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.

Description:
BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The invention relates to a large manipulator, particularly to a concrete pump truck, having a mast base that can be rotated about an essentially vertical axis of rotation, by means of a drive unit, and is disposed on a frame, particularly on a chassis, 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, by means of another drive unit, in each instance, having a pendulum element that hangs down from the mast tip of the last mast arm, having a setting element disposed in a 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 in accordance with an adjustment path that is displayed by means of the setting element, relative to the current position of the mast tip, whereby the mast tip can follow the spatial movements of the setting element. 
     2. The Prior Art 
     Large manipulators of this type are understood to be work machines such as concrete pump trucks, mixer pumps, spray robots, and the like, which can be used with a full 360° pivot range of the mast base, even in the extended horizontal position of the articulated mast, if suitable support is provided. The operator is responsible for control of the large manipulator and for positioning of the pendulum element disposed on the last arm of the articulated mast, preferably configured as an end hose. 
     In the case of a large manipulator configured as a concrete pump truck, having a remote control device, it is already known (EP-0 715 673 B2) that the operator guides the pendulum element, which is configured as an end hose, to the concrete application location by hand, and that the mast tip automatically follows this element there. For this purpose, a signal transmission link is provided, with which the mast tip can be moved by the operator, with computer assistance, by way of an adjustment path that is predetermined by the end hose. The setting element is configured as a direction-sensitive inclination sensor that is disposed on the movable end hose, in releasable and/or height-adjustable manner. The direction sensitivity of the inclination sensor is implemented there by means of the use of a two-axis inclination sensor. The inclination sensor has evaluation electronics for outputting an adjustment path signal that is dependent on the measured inclination direction, and a velocity signal for the movement of the mast tip that is dependent on the measured inclination angle. The inclination sensor is situated in a housing that is attached to the end hose, in torque-proof manner, with regard to the mast tip. Because of this measure, it is possible to move the mast tip into a direction corresponding to the deflection direction, when the end hose is deflected, at a speed that is dependent on the deflection or inclination angle. 
     SUMMARY OF THE INVENTION 
     Proceeding from this, the invention is based on the task of improving the large manipulator with its control device fixed in place on the pendulum element, to the effect that positioning of the control device on the pendulum element is facilitated and simplified. 
     To accomplish this task, the combinations of characteristics indicated in claims  1  and  8  are proposed. Advantageous embodiments and further developments of the invention are evident from the dependent claims. 
     An advantageous embodiment of the invention provides that the articulated mast of the large manipulator configured as a concrete pump truck is configured as a concrete distributor, and that a concrete feed line is guided by way of the mast arms, which feed line opens, at its end, into an end hose that hangs down from the mast tip and forms the pendulum element. 
     According to a first preferred embodiment variant of the invention, two inclination sensors angled by an angle of 90° relative to one another, about an axis parallel to the pendulum element axis, are disposed in the interior of the housing, whereby the housing furthermore has a marking that indicates the orientation of at least one of the inclination sensors within the housing. It is advantageous if the inclination sensors are disposed on two accommodation parts that are angled at 90° relative to one another, of a support plate embedded in the interior of the housing, whereby the support plate has another accommodation part that accommodates the related electronics. In this connection, the electronics are connected with the outputs of the inclination sensors, and particularly serve for signal processing and transmission to the coordinate sensor of the on-board computer. 
     Another preferred embodiment of the invention provides that the rigid support plate with its parts that are situated on the accommodation parts is embedded in the housing, which consists of an elastomer material, in space-saving manner. Preferably, belts are disposed on or formed onto the two ends of the housing that face away from one another, with which belts the housing can be fixed in place on the end hose, in the manner of a sensor belt, so that it cannot be rotated or displaced. The marking according to the invention is preferably configured as a line marking that is disposed on the housing surface and oriented in the extension direction of the articulated mast. In this way, it is ensured that the two inclination sensors are direction-sensitive, in other words that they respond both to deflections of the pendulum element in the extension direction and in the direction sideways to this, and therefore are suitable for issuing an adjustment path signal, together with the related evaluation electronics. Furthermore, a velocity signal that is dependent on the measured inclination angle can be produced for the movement of the mast tip. 
     For reasons of operational reliability, the drive units of the articulated mast and of the mast base are controlled in combination, for practical purposes while maintaining the height of the mast tip in a predetermined horizontal plane. In this way, the result is achieved that the mast tip follows the setting element on the pendulum element in such a manner that it always remains a certain height distance above the substratum. Furthermore, it is ensured that the mast tip is made to follow only at a predetermined minimum deflection of the pendulum element of ±50 cm, for example. In addition, a manually activated height adjustment element can be provided on the sensor belt for adjusting the height of the mast tip. 
