Patent Publication Number: US-2022219950-A1

Title: Jib crane mechanism

Description:
BACKGROUND 
     The subject disclosure relates to mechanical mechanisms for transferring loads, and more specifically, to techniques that facilitate increased operational reliability for jib cranes. 
     Jib cranes are versatile lifting devices that can facilitate transferring loads about arcs circumscribing their respective base structure. Some jib cranes employ bearings that facilitate jib crane rotation while transferring loads by minimizing friction between moving parts. As mechanical components, bearings are subject to increasing failure rates or wear-out failures over time as a result of component deterioration due to age or use. To the extent that jib cranes transfer loads by rotation, bearing failure can negatively impact jib crane operational reliability and lead to increased equipment downtime. 
     SUMMARY 
     The following presents a summary to provide a basic understanding of one or more embodiments of the invention. This summary is not intended to identify key or critical elements, or delineate any scope of the particular embodiments or any scope of the claims. Its sole purpose is to present concepts in a simplified form as a prelude to the more detailed description that is presented later. In one or more embodiments described herein, systems, devices, and/or methods that facilitate increased operational reliability for jib cranes are described. 
     According to an embodiment, a jib crane can comprise a mast, a shaft mechanism, and a rod including a longitudinal axis. The mast can extend vertically from a base structure. The shaft mechanism can be disposed within the mast. The rod can be coupled to a boom arm and can be disposed within the shaft mechanism. Rotation of the rod can facilitate continuous rotation of the boom arm about the longitudinal axis with respect to the base structure. One aspect of such a jib crane is that the jib crane can facilitate increasing operational reliability. 
     In an embodiment, the jib crane can further comprise an adjustment mechanism intervening between the boom arm and the rod that facilitates adjusting an angular orientation of the boom arm relative to the mast. One aspect of such a jib crane is that the jib crane can provide additional flexibility for aligning a correspondence between a load and the boom arm to facilitate transferring the load. 
     According to another embodiment, an apparatus can comprise a boom arm coupled to a rod disposed within a shaft mechanism that is disposed within a mast extending vertically from a base structure. Rotation of the rod facilitates continuous rotation of the boom arm about a longitudinal axis of the rod with respect to the base structure. One aspect of such an apparatus is that the apparatus can facilitate increasing operational reliability. 
     In an embodiment, the boom arm can comprise a proximal end coupled to the rod. In an embodiment, the apparatus can further comprise an adjustment mechanism intervening between the boom arm and a mounting bracket coupled to a distal end of the boom arm that opposes the proximal end. The adjustment mechanism can facilitate adjusting an angular orientation of the mounting bracket within a transverse plane that is orthogonal to a centerline of the boom arm. One aspect of such an apparatus is that the apparatus can provide additional flexibility for aligning a correspondence between a load and the boom arm to facilitate transferring the load. 
     According to another embodiment, an apparatus can comprise a shaft mechanism and a rod. The shaft mechanism can be disposed within a mast extending vertically from a base structure. The shaft mechanism can support a boom arm. The rod can be disposed within the shaft mechanism. Rotation of the rod can facilitate continuous rotation of the boom arm about a longitudinal axis of the rod with respect to the base structure. One aspect of such an apparatus is that the apparatus can facilitate increasing operational reliability. 
     In an embodiment, the shaft mechanism can be adjustable along the longitudinal axis to facilitate adjusting a distance between the base structure and a proximal end of the boom arm that is coupled to the shaft mechanism. One aspect of such an apparatus is that the apparatus can provide additional flexibility for aligning a correspondence between a load and the boom arm to facilitate transferring the load. 
     According to another embodiment, an apparatus can comprise a rod including a longitudinal axis, a boom arm, and a mounting bracket. The rod can be disposed within a mast extending from a base structure. The boom arm can be coupled to the rod via a proximal end of the boom arm. The boom arm can be continuously rotatable about the longitudinal axis with respect to the base structure. The mounting bracket can facilitate coupling a load to a distal end of the boom arm that opposes the proximal end of the boom arm coupled to the rod. One aspect of such an apparatus is that the apparatus can facilitate increasing operational reliability. 
     In an embodiment, the apparatus can further comprise one or more adjustment mechanisms that facilitate adjusting: an angular orientation of the boom arm relative to the mast; an angular orientation of the mounting bracket within a transverse plane that is orthogonal to a centerline of the boom arm; a distance between the mounting bracket and the mast; an angular orientation of the mounting bracket with respect to the boom arm; or a combination thereof. One aspect of such an apparatus is that the apparatus can provide additional flexibility for aligning a correspondence between a load and the boom arm to facilitate transferring the load. 
