Mobile large manipulator

Abstract

Mobile large manipulator (10), in particular a truck-mounted concrete pump, with a chassis (12), a work boom (13) rotatably arranged on the chassis (12) about a vertical axis and which can be unfolded and / or extended, support booms (14, 15, 16, 17) which are each arranged on the chassis (12) and which can be fully or partially extended horizontally from a driving position to a support position, vertically extendable support legs (18, 19, 20, 21) arranged at the outer ends of the support booms (14, 15, 16, 17) which support the mobile large manipulator (10) by generating a respective support force of the support legs (18, 19, 20, 21), and a program-controlled support aid (µC) which is used to determine target support forces (F e1 , F e2 , F e3 , F e4) for the individual support legs (18, 19, 20, 21) taking into account the support position of the support arms (14, 15, 16, 17), characterized in that the program-controlled support aid (µC) is used to determine target support forces (F e1 , F e2 , F e3 , F e4 ) for the individual support legs (18, 19, 20, 21) taking into account the support position of the support booms (14, 15, 16, 17), in which the chassis (12) of the large manipulator (10) is set up without bracing in the supported state, wherein each support leg (18, 19, 20, 21) is equipped with a support force sensor (30, 31, 32, 33) for measuring the respective support force (F G1 , F G2 , F G3 , F G4 ) is assigned and the support aid (µC) is configured to control the extension process of the support legs (18, 19, 20, 21) in such a way that the measured support forces (F g1 , F g2 , F g3 , F g4) for the individual support legs (18, 19, 20, 21) according to the determined support forces (F e1 , F e2 , F e3 , F e4 ) will be set.

Description

[0001] The invention relates to a mobile large manipulator that can be supported for operation, and to a method for program-controlled support for supporting a mobile large manipulator.

[0002] Mobile large manipulators are known from the prior art, for example from WO 2005 / 095 256 A1. They comprise, in particular, a chassis, a work boom rotatable on the chassis about a vertical axis and capable of being unfolded and / or extended, support booms which are each arranged on the chassis and can be fully or partially extended horizontally from a driving position to a support position, and support legs arranged at the outer ends of the support booms which can be extended vertically with drive units, with which the mobile large manipulator can be supported by generating a respective support force of the support legs.

[0003] During the outrigger deployment process of a large manipulator with four pivoting, extendable, or telescopic outriggers, stress can occur in the chassis, particularly if the height of individual outrigger legs is readjusted at the end of the deployment process to level the chassis. This can result in unnecessarily high support forces on some outriggers even before the manipulator is put into operation, while the support forces on other outriggers are too low.

[0004] The term "chassis" in the following refers to the combination of the truck chassis on which the large manipulator is built, and the base frame on which the working boom is mounted and which includes other components of the large manipulator.

[0005] An uneven distribution of support loads when stabilizing a large manipulator is usually not noticeable to the operator, especially with a rigidly constructed base frame, because usually only a spirit level is available for leveling the large manipulator and as soon as all support legs are visually firmly on the ground and the large manipulator is leveled, the setup process is complete without any tension on the chassis being apparent to the operator.

[0006] After the large manipulator is put into operation, this unbalanced support load distribution leads to individual support legs or the support booms being subjected to greater loads than necessary or even overloaded.

[0007] DE 10 2007 055 535 A1 describes a mobile crane with extendable and retractable outrigger cylinders for supporting the mobile crane, wherein the mobile crane has sensing means for detecting the support forces on the outrigger cylinders or for detecting parameters representing the support forces, as well as a control device that is connected to the sensing means and is designed in such a way that it controls the extension and / or retraction of the outrigger cylinders depending on the support forces or parameters detected by means of the sensing means.

[0008] Document WO 2005 / 095 256 A1 proposes a coupled control of the drive units of the four support legs for the automatic support operation of a large manipulator in the form of a truck-mounted concrete pump, using a manually operated control device, in order to avoid tensioning of the base frame during the support operation due to an uneven distribution of support force.

[0009] Document EP 2 727 876 A1 proposes a monitoring device for the support loads of the outriggers of a mobile crane, whereby, at the end of the outrigger deployment process, the sum of all support loads should equal the total weight of the mobile crane. Furthermore, it is proposed to determine and balance the support forces. Appropriate support force sensors are provided on the outriggers for this purpose.

[0010] In confined construction site conditions, often only a special support configuration is possible, such as partial support. This means that while all the outriggers are extended to the ground, one or more outriggers are not fully pivoted, extended, or telescoped from the base frame, for example, to leave sufficient space for through traffic at a construction site next to a road. It has been found that the methods proposed in the aforementioned documents do not produce the desired results with such partial support configurations.

