Patent ID: 6883532

Claim:
A large-scale manipulator, in particular for concrete pumps, with boom block ( 21 ) rotatable preferably about a vertical rotation axis ( 13 ) on a vehicle chassis ( 11 ), with a bendable boom ( 22 ) comprising an aggregate of at least three boom arms ( 23 through 27 ), preferably configured as a concrete placement boom, of which the boom arms ( 23 through 27 ) are pair-wise limitedly pivotable, relative to the adjacent boom block ( 21 ) or boom arm ( 28 to 26 ), about respective horizontal parallel pivot axes ( 28 to 32 ) by means of a drive aggregate ( 34 through 38 ), with a preferably remote-controlled control device ( 50 , 62 , 52 ) for movement of the boom with the aid of individual actuating elements ( 68 through 76 ) associated with the individual drive aggregates ( 34 through 38 ), and with means ( 82 , 84 , 86 ) for damping of mechanical oscillations in the bendable boom ( 22 ), wherein at least one of the drive aggregates ( 34 through 38 ) or boom arms ( 23 through 27 ) is provided with a sensor ( 84 , 86 ) for determining a time dependent measurement value (Δp) derived from the mechanical oscillations of a boom arm ( 23 through 27 ), as well as an evaluation unit ( 82 ) for producing a damping signal connected downstream of the at least one sensor ( 48 , 86 ), of which the output is connected to the associated actuating element ( 68 through 76 ).