     According to another embodiment, a computer-implemented method can comprise coupling, by a system operatively coupled to a processor, a load to a distal end of a boom arm comprising a proximal end coupled to a rod disposed within a shaft mechanism disposed within a mast extending vertically from a base structure. The boom arm can be continuously rotatable about a longitudinal axis of the rod with respect to the base structure. The computer-implemented method can further comprise transferring, by the system, the load from a first position to a second position by rotating the boom arm about the longitudinal axis. One aspect of such a computer-implemented method is that the method can facilitate increasing operational reliability. 
     In an embodiment, the computer-implemented method can further comprise adjusting, by the system, an angular orientation of the boom arm relative to the mast, an angular orientation of a mounting bracket within a transverse plane that is orthogonal to a centerline of the boom arm, a distance between the mounting bracket and the mast, or an angular orientation of the mounting bracket with respect to the boom arm, wherein the mounting bracket is coupled to the distal end of the boom arm. One aspect of such a computer-implemented method is that the method can provide additional flexibility for aligning a correspondence between a load and the boom arm to facilitate transferring the load. 
    
    
     
       DESCRIPTION OF THE DRAWINGS 
         FIG. 1  illustrates a perspective view of an example, non-limiting operating environment for implementing one or more embodiments described herein. 
         FIG. 2  illustrates another perspective view of the example, non-limiting operating environment of  FIG. 1 , in accordance with one or more embodiments described herein. 
         FIG. 3  illustrates a side view of the example, non-limiting operating environment of  FIG. 1 , in accordance with one or more embodiments described herein. 
         FIG. 4  illustrates a section view of an example, non-limiting mast structure, in accordance with one or more embodiments described herein. 
         FIG. 5  illustrates a perspective view of an example, non-limiting arm structure, in accordance with one or more embodiments described herein. 
         FIG. 6  illustrates an exploded perspective view of the example, non-limiting arm structure of  FIG. 5 , in accordance with one or more embodiments described herein. 
         FIG. 7  illustrates an example, non-limiting adjustment mechanism adjusting an angular orientation of a boom arm relative to a mast, in accordance with one or more embodiments described herein. 
         FIG. 8  illustrates an example, non-limiting adjustment mechanism adjusting an angular orientation of a mounting bracket relative to a boom arm, in accordance with one or more embodiments described herein. 
         FIG. 9  illustrates an example, non-limiting adjustment mechanism adjusting an angular orientation of a mounting bracket within a transverse plane that is orthogonal to a centerline of a boom arm, in accordance with one or more embodiments described herein. 
         FIG. 10  illustrates an example, non-limiting shaft mechanism adjusting a distance between a base structure and a proximal end of a boom arm, in accordance with one or more embodiments described herein. 
         FIG. 11  illustrates an example, non-limiting adjustment mechanism adjusting a distance between a mast and a mounting bracket, in accordance with one or more embodiments described herein. 
         FIG. 12  illustrates an example, non-limiting high-level conceptual overview of transferring loads by rotation of boom arms, in accordance with one or more embodiments described herein 
         FIG. 13  illustrates a flow diagram of an example, non-limiting computer-implemented method of facilitating operation of a jib crane to transfer loads, in accordance with one or more embodiments described herein. 
         FIG. 14  illustrates a block diagram of an example, non-limiting operating environment in which one or more embodiments described herein can be facilitated. 
     
    
    
     DETAILED DESCRIPTION 
     The following detailed description is merely illustrative and is not intended to limit embodiments and/or application or uses of embodiments. Furthermore, there is no intention to be bound by any expressed or implied information presented in the preceding Background or Summary sections, or in the Detailed Description section. 
     One or more embodiments are now described with reference to the drawings, wherein like referenced numerals are used to refer to like elements throughout. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a more thorough understanding of the one or more embodiments. It is evident, however, in various cases, that the one or more embodiments can be practiced without these specific details. 
     Embodiments described herein address the deficiencies discussed above to facilitate increased operational reliability for jib cranes. For example, as discussed above, some jib cranes employ bearings that facilitate jib crane rotation while transferring loads by minimizing friction between moving parts. However, as mechanical components, bearings are subject to increasing failure rates or wear-out failures over time as a result of component deterioration due to age or use. To the extent that jib cranes transfer loads by rotation, bearing failure can negatively impact jib crane operational reliability and lead to increased equipment downtime. In contrast, embodiments described herein can facilitate increased jib crane operational reliability by implementing bearing-less mast structures. 
       FIGS. 1-3  illustrate an example, non-limiting operating environment  100  for implementing one or more embodiments described herein. As illustrated, operating environment  100  includes jib cranes  101  and  102  that are coupled to loads  103  and  104 , respectively. While  FIGS. 1-3  depict loads  103  and  104  as sectioned sidewalls of a cylindrical chamber (e.g., an outer vacuum chamber of a cryostat), one skilled in the art will appreciate that jib cranes  101  and/or  102  can be coupled to other types of loads for transportation. Jib cranes  101  and  102  each generally comprise a base structure  110  coupled to a mast structure  120  that mechanically supports an arm structure  150 . Base structure  110  can be anchored to a surface  200  via a plurality of attachment mechanisms  112 . In an embodiment, a load capacity of the jib crane defines a number of attachment mechanisms comprising the plurality of attachment mechanisms  112 , a length at least one attachment mechanism comprising the plurality of attachment mechanisms  112 , or a combination thereof. 
