Processing

Please wait...

Settings

Settings

Goto Application

1. WO2023280656 - METHOD AND SYSTEM FOR CONTROLLING A MOVEMENT OF AN ADJUSTABLE DISTRIBUTOR BOOM, AND METHOD FOR DISTRIBUTING CONSTRUCTION MATERIAL AND/OR THICK MATTER BY MEANS OF A CONSTRUCTION MATERIAL AND/OR THICK MATTER PUMPING DEVICE HAVING AN ADJUSTABLE DISTRIBUTOR BOOM

Publication Number WO/2023/280656
Publication Date 12.01.2023
International Application No. PCT/EP2022/067906
International Filing Date 29.06.2022
IPC
E04G 21/04 2006.1
EFIXED CONSTRUCTIONS
04BUILDING
GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR OTHER BUILDING AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
21Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
02Conveying or working-up concrete or similar masses able to be heaped or cast
04Devices for both conveying and distributing
B25J 9/16 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
CPC
B25J 9/162
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1615characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
162Mobile manipulator, movable base with manipulator arm mounted on it
B25J 9/1635
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1628characterised by the control loop
1635flexible-arm control
E04G 21/0436
EFIXED CONSTRUCTIONS
04BUILDING
GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
21Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
02Conveying or working-up concrete or similar masses able to be heaped or cast
04Devices for both conveying and distributing
0418with distribution hose
0436on a mobile support, e.g. truck
E04G 21/0463
EFIXED CONSTRUCTIONS
04BUILDING
GSCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
21Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
02Conveying or working-up concrete or similar masses able to be heaped or cast
04Devices for both conveying and distributing
0418with distribution hose
0445with booms
0463with boom control mechanisms, e.g. to automate concrete distribution
G05B 2219/45086
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
45Nc applications
45086Brick laying, masonry robot
Applicants
  • PUTZMEISTER ENGINEERING GMBH [DE]/[DE]
Inventors
  • STEINWANDEL, Alexander
Agents
  • PATENTANWÄLTE RUFF, WILHELM, BEIER, DAUSTER & PARTNER MBB
Priority Data
10 2021 207 097.306.07.2021DE
Publication Language German (de)
Filing Language German (DE)
Designated States
Title
(DE) VERFAHREN UND SYSTEM ZUM STEUERN EINER BEWEGUNG EINES VERSTELLBAREN VERTEILERMASTS UND VERFAHREN ZUM VERTEILEN VON BAU- UND/ODER DICKSTOFF MITTELS EINER BAU- UND/ODER DICKSTOFFPUMPENVORRICHTUNG AUFWEISEND EINEN VERSTELLBAREN VERTEILERMAST
(EN) METHOD AND SYSTEM FOR CONTROLLING A MOVEMENT OF AN ADJUSTABLE DISTRIBUTOR BOOM, AND METHOD FOR DISTRIBUTING CONSTRUCTION MATERIAL AND/OR THICK MATTER BY MEANS OF A CONSTRUCTION MATERIAL AND/OR THICK MATTER PUMPING DEVICE HAVING AN ADJUSTABLE DISTRIBUTOR BOOM
(FR) PROCÉDÉ ET SYSTÈME DE COMMANDE D'UN MOUVEMENT D'UNE FLÈCHE DE DISTRIBUTEUR RÉGLABLE, ET PROCÉDÉ DE DISTRIBUTION DE MATÉRIAU DE CONSTRUCTION ET/OU DE MATIÈRE ÉPAISSE AU MOYEN D'UN MATÉRIAU DE CONSTRUCTION ET/OU D'UN DISPOSITIF DE POMPAGE DE MATIÈRE ÉPAISSE AYANT UNE FLÈCHE DE DISTRIBUTEUR RÉGLABLE
Abstract
(DE) Die Erfindung bezieht sich auf ein Verfahren zum Steuern einer Bewegung eines verstellbaren Verteilermasts (3), wobei der Verteilermast (3) mehrere verstellbare Mastkomponenten (5a, 5b, 5c, 5d, 5e) aufweist, wobei mindestens eine selbe Spitzenposition (SPO) einer Mastspitze (3S) des Verteilermasts (3) durch verschiedene Stellungs-Kombinationen (SK, SK') der Mastkomponenten (5a-e) erreichbar ist, wobei das Verfahren die Schritte aufweist: a) Ermitteln von vektoriellen Abstandsgrößen (ABVa, ABVb, ABVc, ABVd, ABVe) für mehrere Mastelemente (6a, 6b, 6c, 6d, 6e) des Verteilermasts (3) in Bezug auf mindestens ein Hindernis (Hl, Hl') für die Mastelemente (6a-e), b) Ermitteln von vektoriellen Ausweichbewegungsgrößen (AUVa, AUVb, AUVc, AUVd, AUVe) für mehrere der Mastkomponenten (5a-e) basierend auf den ermittelten Abstandsgrößen (ABVa-e), und c) Steuern der Bewegung in Abhängigkeit von den ermittelten Ausweichbewegungsgrößen (AUVa-e) und einer vektoriellen Bedienerbewegungsgröße (BBV) bestimmend eine Spitzenposition (SPO).
(EN) The invention relates to a method for controlling a movement of an adjustable distributor boom (3), wherein the distributor boom (3) has a plurality of adjustable boom components (5a, 5b, 5c, 5d, 5e), wherein at least one same tip position (SPO) of a boom tip (3S) of the distributor boom (3) can be achieved by means of different position combinations (SK, SK') of the boom components (5a-e), wherein the method has the steps of: a) determining vectorial distance variables (ABVa, ABVb, ABVc, ABVd, ABVe) for a plurality of boom elements (6a, 6b, 6c, 6d, 6e) of the distributor boom (3) in relation to at least one obstacle (HI, HI') for the boom elements (6a-e), b) determining vectorial evasive movement variables (AUVa, AUVb, AUVc, AUVd, AUVe) for a plurality of the boom components (5a-e) on the basis of the determined distance variables (ABVa-e), and c) controlling the movement on the basis of the determined evasive movement variables (AUVa-e) and a vectorial operator movement variable (BBV) determining a tip position (SPO).
(FR) L'invention concerne un procédé de commande d'un mouvement d'une flèche de distributeur réglable (3). Ladite flèche de distributeur (3) comprend une pluralité de composants de flèche réglables (5a, 5b, 5c, 5d, 5e), au moins une même position de pointe (SPO) d'une pointe de flèche (3S) de la flèche de distributeur (3) peut être obtenue au moyen de différentes combinaisons de positions (SK, SK') des composants de flèche (5a-e). Ledit procédé comprend les étapes consistant à : a) déterminer des variables de distance vectorielle (ABVa, ABVb, ABVc, ABVd, ABVe) pour une pluralité d'éléments de flèche (6a, 6b, 6c, 6d, 6e) de la flèche de distributeur (3) par rapport à au moins un obstacle (HI, HI') pour les éléments de flèche (6a-e), b) déterminer des variables vectorielles d'évitement de mouvement (AUVa, AUVb, AUVc, AUVd, AUVe) pour une pluralité de composants de flèche (5a-e) sur la base des variables de distance déterminées (ABVa-e), et c) commander le mouvement sur la base des variables de mouvement d'évitement déterminées (AUVa-e) et d'une variable de mouvement d'opérateur vectorielle (BBV) déterminant une position de pointe (SPO).
Related patent documents
Latest bibliographic data on file with the International Bureau