[0011] It is therefore an object of the present invention to provide a mobile large manipulator with which the support load of the outriggers can be very easily and optimally adjusted to the respective support configuration during the outrigger deployment process. Furthermore, it is an object of the present invention to provide a method with which the support load of the outriggers can be very easily and optimally adjusted for different support configurations during the outrigger deployment process.

[0012] This problem is solved by a mobile large manipulator according to claim 1. Furthermore, this problem is solved by a method for supporting a mobile large manipulator according to claim 12.

[0013] Further embodiments of the invention are specified in the dependent claims. It should be noted that the features listed individually in the claims can also be combined with one another in any technologically meaningful way, thus revealing further embodiments of the invention.

[0014] A mobile large manipulator according to the invention comprises a chassis, a foldable and / or extendable working boom mounted on the chassis and rotatable about a vertical axis, support booms which are each arranged on the chassis and can be fully or partially extended horizontally from a driving position to a support position, and vertically extendable support legs arranged at the outer ends of the support booms, which support the large manipulator by generating a support force. The invention is particularly characterized by a program-controlled support aid which is designed to determine target support forces for the individual support legs, taking into account the support position of the support booms, in which the chassis of the large manipulator is unstressed in the supported state.

[0015] The invention is based on the understanding that the optimal support forces acting on the individual support legs are highly dependent on the support position of the outriggers, i.e., how far the outriggers are extended or folded away from the chassis. With outriggers only slightly extended or not folded away, the support forces on the support legs should generally be significantly higher to prevent stress on the chassis at the end of the setup process, thus ensuring that the support forces are optimally distributed across the outriggers even when the working boom is fully extended.

[0016] According to the invention, the program-controlled support aid is designed to control the vertical extension of the support legs and to adjust the support forces for each individual support leg according to the determined support forces. For this purpose, each support leg is assigned a support force sensor. This measure significantly simplifies the support procedure for the operator.

[0017] In a preferred embodiment of the invention, the program-controlled support aid is configured to take the center of gravity of the large manipulator into account when determining the support forces. By considering the center of gravity of the large manipulator, the program-controlled support aid can determine the optimal support forces for the individual support legs with particular accuracy.

[0018] The center of gravity can be fixed, but the support system is advantageously designed to calculate its position, because, for example, different support arm positions or different loads on the large manipulator can shift the center of gravity. Taking the actual center of gravity into account allows for a more precise determination of the required support forces.

[0019] Advantageously, the support aid is designed to take into account the fill levels of tanks (e.g., water tank, diesel tank, etc.) when calculating the center of gravity of the large manipulator, which further improves the determination of the center of gravity, because the fill levels of the tanks can have a significant influence on the position of the center of gravity of the large manipulator and thus affect the support forces of the individual support legs.

[0020] According to a further embodiment of the invention, the mobile large manipulator includes sensors for determining the position of the extended support booms in order to take the support configuration into account as accurately as possible for determining the support forces.

[0021] The support aid is advantageously designed to use a numerical simulation for determining the support forces, e.g., a model based on a physical description of the large manipulator, with which the support forces to be set can be simulated. For this purpose, for example, a beam model of the large manipulator can be used, based on which the support forces are determined using a finite element method (FEM) simulation.

[0022] An analytical calculation method for determining the support forces offers a particular advantage, as the computing power required for this is significantly lower compared to the numerical simulation mentioned above.

[0023] Advantageously, the large manipulator is equipped with sensors to detect the chassis's tilt, and the outrigger system is designed to adjust the chassis's tilt at the end of the outriggering process while maintaining the previously set support forces. Alternatively, the outrigger system can minimize the chassis's tilt during the outriggering process, i.e., level the chassis, while simultaneously adjusting the support forces. This eliminates the need for manual readjustment of the outriggers if the chassis is not yet level after the support forces have been set, which could lead to an unintended deviation from the optimal support forces.

[0024] According to a further embodiment of the invention, the support legs are first extended by an operator until they touch the ground, before the support aid adjusts the determined support forces by automatically extending the support legs. This measure creates a defined starting point for the automatic support and allows the operator to ensure that the support feet are correctly lowered onto a sufficiently firm surface before the large manipulator is supported.

[0025] According to a further embodiment of the invention, the program-controlled support aid is configured to display the determined support forces on a display device. This allows the operator of the large manipulator to see, even before the support legs are extended, how the support forces should be distributed among the individual supports and to ensure that the ground is sufficient for the respective support force to guarantee the stability of the large manipulator during operation.

[0026] In an advantageous embodiment of the invention, the support legs are extended manually and the support forces measured by the support force sensors are adjusted by manually extending or retracting the support legs vertically so that the set support forces correspond to the support forces determined by the support aid.