     Surface  200  can be a substantially fixed foundation structure (e.g., a concrete slab, a metallic platform, and the like) that mechanically supports loads  103  and  104 , as shown by  FIGS. 2-3 . In an embodiment, surface  200  can be a mobile platform that facilitates relocating jib cranes  101  and/or  102  from one position to another for coupling to different loads. For example, surface  200  can comprise a cart, a moveable platform, a vehicle, and the like. In an embodiment, one or more gusset plates  122  can be attached (e.g., welded) to jib cranes  101  and/or  102  proximate to an intersection between base structure  110  and mast structure  120 . The one or more gusset plates  122  can provide additional mechanical support for mast structure  120 . The one or more gusset plates  122  can further strengthen an attachment mechanism (e.g., a weld) that couples base structure  110  with mast structure  120 . 
     As shown by  FIG. 2 , mast structure  120  can also be coupled to a base structure  125  that is anchored to a frame  250  supporting loads  103  and  104 . In an embodiment, jib cranes  101  and/or  102  can be implemented without base structure  110  or base structure  125 . For example, jib crane  101  can be implemented with a mast structure  120  that extends vertically from base structure  125 . In this example, jib crane  101  can be decoupled from the surface  200  supporting frame  250 . As another example, jib crane  102  can be implemented without base structure  125  such that jib crane  102  is decoupled from frame  250 . 
     Turning to  FIG. 4 , mast structure  120  comprises a mast  130 , a shaft mechanism  140  disposed within mast  130 , and a rod  410  disposed within shaft mechanism  140 . Internal walls  442  of shaft mechanism  140  define a channel having a diameter  445  that can be dimensioned based on an outer diameter  415  of rod  410 . One aspect of dimensioning diameter  445  can involve setting a minimum value for diameter  445  such that the channel defined by the internal walls  442  of shaft mechanism  140  can receive rod  410 . Another aspect of dimensioning diameter  445  can involve setting a maximum value for diameter  445  to facilitate sufficient contact between the outer walls  412  of rod  410  and the inner walls  442  of shaft mechanism  140  such that, at least, a portion of torque applied to rod  410  can be transferred to shaft mechanism  140 . In an embodiment, the maximum value for diameter  445  can be set to minimize an annulus  420  between rod  410  and shaft mechanism  140 . In an embodiment, shaft mechanism  140  can comprise a cylinder of stainless steel. In an embodiment, rod  410  can be solid. In an embodiment, rod  410  can be hollow with a channel that substantially circumscribes a longitudinal axis  417  of rod  410 . 
     Internal walls  432  of mast  130  define a channel having a diameter  435  that can be dimensioned based on an outer diameter  447  of shaft mechanism  140 . One aspect of dimensioning diameter  435  can involve setting a minimum value for diameter  435  such that the channel defined by the internal walls  432  of mast  130  can shaft mechanism  140 . Another aspect of dimensioning diameter  435  can involve setting a value for diameter  435  to establish an annulus  430  between mast  130  and shaft mechanism  140  that facilitates minimizing contact between the outer walls  444  of shaft mechanism  140  and the inner walls  432  of mast  130 . Minimizing such contact can facilitate rotation of shaft mechanism  140  within mast  130  as torque is applied to rod  410 . 
     In an embodiment, a bushing can intervene between shaft mechanism  140  and mast  130 . In an embodiment, the bushing can intervene between shaft mechanism  140  and mast  130  within annulus  430 . In an embodiment, the bushing can intervene between shaft mechanism  140  and mast  130  proximate to boom arm  170 , proximate to base structure  110 , or a combination thereof. In an embodiment, the bushing can contact the internal walls  432  of mast  130  and the outer walls of shaft mechanism  140 . In an embodiment, a protective sleeve  240  can overlay shaft mechanism  140  to mitigate entry of debris within annulus  430 , as shown by  FIGS. 2-3 . 
     With reference to  FIGS. 1-3 , arm structure  150  generally comprises a boom arm  170  and a mounting bracket  190 . A proximal end  172  of boom arm  170  is coupled to the rod  410  disposed within mast structure  120  via an adjustment mechanism  160 . By coupling rod  410  to the proximal end  172  of boom arm  170 , rotation of rod  410  facilitates continuous rotation of boom arm  170  about the longitudinal axis  417  with respect to base structure  110 . A distal end  174  of boom arm  170  is coupled to mounting bracket  190  via adjustment mechanisms  180  and  280 , as best seen in  FIG. 2 . 