     A second alternative embodiment variant according to the invention provides that the control device has a first three-dimensional inertial sensor that is fixed in place on the pendulum element 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 that the coordinate sensor responds to the output data issued by the two inertial sensors, forming the control signals for the drive units of the axes of rotation and articulation. With these measures, the result is achieved that fixation of the control device on the pendulum element, so as to prevent displacement and rotation, which is necessary when using inclination sensors, is not important. Furthermore, the inertial sensors also allow a certain twisting of the end hose, which would lead to inaccuracies in the mast control when using inclination sensors. The inertial sensors according to the invention advantageously have a number of gravitation sensors or gyroscope units that corresponds to the number of degrees of freedom. 
     According to another preferred embodiment of the invention, in which another setting element for activating a feed amount regulator of the concrete pump is provided, the additional setting element is situated in the housing disposed fixed in place on the end hose, and is connected with the concrete pump by way of a signal link, whereby on the input side, it advantageously communicates, without contact, with an external activation organ. With this measure, the result is achieved that activation of the feed amount regulator by the operator is possible without the operator removing his hands from the end hose. It is advantageous if the additional setting element has two setting inputs for this purpose, which correspond to a feed amount increase or decrease, and which can be activated without contact, by way of a radio link. In this connection, it is practical if the radio link has an RFID transponder (RFID=Radio Frequency Identification) as the triggering organ, and an RFID read receiver that is fixed in place on the end arm, whereby the at least one RFID transponder transmits an identity and base data packet to the remote control, by way of the RFID read receiver, during every transmission process. In this way, it is ensured that only an authorized user who has the RFID transponder (RFID tag) can activate the pump by way of the remote control. It is practical if a separate RFID read receiver is assigned to every setting input, while the at least one RFID transponder can be integrated into a work glove. 
     Another preferred embodiment of the invention provides for an additional radio remote control device that the operator carries with him, and that comprises multiple control units that communicate with the mast drive and/or the pump drive by way of a radio link, whereby the control units of the radio remote control device and the setting elements in the housing affixed to the end hose can optionally be activated by way of a switching element on the radio remote control device. With these measures, the result is achieved that the operator can optionally use the radio remote control device or the remote control device affixed to the end of the hose for activating the mast and operating the pump. In order to avoid incorrect use by non-authorized operators, it is furthermore proposed, according to the invention, that the radio remote control device carries an RFID transponder (RFID tag), the content of which can be read and identified by way of an RFID reader receiver (RFID reader) disposed in the housing affixed to the end arm. 
     The invention furthermore relates to a remote control device for fixation on a pendulum element of a large manipulator, having a housing and having at least one setting element disposed in the housing, for control of the large manipulator. 
     A first embodiment variant of the remote control device according to the invention provides that two inclination sensors angled at an angle of 90° relative to one another, about a housing axis, are disposed in the interior of the housing, and that the housing carries a marking that indicates the orientation of at least one of the inclination sensors within the housing. 
     According to an advantageous embodiment of the invention, the inclination sensors of the remote control device are disposed on two accommodation parts of a support plate embedded into the interior of the housing, which parts are angled by 90° relative to one another. Furthermore, the support plate can have another accommodation part that carries the evaluation electronics, which part is preferably disposed between the two accommodation parts that carry the two inclination sensors, and is angled relative to these. 
     According to another embodiment variant according to the invention, the setting element of the remote control device is configured as a three-dimensional inertial sensor fixed in place on the end hose. Furthermore, a second three-dimensional inertial sensor, fixed in place on the frame, is provided as a reference element for determining the current end-hose coordinates fixed in place on the frame. The inertial sensors according to the invention advantageously have a number of gravitation sensors and/or gyroscope units that corresponds to the number of degrees of freedom. 
     Another preferred or alternative embodiment of the invention provides that the rigid support plate, with its parts situated on the accommodation parts, is embedded into the housing, which consists of an elastomer material, so as to save space. Preferably, belts are disposed on or formed onto the two ends of the housing that face away from one another, with which belts the housing can be fixed in place on a pendulum element or end hose in the manner of a sensor belt, to prevent rotation or displacement. The marking according to the invention is preferably configured as a line marking disposed on the housing surface. 
