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1. 发明申请

US20160076263A1 CONTROL SYSTEM AND METHOD FOR CONTROLLING THE ORIENTATION OF A SEGMENT OF A MANIPULATOR 审中-公开
标题翻译：控制系统及其控制方法
公开(公告)号：US20160076263A1
公开(公告)日：2016-03-17
申请号：US14783687
申请日：2014-04-09
申请人： TTCONTROL GMBH
发明人： Wolfgang TEBEEK , Wolfgang KEMMETMÜLLER , Johannes HENIKL
IPC分类号： E04G21/04
CPC分类号： E04G21/0463 , B66C13/066 , E04G21/0436 , E04G21/0454
摘要： A regulation system for controlling the orientation of a segment (5.3) of a manipulator, in particular of a large manipulator for truck-mounted concrete pumps, wherein the segment (5.3) is connected to a base (5.4) or a preceding segment (5.3) of the manipulator via a joint (5.5) and can be pivoted at the joint (5.5) relative to the base (5.4) or the preceding segment (5.3) about at least one axis of rotation by means of at least one actuating member (5.6), preferably a hydraulic actuating element,characterised in that the regulation system at least comprises: a first sensor (4.1), which is arranged on a segment (5.3) attached to the joint (5.5) and delivers a first measurement signal—referred to as a “deformation signal”—corresponding to a deformation of the segment (5.3), a second sensor (4.2, 4.3), which delivers a second measurement signal—referred to as an “orientation signal”—corresponding to the spatial orientation of the segment (5.3) attached to the joint (5.5), and at least one actuating element (5.6) associated with the joint (5.5); and is designed to process the deformation signal and the orientation signal as input variables and to determine from these, under consideration of a target orientation of the segment (5.3) associated with the joint (5.5), an actuating signal, which is fed to the associated actuating element (5.6).
摘要翻译：一种用于控制机械手的部分（5.3）的方向的调节系统，特别是用于卡车式混凝土泵的大型操纵器的方向，其中所述段（5.3）连接到基座（5.4）或前一段（5.3 ），并且可以通过至少一个致动构件绕关于至少一个旋转轴线相对于基座（5.4）或前一段（5.3）在接头（5.5）处枢转， 5.6），优选液压致动元件，其特征在于，所述调节系统至少包括：第一传感器（4.1），其布置在附接到所述接头（5.5）的段（5.3）上，并且传递第一测量信号作为对应于段（5.3）的变形的“变形信号”，传送第二测量信号的第二传感器（4.2,4.3），所述第二测量信号被称为“取向信号”，其对应于附件（5.5））和与所述接头（5.5）相关联的至少一个致动元件（5.6）; 并且被设计为处理变形信号和取向信号作为输入变量，并且从这些确定，在考虑与关节（5.5）相关联的段（5.3）的目标方向的情况下，将致动信号馈送到相关联的致动元件（5.6）。

2. 发明申请

US20160084270A1 ELECTROHYDRAULIC CONTROL CIRCUIT 有权
标题翻译：电液控制电路
公开(公告)号：US20160084270A1
公开(公告)日：2016-03-24
申请号：US14783556
申请日：2014-04-09
申请人： TTCONTROL GMBH
发明人： Marcus SPECKS , Marcus PFEIFFER , Stephan GRÜN , Reiner VIERKOTTEN , Joseph SCHNITTKER , Andreas LEHMANN , Wolfgang TEBEEK , Wolfgang KEMMETMÜLLER , Johannes HENIKL
IPC分类号： F15B11/00 , E04G21/04 , F15B11/08
CPC分类号： F15B11/003 , E04G21/0436 , E04G21/0454 , E04G21/0463 , F15B11/08 , F15B20/005 , F15B2211/30515 , F15B2211/30565 , F15B2211/327 , F15B2211/8636 , F15B2211/8757
摘要： An electrohydraulic control circuit for driving a hydraulically actuated actuating element (5, 6), by means of which a segment (5.3) of a manipulator, in particular of a large manipulator for truck-mounted concrete pumps, can be adjusted in terms of its orientation, wherein there are provided an electrically driven first valve (2.4), which is connected to hydraulic working lines of the actuating element (5.6) for the drive thereof, and leak-free check valves (2.5, 2.6) provided in the working lines of the actuating element (5.6), which valves are arranged on the actuating element (5.6) or on the segment (5.3) associated with this actuating element (5.6) and can be released for the normal operation of the actuating element (5.6), wherein the release of the check valves (2.5, 2.6) is driven by an electronic control unit (ECU) separate from the first valve (2.4) and the check valves (2.5, 2.6).
摘要翻译：一种用于驱动液压致动元件（5,6）的电动液压控制回路，通过该电动液压控制回路可以调节机械手的一段（5.3），特别是用于卡车式混凝土泵的大型操纵器的一段（5.3）其中提供了电驱动的第一阀（2.4），其连接到用于驱动的致动元件（5.6）的液压工作管线，以及设置在工作线路中的无泄漏止回阀（2.5,2.6）所述致动元件（5.6）的哪个阀布置在所述致动元件（5.6）上或与所述致动元件（5.6）相关联的所述段（5.3）上，并且可以被释放以用于所述致动元件（5.6）的正常操作，其中止回阀（2.5,2.6）的释放由与第一阀（2.4）和止回阀（2.5,2.6）分开的电子控制单元（ECU）驱动。

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