     Mounting bracket  190  can facilitate coupling a load (e.g., loads  103  and/or  104 ) to the distal end  174  of boom arm  170 . To that end, mounting bracket  190  can comprise one or more pick points that facilitate coupling the load to the distal end  174  of boom arm  170 . In example operating environment  100 , the one or more pick points include pick points  192  and  194 , as best seen in  FIG. 2 . Load  103  comprises brackets  212  and  214 . Pick point  192  can receive a retention mechanism  222  that passes through bracket  212  and pick point  194  can receive a retention mechanism  214  that passes through bracket  214 . In  FIGS. 1-6 , pick points  192  and  194  are depicted as being disposed proximate to opposing ends of mounting bracket  190 . However, in other embodiments, the one or more pick points of mounting bracket  190  can be arranged differently. For example, mounting bracket  190  can comprise a pick point disposed proximate to a mid-point of mounting bracket  190 . 
     In various embodiments described herein, arm structure  150  can further comprise one or more adjustment mechanisms that provide additional flexibility for aligning a correspondence between a load and boom arm  170  to facilitate transferring the load. With reference to  FIGS. 5-6 , arm structure  150  can comprise an adjustment mechanism  160  that intervenes between rod  410  and a proximal end  172  of boom arm  170 . Adjustment mechanism  160  can facilitate detachably coupling boom arm  170  and rod  410  by operation of retention mechanism  561 . Adjustment mechanism  160  can further facilitate adjusting an angular orientation  501  of boom arm  170  relative to mast  130  by operation of pin  563 . For example, the angular orientation  501  of boom arm  170  relative to mast  130  by transitioning pin  563  from the upper clearance hole of adjustment mechanism  160  in which  FIG. 5  depicts pin  563  to a lower clearance hole  565  of adjustment mechanism  160 . 
     Arm structure  150  can further comprise an adjustment mechanism  280  that intervenes between mounting bracket  190  and a distal end  174  of boom arm  170 . Adjustment mechanism  280  can facilitate adjusting a distance between mounting bracket  190  and mast  130  by operation of attachment mechanism  581  and slot  582 . For example, movement of attachment mechanism  581  within slot  582  can be restricted when attachment mechanism  581  is in a tightened state whereas such movement of attachment mechanism  581  can be permitted when attachment mechanism  581  is in a non-tightened state. As such, attachment mechanism  581  can be transitioned into the non-tightened state to adjust a distance between mounting bracket  190  and mast  130  in an inward direction  503  or an outward direction  505 . When the desired distance between mounting bracket  190  and mast  130  is obtained, attachment mechanism can be transitioned from the non-tightened state to the tightened state. 
     Adjustment mechanism  280  can further facilitate adjusting an angular orientation of mounting bracket  190  within a transverse plane that is orthogonal to a centerline  571  of boom arm  170  by operation of attachment mechanism  681 , attachment mechanism  683 , and slot  686 . For example, subject to interaction between attachment mechanism  683  and slot  686 , mounting bracket  190  can freely rotate about attachment mechanism  681  when attachment mechanism  683  is in a non-tightened state. In this example, subject to interaction between attachment mechanism  683  and slot  686 , mounting bracket  190  can rotate about attachment mechanism  681  in direction  511  or direction  513 . By transitioning attachment mechanism  683  from the non-tightened state to a tightened state, rotation of mounting bracket  190  about attachment mechanism  681  can be restricted. In an embodiment, adjustment mechanism  280  can further facilitate detachably coupling mounting bracket  190  to boom arm  170 . For example, mounting bracket  190  can become detached from boom arm  170  by removing attachment mechanism  581 . 
     Arm structure  150  can further comprise an adjustment mechanism  180  that intervenes between mounting bracket  190  and a distal end  174  of boom arm  170 . Adjustment mechanism  280  can facilitate adjusting an angular orientation  507  of mounting bracket  190  with respect to the boom arm  170  by operation of retention mechanism  583 , open slot  584 , retention mechanism  585 , and attachment mechanism  587 . For example, subject to interaction between plate  585  of attachment mechanism  280  and mounting bracket  190 , mounting bracket  190  can freely rotate about retention mechanism  583  when retention mechanism  585  is removed and attachment mechanism  587  is in a non-tightened state. By inserting retention mechanism  585  into adjustment mechanism  180  or by transitioning attachment mechanism  587  from the non-tightened state to a tightened state, rotation of mounting bracket  190  about retention mechanism  583  can be restricted. While mounting bracket  190  is freely rotating about retention mechanism  583 , retention mechanism  585  can be inserted into adjustment mechanism  180  such that retention mechanism  585  passes through clearance hole  590  of mounting bracket  190  to lock mounting bracket  190  into a corresponding angular orientation  507 . In an embodiment, adjustment mechanism  180  can further facilitate detachably coupling mounting bracket  190  to boom arm  170 . For example, mounting bracket  190  can become detached from boom arm  170  by removing retention mechanism  583  and transitioning attachment mechanism  587  to the non-tightened state. 