[0027] Furthermore, the present invention relates to a method for program-controlled support of the support process of a mobile large manipulator. The method according to the invention comprises the following process steps: - Determination of a support configuration, wherein the support configuration specifies support positions of the outriggers of the mobile large manipulator, - Determination of the support forces for the outriggers of the mobile large manipulator, taking into account the outrigger configuration in which the chassis of the large manipulator is set up without bracing in the supported state, wherein each outrigger is assigned a support force sensor to measure the respective support force and the outrigger control the extension process of the outriggers in such a way that the measured support forces for the individual outriggers are set according to the determined support forces.

[0028] Advantageously, the determination of the support forces is preceded by a determination of the center of gravity of the mobile large manipulator in order to be able to determine the support forces particularly accurately, taking the center of gravity into account.

[0029] Advantageously, the method according to the invention also includes an automatic extension process of the support legs, a continuous measurement of the support forces, a comparison of the continuously measured support forces with the support forces to be set and readjustment of the support legs until the measured support forces match the determined support forces.

[0030] Furthermore, the method according to the invention is characterized by an automatic leveling of the mobile large manipulator, which in particular allows the large manipulator to be aligned horizontally at the end of the support process.

[0031] Further features, details, and advantages of the invention will become apparent from the following description and the drawings. Exemplary embodiments of the invention are shown purely schematically in the following drawings and are described in more detail below. Corresponding objects or elements are designated with the same reference numerals in all figures. The figures show: Fig. 1a: Side view of a mobile large manipulator according to the invention in driving position Fig. 1b: Side view of a large manipulator according to the invention in a supported position Fig. 2a: Top view of a large manipulator according to the invention in a first support configuration Fig. 2b: Top view of a large manipulator according to the invention in a second support configuration Fig. 3: Top view of a large manipulator according to the invention with highlighted electrical components Fig. 4a, Fig. 4b: Spatial representation of a beam model according to the invention for two different support configurations Fig. 5: Top view of a beam model of the large manipulator according to the invention Fig. 6: Flowchart illustrating the method according to the invention.

[0032] Fig. Figure 1a shows a side view of a mobile large manipulator 10 according to the invention in its travel position. The large manipulator 10 has a chassis 12 and front 14, 15 and rear 16, 17 horizontally pivotable or telescopic support arms, at the ends of which vertically extendable support legs 18, 19, 20, 21 are arranged. The support legs can be extended and retracted by means of drive units 41, 42, 43, 44, for example, designed as hydraulic cylinders. While, as in the Fig. 2a, Fig.As shown in Figure 2b, the front outriggers 14, 15 are designed as horizontally telescoping arched supports, while the rear outriggers 16, 17 are designed as horizontally pivoting folding supports. Alternatively, the front outriggers 14, 15 in particular can also be designed as pivoting folding supports or straight telescoping outriggers (so-called X-supports), but other outrigger designs are also possible. The outriggers 14, 15, 16, 17 can be fully or partially telescoped, pivoted, or extended from a driving position to a support position. Furthermore, the mobile large manipulator 10 has a working boom 13 rotatable about a vertical axis with a plurality of articulated mast segments 13a, 13b, 13c, which is rotatably connected to the chassis 12 via a turntable 24 and a rotating tower 25 fixed on the chassis 12.The mobile large manipulator 10, designed in this example as a truck-mounted concrete pump, further comprises a concrete feed hopper 22, a concrete delivery pipe 23, and a concrete pump (not shown) mounted on the chassis 12 below the mast 13. The concrete pump conveys the concrete filled into the feed hopper 22 into the concrete delivery pipe 23, from where it is then pumped along the extended boom 13 to a discharge point. The large manipulator 10 also includes various tanks with varying fill levels, such as a diesel tank 26, an auxiliary tank (e.g., an AdBlue tank) 27, and a water tank 28, which contains water, for example, for cleaning the truck-mounted concrete pump at the end of a work operation.

[0033] Fig.Figure 1b shows a side view of the large manipulator 10 in the supported position, i.e., the support legs 45, 46, 47, 48 are lowered onto the ground indicated by a horizontal line, and the wheels of the large manipulator 10 are lifted from the ground. The working boom 13 is in the travel position, i.e., it rests on the mast support 11, and the mast sections 13a, 13b, and 13c are folded.

[0034] The Fig. 2a and Fig. Figures 2b show a top view of the large manipulator 10 according to the invention with different support configurations.

[0035] In the Fig.Figure 2a shows the mobile large manipulator in a first outrigger configuration, the so-called full outrigger configuration. This means that the front 14, 15 and rear 16, 17 outriggers are horizontally pivoted, extended, or telescoped to their end position. This outrigger configuration should generally be chosen because the large manipulator 10 is designed so that, in this configuration, the working boom 13 can be moved freely in all directions without compromising the stability of the large manipulator 10. In this configuration, the outrigger forces are distributed relatively evenly between the front 18, 19 and the rear 20, 21 outriggers.

[0036] In this context, the term "support configuration" refers to the support positions of the individual support booms 14, 15, 16, 17.

