Large manipulator with decentralized hydraulic system

Abstract

The invention relates to a manipulator (1), in particular a large manipulator for truck-mounted concrete pumps, comprising an articulated boom (2) which can be folded out and which has a turntable (5)that can be rotated about a vertical axis (4) and a plurality of boom segments (6, 6a, 6b, 6c). The boom segments (6, 6a, 6b, 6c) can be pivoted to a limited degree about a respective articulation axis at articulation joints (7, 7a, 7b) relative to an adjacent boom segment (6, 6a, 6b, 6c) or relative to the turntable (5) by means of a respective drive assembly (11). The manipulator also comprisesa remote control device (9), which has at least one control lever (8) that can be moved in different movement directions, and a control device (10) for actuating the drive assemblies (11). The aim ofthe invention is to provide a manipulator which allows a simple operation and an excellent response behavior. This is achieved in that the control unit (10) converts a travel command which indicatesa desired movement of the boom tip (3) of the articulation boom or of an end tube attached to the boom tip into movement specifications for the drive assemblies (11), wherein the travel command can begenerated by moving the control lever (8) in at least one movement direction. The drive assemblies (11) can be actuated by means of a respective electrically actuated proportional valve (12) which isconnected to hydraulic working lines (13, 14) of the respective drive assembly (11) in order to actuate same, and at least one of the proportional valves (12) is arranged directly on the drive assemblies (11) to be controlled or in the immediate vicinity thereof.

Description

technical field [0001] The present invention relates to a manipulator, especially a large-scale manipulator for a vehicle-mounted concrete pump, comprising a foldable articulated boom with a turntable that can rotate around a vertical axis and a plurality of boom segments, wherein the crane The boom segments are pivotable to a limited extent at the articulation joints relative to adjacent boom segments or relative to the turntable about respective articulation axes by means of corresponding drive assemblies; comprising a remote control device having at least one control lever, wherein , the control rod is displaceable in a plurality of actuation directions; and a control device for actuating the drive assembly is included. Background technique [0002] Such a robot is known from EP 0 686 224 B1. Typically, these manipulators are controlled via a hydraulic control circuit comprising a central mast control block and lowering brake valves mounted on the individual drive assemb...

AI Technical Summary

Problems solved by technology

As a result, response behavior and precision are significantly impaired, especially at low speeds of pivoting movement

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