     With reference to  FIG. 7 , an adjustment mechanism  720  intervening between a boom arm and a mast  710  can facilitate adjusting an angular orientation of the boom arm relative to mast  710 . For example, the boom arm can transition from a first position  730  to a second position  731  by operation of adjustment mechanism  720 . By transitioning the boom arm from the first position  730  to the second position  731 , adjustment mechanism  720  can adjust the angular orientation of the boom arm relative to mast  710  from a first angular orientation  765  to a second angular orientation  775 . In an embodiment, adjustment mechanism  720  can be implemented using adjustment mechanism  160 . In an embodiment, adjustment mechanism  720  can intervene between the boom arm and a rod (e.g., rod  410 ) disposed within mast  710 . 
     With reference to  FIG. 8 , an adjustment mechanism  840  intervening between a boom arm  830  and a mounting bracket can facilitate adjusting an angular orientation of the mounting bracket relative to boom arm  830 . For example, the mounting bracket can transition from a first position  850  to a second position  851  by operation of adjustment mechanism  840 . By transitioning the mounting bracket from the first position  850  to the second position  851 , adjustment mechanism  840  can adjust the angular orientation of the mounting bracket relative to boom arm  830  from a first angular orientation  865  to a second angular orientation  875 . In an embodiment, adjustment mechanism  840  can be implemented using adjustment mechanism  180 . 
     With reference to  FIGS. 8-9 , an adjustment mechanism  940  can facilitate adjusting an angular orientation of a mounting bracket within a transverse plane  901  that is orthogonal to a centerline  903  of a boom arm (e.g., boom arm  830 ). For example, the mounting bracket can transition from a first position  950  to a second position  951  by operation of adjustment mechanism  940 . By transitioning the mounting bracket from the first position  950  to the second position  951 , adjustment mechanism  940  can adjust the angular orientation of the mounting bracket within transverse plane  901  from an angular orientation in which the mounting bracket is substantially parallel with a centerline  905  of a mast  910  supporting the boom arm to a first angular orientation  965 . As another example, the mounting bracket can transition from the first position  950  to a third position  952  by operation of adjustment mechanism  940 . By transitioning the mounting bracket from the first position  950  to the third position  952 , adjustment mechanism  940  can adjust the angular orientation of the mounting bracket within transverse plane  901  from the angular orientation in which the mounting bracket is substantially parallel with the centerline  905  of mast  910  to a second angular orientation  975 . In an embodiment, adjustment mechanism  940  can be implemented using adjustment mechanism  280 . 
     With reference to  FIG. 10 , a shaft mechanism  1060  disposed within a mast  1010  can facilitate adjusting a distance between a base structure  1001  and a boom arm. For example, the boom arm can transition from a first position  1030  to a second position  1031  by adjusting shaft mechanism  1060  along a longitudinal axis  1062 . By transitioning the boom arm from the first position  1030  to the second position  1031 , shaft mechanism  1060  can adjust a distance between base structure  1001  and the boom arm from a first distance  1065  to a second distance  1075 . In an embodiment, mast  1010  and shaft mechanism  1060  can be implemented by mast  140  and shaft mechanism  130 , respectively. In an embodiment, mast  1010  can comprise a threaded internal wall that receives threads disposed on an outer wall of shaft mechanism  1060 . In an embodiment, shaft mechanism  1060  can comprise a threaded outer wall that receives threads disposed on an inner wall of mast  1010 . In an embodiment, rotation of shaft mechanism  1060  about the longitudinal axis  1062  in a first direction can increase a distance between base structure  1001  and the boom arm while rotation of shaft mechanism  1060  about the longitudinal axis  1062  in a second direction that opposes the first direction can decrease a distance between base structure  1001  and the boom arm. 
     With reference to  FIG. 11 , an adjustment mechanism (e.g., adjustment mechanisms  1120  and/or  1140 ) intervening between a mast  1110  and a mounting bracket can facilitate adjusting a distance between the mounting bracket and mast  1110 . For example, the mounting bracket can transition from a first position  1150  to a second position  1151  by operation of the adjustment mechanism. By transitioning the mounting bracket from the first position  1150  to the second position  1151 , the adjustment mechanism can adjust the distance between the mounting bracket and mast  1110  from a first distance  1165  to a second distance  1175 . In an embodiment, the adjustment mechanism can be implemented using adjustment mechanism  280 . 