     According to an advantageous embodiment of the invention, in which another setting element for activating a feed amount regulator is provided, the additional setting element is situated in the housing and communicates, on the input side, advantageously in contact-free manner, with an external activation organ. With this measure, the result is achieved that activation of the feed amount regulator by the operator is possible, without the operator taking his hands off the pendulum element or end hose. It is advantageous if the additional setting element has two setting inputs for this purpose, which correspond to a feed amount increase or reduction, and which can be activated in contact-free manner, by way of a radio link. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       In the following, the invention will be explained in greater detail using the exemplary embodiments shown schematically in the drawing. This shows: 
         FIGS. 1   a  and  b  a side view and a top view of a concrete pump truck with the articulated mast extended; 
         FIG. 2  a section through the end hose of the concrete pump truck, with a sensor belt fixed in place on the end hose; 
         FIG. 3  a top view of a concrete pump, with a sensor belt shown in enlarged manner, to illustrate the orientation of the sensor belt on the end hose; 
         FIG. 4  a detail from an end hose having a sensor belt, to illustrate the distance range for activation of the setting elements for the transport amount setting; 
         FIG. 5  an illustration of a high-rise construction, with form boards and a stationary concrete pump as an example of stationary use of the remote control device according to the invention; 
         FIG. 6  a schematic representation of the movement sequence during concrete application, when using the remote control device according to the invention, to illustrate the position changes of the mast tip and of the end hose; 
         FIG. 7  a representation of the coordinate systems of a mobile concrete pump, these systems being fixed in place on the ground, on the frame, and on the end hose, to illustrate the coordinate transformations that must be carried out when using inertial sensors. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     The large manipulators shown schematically in  FIGS. 1   a, b,  and  7 , configured as concrete pump trucks, have a chassis  10 , a mast base  16  that is disposed in the vicinity of the front axle  12  and of the driver&#39;s cab  14  of the chassis  10 , can rotate about a vertical axis of rotation  18  by 360°, carries an articulated mast  20 , as well as a feed line, not shown in the drawing, which line is guided by way of the mast arms  1 ,  2 ,  3 ,  4 ,  5  of the articulated mast, and ends in the region of the mast tip  55 , in an end hose  50  that forms a pendulum element. 
     To activate the drive units of the articulated mast  20 , a remote control device is provided, which comprises a signal transmitter  53  and a central control fixed in place on the vehicle, which communicates with the signal transmitter  53  galvanically or in wireless manner. To adjust the mast tip  55  and the end hose  50  that is disposed on it and hangs downward, at least one setting element  52 ,  54  that communicates with the signal transmitter  53  is provided, which element is activated by the operator  51 . 
     In the exemplary embodiment shown in  FIG. 2 , the setting elements  52 ,  54  are configured as inclination sensors or gravitation sensors, which are disposed in a housing  30  that is releasably attached to the end hose  50 . In this connection, the inclination sensors  52 ,  54  determine the hose inclination relative to the earth gravitation, and pass the data on to the central control of the concrete pump, for example by way of a CAN bus or a radio link. In this manner, the end hose  50  becomes a two-axis joystick. 
     As is particularly evident from  FIG. 2 , there are two inclination sensors  52 ,  54  in the housing  30 , angled at an angle of 90° relative to one another about an axis that is parallel to the end hose axis  32 . For this purpose, the inclination sensors are disposed on two accommodation parts  34 ,  36  of a support plate  38 , which are angled at 90° relative to one another. Furthermore, the support plate  38  has an accommodation part  42  that carries the evaluation electronics  40 , which part is disposed between the two accommodation parts  34 ,  36  that carry the inclination sensors, and is angled relative to these parts. The rigid support plate  38  with its parts situated on the accommodation parts  34 ,  36 ,  42  is embedded into the housing  30 , which is configured from an elastomer material. Belts  46  are formed onto the two ends of the housing that face away from one another, with which belts the housing  30  can be fixed in place on the end hose  50 , in the manner of a sensor belt, so as to prevent rotation and displacement. In the evaluation electronics  40 , the inclination data of the inclination sensors  52 ,  54  are turned over either to a CAN bus or to an additional RFID reader  44  integrated into the housing. The RFID reader  44  additionally ensures that release of the mast movement can only take place if an authorized operator  51 , who carries a corresponding RFID transponder, stands close enough to the end hose. 
     As is particularly evident from  FIG. 3 , there is a line marking  47  on the housing  30 , which ensures that the sensor belt can be fixed in place on the end hose so as to prevent rotation, with its inclination sensors  52 ,  54  being in a specific orientation that points in the extension direction of the articulated mast  20  in the exemplary embodiment shown. The inner shape of the sensor belt is adapted to the outside circumference of the end hose  50 . Fixation on the end hose  50  takes place using a nub/hole arrangement  49  that allows an adaptation to different hose diameters, within a certain range. The connection of the belt bands  46  when fixing the sensor belt in place on the end hose  50  can also take place using a hook-and-loop closure, for example. 
