Large manipulator
First Claim
1. Large manipulator having a mast base that can be rotated about a vertical axis of rotation, via at least one drive unit, and is disposed on a frame, having an articulated mast composed of at least two mast arms, which mast arms can be pivoted, in limited manner, relative to the mast base or an adjacent mast arm, about horizontal articulation axes that are parallel to one another, in each instance, via another drive unit, in each instance, having a pendulum element that hangs down from a mast tip, having first and second setting elements disposed in a control device, and having a computer-assisted coordinate sensor that responds to output signals of the first and second setting elements, and activates the drive units of the articulation and rotation axes of the articulated mast in accordance with an adjustment path that is displayed via the first and second setting elements, relative to the current position of the mast tip, whereby the mast tip can follow the spatial movements of the pendulum element, and whereby the first and second setting elements have respective first and second inclination sensors disposed in a housing, said housing being releasably attached to the pendulum element, wherein the first and second inclination sensors are angled by an angle of 90°
- relative to one another, about an axis parallel to the pendulum element axis, and wherein the housing has a marking that indicates the orientation of at least one of the first and second inclination sensors within the housing.
3 Assignments
0 Petitions
Accused Products
Abstract
A large manipulator, especially a truck-mounted concrete pump, has a boom base that can be arranged on a frame so as to be pivoted about a substantially vertical axis of rotation. The large manipulator has a pendular element, that hangs down as an articulated boom and a control device for controlling the drive units of the axes of articulation and rotation of the articulated boom. The remote control has at least one inclination sensor which is housed in a housing that is detachably fastened on the pendular element. Two inclination sensors are housed in the housing and are bent at an angle of 90° with respect to each other and with respect to an axis that is parallel to the pendular element axis. The housing has a mark indicating the orientation of at least one of the inclination sensors inside the housing.
26 Citations
38 Claims
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1. Large manipulator having a mast base that can be rotated about a vertical axis of rotation, via at least one drive unit, and is disposed on a frame, having an articulated mast composed of at least two mast arms, which mast arms can be pivoted, in limited manner, relative to the mast base or an adjacent mast arm, about horizontal articulation axes that are parallel to one another, in each instance, via another drive unit, in each instance, having a pendulum element that hangs down from a mast tip, having first and second setting elements disposed in a control device, and having a computer-assisted coordinate sensor that responds to output signals of the first and second setting elements, and activates the drive units of the articulation and rotation axes of the articulated mast in accordance with an adjustment path that is displayed via the first and second setting elements, relative to the current position of the mast tip, whereby the mast tip can follow the spatial movements of the pendulum element, and whereby the first and second setting elements have respective first and second inclination sensors disposed in a housing, said housing being releasably attached to the pendulum element, wherein the first and second inclination sensors are angled by an angle of 90°
- relative to one another, about an axis parallel to the pendulum element axis, and wherein the housing has a marking that indicates the orientation of at least one of the first and second inclination sensors within the housing.
- View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
- 17. Large manipulator having a mast base that can be rotated about a vertical axis of rotation, via a drive unit, and is disposed on a frame, having an articulated mast composed of at least two mast arms, which mast arms can be pivoted, in limited manner, relative to the mast base or an adjacent mast arm, about horizontal articulation axes that are parallel to one another, in each instance, via another drive unit, in each instance, having a pendulum element that hangs down from a mast tip, having a setting element disposed on a remote control device, and having a computer-assisted coordinate sensor that responds to output signals of the setting element, and activates the drive units of the articulation and rotation axes of the articulated mast in accordance with an adjustment path that is displayed via the setting element, relative to the current position of the mast tip, whereby the mast tip can follow the spatial movements of the pendulum element, wherein the remote control device has a first three-dimensional inertial sensor that is fixed in place on the end hose as a setting element, and a second three-dimensional inertial sensor that is fixed in place on the frame as a reference element for determining the current frame-fixed pendulum element coordinates, and wherein the coordinate sensor responds to the output data issued by the two inertial sensors, forming control signals for the drive units of the axes of rotation and articulation.
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20. Remote control device for fixation on an end hose of a concrete pump that has a concrete distributor mast having a housing and having first and second setting elements disposed in the housing, the first and second setting elements being configured as first and second inclination sensors, respectively, and evaluation electronics that respond to output signals of the first and second setting elements, wherein the first and second inclination sensors are angled at an angle of 90°
- relative to one another, about a housing axis, and are disposed in the interior of the housing, and wherein the housing carries a marking that indicates the orientation of at least one of the inclination sensors within the housing.
- View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
- 32. Remote control device for fixation on an end hose of a concrete pump that has a concrete distributor mast having a housing and having at least one setting element disposed in the housing, which responds to a deflection of the end hose, wherein the setting element is configured as a three-dimensional inertial sensor that is fixed in place on the end hose, and wherein a second three-dimensional inertial sensor that is fixed in place on a frame is provided as a reference element for determining the current frame-fixed end hose coordinates.
- 34. Remote control device for fixation on an end hose of a concrete pump that has a concrete distributor mast having a housing, having at least one setting element disposed in the housing, configured as an inclination sensor or as a three-dimensional inertial sensor, and evaluation electronics that respond to output signals of the setting element, whereby the housing, which is formed from an elastomer material, is provided with belts at two ends that face away from one another, with which belts the housing can be fixed in place on end hoses having different diameters, in the manner of a sensor belt, so as to prevent rotation and displacement.
Specification