       FIG. 12  illustrates an example, non-limiting high-level conceptual overview of transferring loads by rotation of boom arms, in accordance with one or more embodiments described herein. By way of example, the loads of  FIG. 12  can be implemented as the sectioned sidewalls (i.e., loads  103  and  104 ) of the cylindrical chamber illustrated in  FIGS. 1-3 . In this example, a boom arm of jib crane  101  can be coupled to load  103  in position  1210  and a boom arm of jib crane  102  can be coupled to load  104  in position  1220 . By rotating the boom arm of jib crane  101  about its respective longitudinal axis, load  103  can be transferred from position  1210  to position  1215 . Similarly, by rotating the boom arm of jib crane  102  about its respective longitudinal axis, load  104  can be transferred from position  1220  to position  1225 . 
       FIG. 13  illustrates a flow diagram of an example, non-limiting computer-implemented method  1300  of facilitating increased operational reliability for jib cranes, in accordance with one or more embodiments described herein. Repetitive description of like elements employed in other embodiments described herein is omitted for sake of brevity. At  1310 , the computer-implemented method  1300  can comprise coupling, by a system operatively coupled to a processor, a load to a distal end of a boom arm (e.g., boom arm  170 ) comprising a proximal end coupled to a shaft mechanism (e.g., shaft mechanism  140 ) disposed within a mast (e.g., mast  130 ) extending vertically from a base structure (e.g., base structure  110 ). The boom arm can be continuously rotatable about a longitudinal axis of the shaft mechanism with respect to the base structure. At  1320 , the computer-implemented method  1300  can further comprise transferring, by the system, the load from a first position to a second position by rotating the boom arm about the longitudinal axis. In an embodiment, the system can rotate the boom arm about the longitudinal axis by activating a controller associated with a driving mechanism coupled to a rod (e.g., rod  410 ) disposed within the shaft mechanism. In an embodiment, the driving mechanism can comprise a motor or an engine. In an embodiment, the computer-implemented method  1300  can further comprise adjusting, by the system, an angular orientation of the boom arm relative to the mast, an angular orientation of a mounting bracket within a transverse plane that is orthogonal to a centerline of the boom arm, a distance between the mounting bracket and the mast, or an angular orientation of the mounting bracket with respect to the boom arm. In an embodiment, the mounting bracket can be coupled to the distal end of the boom arm. 
     In order to provide a context for the various aspects of the disclosed subject matter,  FIG. 14  as well as the following discussion are intended to provide a general description of a suitable environment in which the various aspects of the disclosed subject matter can be implemented.  FIG. 14  illustrates a suitable operating environment  1400  for implementing various aspects of this disclosure can also include a computer  1412 . The computer  1412  can also include a processing unit  1414 , a system memory  1416 , and a system bus  1418 . The system bus  1418  couples system components including, but not limited to, the system memory  1416  to the processing unit  1414 . The processing unit  1414  can be any of various available processors. Dual microprocessors and other multiprocessor architectures also can be employed as the processing unit  1414 . The system bus  1418  can be any of several types of bus structure(s) including the memory bus or memory controller, a peripheral bus or external bus, and/or a local bus using any variety of available bus architectures including, but not limited to, Industrial Standard Architecture (ISA), Micro-Channel Architecture (MSA), Extended ISA (EISA), Intelligent Drive Electronics (IDE), VESA Local Bus (VLB), Peripheral Component Interconnect (PCI), Card Bus, Universal Serial Bus (USB), Advanced Graphics Port (AGP), Firewire (IEEE 1094), and Small Computer Systems Interface (SCSI). The system memory  1416  can also include volatile memory  1420  and nonvolatile memory  1422 . The basic input/output system (BIOS), containing the basic routines to transfer information between elements within the computer  1412 , such as during start-up, is stored in nonvolatile memory  1422 . By way of illustration, and not limitation, nonvolatile memory  1422  can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, or nonvolatile random-access memory (RAM) (e.g., ferroelectric RAM (FeRAM). Volatile memory  1420  can also include random access memory (RAM), which acts as external cache memory. By way of illustration and not limitation, RAM is available in many forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), direct Rambus RAM (DRRAM), direct Rambus dynamic RAM (DRDRAM), and Rambus dynamic RAM. 