     In the housing  30  of the sensor belt, a setting element  60 +,  60 − can furthermore be accommodated, for activating the feed pump. The setting data of this setting element can also be passed on by way of the CAN bus or by way of a radio link. In the case of the exemplary embodiment shown in  FIG. 4 , activation of the setting elements  60 +,  60 − for the concrete pump takes place by way of a radio link, using RFID transmitters  62 ,  64 , which are disposed in the gloves  66  of the operator  51  in the exemplary embodiment shown. A recognition range  68  can be set on the setting elements, within which a switching process or control process can be triggered. When the plus setting element  60 + is approached, the feed amount is increased, while when the minus setting element  60 − is approached, the feed amount is reduced. The operator  51  at the end hose  50  therefore does not have to remove his hands from the hose in order to adjust the feed amount of the concrete pump. 
     With the measures according to the invention, it is possible to distribute the concrete in the manner desired by an operator  51 , at a concrete application location  70  by simply moving the end hose  50 . As is evident from  FIG. 6 , rapid movements of the end hose  50  in different directions lead to only relatively slight position changes of the mast tip  55  during a pure distribution process. This is due to the fact that the mast movement responds only at a minimum deflection of the end hose  50 . Continuous deflection of the end hose  50  in one direction, i.e. a slow change in direction, on the other hand, bring about the result that the mast  20  follows in the desired direction. The latter is the case, for example in the case of the exemplary embodiment shown in  FIG. 5 , in which a stationary concrete distribution mast  20  is moved along different positions  72  of a concrete application location  70  (form), by means of moving the end hose  50 . In the case of repeated procedures of this type, the path can also be learned. 
     Fundamentally, it is possible to use inertial sensors on the end hose in place of the two inclination sensors that are oriented perpendicular relative to one another. In this case, it is necessary that the remote control device  30 ′ has a first three-dimensional inertial sensor  53  fixed in place on the end hose, as a setting element, and a second three-dimensional inertial sensor  57  fixed in place on the frame, as a reference element for determining the current end hose coordinates fixed in place on the frame, whereby in addition, a computer-assisted coordinate sensor is provided, which 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 of the articulation mast  20 . In this connection, the inertial sensors  53 ,  57  have a number of gyroscope units and/or gravitation sensors that corresponds to the number of degrees of freedom. The number of gyroscope units and/or gravitation sensors. The orthogonal coordinate systems to be converted to one another are indicated in  FIG. 7  as follows:
     (X g Y g Z g )=coordinate system fixed in place on the ground   (X f Y f Z f )=coordinate system fixed in place on the vehicle   (X e Y e Z e )=coordinate system fixed in place on the end hose   

     For conversion of the coordinate systems, a transformation matrix T (ψ, θ, φ) is required, in each instance, whereby ψ, θ, φ stand for Euler&#39;s angles of the coordinate systems to be transformed. 
     In the computer-assisted coordinate sensor, the Cartesian coordinates are furthermore converted to the cylinder coordinates of the articulation mast fixed in place on the frame (r, h, φ) whereby r stands for the distance of the end hose from the axis of rotation  18  of the mast base  16 , h stands for the height of the end hose above the substratum  41 , and φ stands for the angle of rotation of the articulated mast  20  about the axis of rotation  18 . In this connection, the variables r and h are dependent variables, which are calculated from the predetermined geometry and the measured angle positions of the mast arms within the articulated mast. 
     Another preferred embodiment of the invention provides that the operator  51  additionally carries a radio remote control device  80 , for example on his belt, which device has multiple control units that communicate with the mast drive and/or the pump drive by way of a radio link. The control units of the radio remote control device  80  and the setting elements  52 ,  54  in the sensor belt fixed in place on the end hose can be optionally activated from the radio remote control device, by way of a switching element. The radio remote control device  80  can furthermore carry an RFID transponder, the content of which can be read and identified by way of the RFID reader  44  disposed in the sensor belt fixed in place on the end hose. In this way, the operator  51  can optionally control the concrete pump with the remote control device  80  from a greater distance, or directly via the end hose  50  when he approaches the latter. Release takes place by way of the RFID system. 
     In summary, the following should be stated: The invention relates to a large manipulator, particularly a concrete pump truck, having a mast base  16  that can be rotated about an essentially vertical axis of rotation  18 , and is disposed on a frame, particularly on a chassis  10 , having an articulated mast  20  having a pendulum element that is preferably configured as an end hose  50  that hangs down from the mast tip of the articulated mast, and having a control device for controlling the drive units of the axes of articulation and rotation of the articulated mast, whereby the remote control device has at least one inclination sensor  52 ,  54 , which is disposed in a housing  30  that is releasably attached to the pendulum element  50 . According to the invention, two inclination sensors  52 ,  54  angled by an angle of 90° relative to one another, about an axis parallel to the pendulum element axis  32 , are disposed in the housing  30 . In order to allow precise orientation of the housing  30 , the latter has a marking  47  that indicates the orientation of at least one of the inclination sensors within the housing  30 .