chambers A. Michael
Putzmeister Aktiengesellschaft
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