     Computer  1412  can also include removable/non-removable, volatile/non-volatile computer storage media.  FIG. 14  illustrates, for example, a disk storage  1424 . Disk storage  1424  can also include, but is not limited to, devices like a magnetic disk drive, floppy disk drive, tape drive, Jaz drive, Zip drive, LS-100 drive, flash memory card, or memory stick. The disk storage  1424  also can include storage media separately or in combination with other storage media including, but not limited to, an optical disk drive such as a compact disk ROM device (CD-ROM), CD recordable drive (CD-R Drive), CD rewritable drive (CD-RW Drive) or a digital versatile disk ROM drive (DVD-ROM). To facilitate connection of the disk storage  1424  to the system bus  1418 , a removable or non-removable interface is typically used, such as interface  1426 .  FIG. 14  also depicts software that acts as an intermediary between users and the basic computer resources described in the suitable operating environment  1400 . Such software can also include, for example, an operating system  1428 . Operating system  1428 , which can be stored on disk storage  1424 , acts to control and allocate resources of the computer  1412 . System applications  1430  take advantage of the management of resources by operating system  1428  through program modules  1432  and program data  1434 , e.g., stored either in system memory  1416  or on disk storage  1424 . It is to be appreciated that this disclosure can be implemented with various operating systems or combinations of operating systems. A user enters commands or information into the computer  1412  through input device(s)  1436 . Input devices  1436  include, but are not limited to, a pointing device such as a mouse, trackball, stylus, touch pad, keyboard, microphone, joystick, game pad, satellite dish, scanner, TV tuner card, digital camera, digital video camera, web camera, and the like. These and other input devices connect to the processing unit  1414  through the system bus  1418  via interface port(s)  1438 . Interface port(s)  1438  include, for example, a serial port, a parallel port, a game port, and a universal serial bus (USB). Output device(s)  1440  use some of the same type of ports as input device(s)  1436 . Thus, for example, a USB port can be used to provide input to computer  1412 , and to output information from computer  1412  to an output device  1440 . Output adapter  1442  is provided to illustrate that there are some output devices  1440  like monitors, speakers, and printers, among other output devices  1440 , which require special adapters. The output adapters  1442  include, by way of illustration and not limitation, video and sound cards that provide a means of connection between the output device  1440  and the system bus  1418 . It can be noted that other devices and/or systems of devices provide both input and output capabilities such as remote computer(s)  1444 . 
     Computer  1412  can operate in a networked environment using logical connections to one or more remote computers, such as remote computer(s)  1444 . The remote computer(s)  1444  can be a computer, a server, a router, a network PC, a workstation, a microprocessor-based appliance, a peer device or other common network node and the like, and typically can also include many or the elements described relative to computer  1412 . For purposes of brevity, only a memory storage device  1446  is illustrated with remote computer(s)  1444 . Remote computer(s)  1444  is logically connected to computer  1412  through a network interface  1148  and then physically connected via communication connection  1450 . Network interface  1448  encompasses wire and/or wireless communication networks such as local-area networks (LAN), wide-area networks (WAN), cellular networks, etc. LAN technologies include Fiber Distributed Data Interface (FDDI), Copper Distributed Data Interface (CDDI), Ethernet, Token Ring and the like. WAN technologies include, but are not limited to, point-to-point links, circuit switching networks like Integrated Services Digital Networks (ISDN) and variations thereon, packet switching networks, and Digital Subscriber Lines (DSL). Communication connection(s)  1450  refers to the hardware/software employed to connect the network interface  1448  to the system bus  1418 . While communication connection  1450  is shown for illustrative clarity inside computer  1412 , it can also be external to computer  1412 . The hardware/software for connection to the network interface  1448  can also include, for exemplary purposes only, internal and external technologies such as, modems including regular telephone grade modems, cable modems and DSL modems, ISDN adapters, and Ethernet cards. 
     The present invention may be a system, an apparatus, a computer-implemented method, and/or a computer program product at any possible technical detail level of integration. The computer program product can include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present invention. The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium can be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium can also include the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire. 
     Computer readable program instructions described herein can be downloaded to respective computing/processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and/or a wireless network. The network can comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing/processing device. Computer readable program instructions for carrying out operations of the present invention can be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, configuration data for integrated circuitry, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++, or the like, and procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program instructions can execute entirely on the user&#39;s computer, partly on the user&#39;s computer, as a stand-alone software package, partly on the user&#39;s computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user&#39;s computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) can execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present invention. 
     Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions. These computer readable program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions can also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function/act specified in the flowchart and/or block diagram block or blocks. The computer readable program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational acts to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks. 
     The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams can represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the blocks can occur out of the order noted in the Figures. For example, two blocks shown in succession can, in fact, be executed substantially concurrently, or the blocks can sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions. 
     While the subject matter has been described above in the general context of computer-executable instructions of a computer program product that runs on a computer and/or computers, those skilled in the art will recognize that this disclosure also can or can be implemented in combination with other program modules. Generally, program modules include routines, programs, components, data structures, etc. that perform particular tasks and/or implement particular abstract data types. Moreover, those skilled in the art will appreciate that the inventive computer-implemented methods can be practiced with other computer system configurations, including single-processor or multiprocessor computer systems, mini-computing devices, mainframe computers, as well as computers, hand-held computing devices (e.g., PDA, phone), microprocessor-based or programmable consumer or industrial electronics, and the like. The illustrated aspects can also be practiced in distributed computing environments in which tasks are performed by remote processing devices that are linked through a communications network. However, some, if not all aspects of this disclosure can be practiced on stand-alone computers. In a distributed computing environment, program modules can be located in both local and remote memory storage devices. For example, in one or more embodiments, computer executable components can be executed from memory that can include or be comprised of one or more distributed memory units. As used herein, the term “memory” and “memory unit” are interchangeable. Further, one or more embodiments described herein can execute code of the computer executable components in a distributed manner, e.g., multiple processors combining or working cooperatively to execute code from one or more distributed memory units. As used herein, the term “memory” can encompass a single memory or memory unit at one location or multiple memories or memory units at one or more locations. 
     As used in this application, the terms “component,” “system,” “platform,” “interface,” and the like, can refer to and/or can include a computer-related entity or an entity related to an operational machine with one or more specific functionalities. The entities disclosed herein can be either hardware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and/or a computer. By way of illustration, both an application running on a server and the server can be a component. One or more components can reside within a process and/or thread of execution and a component can be localized on one computer and/or distributed between two or more computers. In another example, respective components can execute from various computer readable media having various data structures stored thereon. The components can communicate via local and/or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and/or across a network such as the Internet with other systems via the signal). As another example, a component can be an apparatus with specific functionality provided by mechanical parts operated by electric or electronic circuitry, which is operated by a software or firmware application executed by a processor. In such a case, the processor can be internal or external to the apparatus and can execute at least a part of the software or firmware application. As yet another example, a component can be an apparatus that provides specific functionality through electronic components without mechanical parts, wherein the electronic components can include a processor or other means to execute software or firmware that confers at least in part the functionality of the electronic components. In an aspect, a component can emulate an electronic component via a virtual machine, e.g., within a cloud computing system. 
     In addition, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless specified otherwise, or clear from context, “X employs A or B” is intended to mean any of the natural inclusive permutations. That is, if X employs A; X employs B; or X employs both A and B, then “X employs A or B” is satisfied under any of the foregoing instances. Moreover, articles “a” and “an” as used in the subject specification and annexed drawings should generally be construed to mean “one or more” unless specified otherwise or clear from context to be directed to a singular form. As used herein, the terms “example” and/or “exemplary” are utilized to mean serving as an example, instance, or illustration. For the avoidance of doubt, the subject matter disclosed herein is not limited by such examples. In addition, any aspect or design described herein as an “example” and/or “exemplary” is not necessarily to be construed as preferred or advantageous over other aspects or designs, nor is it meant to preclude equivalent exemplary structures and techniques known to those of ordinary skill in the art. 
     As it is employed in the subject specification, the term “processor” can refer to substantially any computing processing unit or device comprising, but not limited to, single-core processors; single-processors with software multithread execution capability; multi-core processors; multi-core processors with software multithread execution capability; multi-core processors with hardware multithread technology; parallel platforms; and parallel platforms with distributed shared memory. Additionally, a processor can refer to an integrated circuit, an application specific integrated circuit (ASIC), a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic controller (PLC), a complex programmable logic device (CPLD), a discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. Further, processors can exploit nano-scale architectures such as, but not limited to, molecular and quantum-dot based transistors, switches and gates, in order to optimize space usage or enhance performance of user equipment. A processor can also be implemented as a combination of computing processing units. In this disclosure, terms such as “store,” “storage,” “data store,” data storage,” “database,” and substantially any other information storage component relevant to operation and functionality of a component are utilized to refer to “memory components,” entities embodied in a “memory,” or components comprising a memory. It is to be appreciated that memory and/or memory components described herein can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. By way of illustration, and not limitation, nonvolatile memory can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM), flash memory, or nonvolatile random access memory (RAM) (e.g., ferroelectric RAM (FeRAM). Volatile memory can include RAM, which can act as external cache memory, for example. By way of illustration and not limitation, RAM is available in many forms such as synchronous RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), direct Rambus RAM (DRRAM), direct Rambus dynamic RAM (DRDRAM), and Rambus dynamic RAM (RDRAM). Additionally, the disclosed memory components of systems or computer-implemented methods herein are intended to include, without being limited to including, these and any other suitable types of memory. 
     What has been described above include mere examples of systems and computer-implemented methods. It is, of course, not possible to describe every conceivable combination of components or computer-implemented methods for purposes of describing this disclosure, but one of ordinary skill in the art can recognize that many further combinations and permutations of this disclosure are possible. Furthermore, to the extent that the terms “includes,” “has,” “possesses,” and the like are used in the detailed description, claims, appendices and drawings such terms are intended to be inclusive in a manner similar to the term “comprising” as “comprising” is interpreted when employed as a transitional word in a claim. 
     The descriptions of the various embodiments have been presented for purposes of illustration, but are not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein was chosen to best explain the principles of the embodiments, the practical application or technical improvement over technologies found in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.