[0037] In the support configuration of the large manipulator 10 according to Fig.2b, the left rear outrigger 16 is not pivoted; that is, it remains in the travel position for this outrigger configuration. This outrigger configuration, which forms a so-called partial outrigger, is selected, for example, if there are obstacles on the construction site in the rear left area of ​​the large manipulator 10, preventing the outrigger 16 from pivoting. With this outrigger configuration, the operator must take into account that the working boom 13 may only be moved to a limited extent to avoid compromising stability. The limited working range of the working boom 13 during partial outrigger deployment is typically monitored by suitable sensors in modern truck-mounted concrete pumps.

[0038] In other forms of partial bracing, for example, only the two left outriggers (14, 16) or the rear outriggers (16, 17) are partially or not at all extended. Other forms of partial bracing are also possible.

[0039] Fig. Figure 3 shows a top view of the large manipulator 10 partially supported, with particular emphasis on the electrical / electronic components of the program-controlled support aid according to the invention.

[0040] Support force sensors 30, 31, 32, 33 are arranged on each of the support legs 18, 19, 20, 21, which measure the support forces F acting on the support feet 45, 46, 47, 48 e1 , F e2 , F e3 , F e4The support forces can be measured. Such sensors are based, for example, on the use of strain gauges, as described in patent publication EP1675760. Alternatively, the hydraulic oil pressures in the drive units 41, 42, 43, 44 of the support legs, which are designed as hydraulic cylinders, can be determined. Measuring the support forces is generally most reliable when the force is determined directly in or on the support foot 45, 46, 47, 48, but determining the support forces in the upper area of ​​the support legs, e.g., at a bolt to which the hydraulic cylinder for extending the support leg is attached, would also be possible. Furthermore, it is conceivable to attach sensors, e.g. in the form of strain gauges or similar, to the support arms 14, 15, 16, 17 in order to determine the support forces acting on the support legs 18, 19, 20, 21 by measuring the deflection of the support arms 14, 15, 16, 17.

[0041] Position sensors 34, 35, 36, 37 are arranged on the chassis 12, in the area of ​​the outriggers 14, 15, 16, 17, to detect the extension status of the outriggers 14, 15, 16, 17. For the two front outriggers 14, 15, which are curved in this example, cable-operated sensors for length measurement can be used as sensors 34, 35. If only discrete extension positions are permitted (e.g., outriggers not extended / half extended / fully extended), simple mechanical, magnetic, or similar switching sensors are sufficient to detect whether the outriggers 14, 15 have reached one of the permissible positions during extension. For example, rotation angle sensors 36, 37 can be used on the joints of the rear, foldable support booms 16, 17, or displacement measuring systems can be used on the (not shown) hydraulic cylinders that pivot the support booms 16, 17.Similarly, radio-based position determination methods, such as those known from German patent DE 102008055625 A1, could be used. In the simplest case, switching sensors can be used to detect the position for the states "outrigger fully folded" and "outrigger not folded".

[0042] Position sensors 34, 35, 36, and 37 are connected via signal lines to a programmable support aid (microcontroller). Based on the output signals of position sensors 34, 35, 36, and 37 on the support arms 14, 15, 16, and 17, the programmable support aid (microcontroller) determines the selected support position of the large manipulator 10 before or even while the support legs 45, 46, 47, and 48 are lowered onto the ground. At this point, the working boom 13 is still in its travel position. The extended state of the support arms 14, 15, 16, and 17 does not necessarily need to be detected by sensors.For example, the operator of the large manipulator 10 can select a desired working range for the boom 13 before actuating the outriggers 14, 15, 16, 17. The control system then specifies the necessary outrigger positions for this working range, which the operator then sets by extending the outriggers 14, 15, 16, 17. The outrigger configuration, i.e., the outrigger position, is not ultimately detected by sensors. The outrigger control microcontroller can then determine the required outrigger forces based on the specified outrigger configuration.

[0043] The program-controlled support aid µC is also connected, for example directly via signal lines, to a level sensor 40 for the diesel tank 26, a level sensor 39 for the AdBlue tank 27, and a level sensor 38 for the water tank 28. The data on the fill levels, in particular those of the diesel tank 26 and the AdBlue tank 27, can also be retrieved, for example, via a suitable data bus connection from the control electronics of the drive system of the large manipulator 10. Alternatively, the fill levels of tanks 26, 27, and 28 can also be entered by the operator of the large manipulator 10 via a suitable input device connected to the program-controlled support aid µC. From the fill levels of tanks 26, 27, and 28, the program-controlled support aid µC derives the respective weight of each tank.

[0044] Furthermore, the operator can input information (in particular position and weight) about the load on the large manipulator 10, for example concrete delivery pipes stored on the chassis 12, via the control unit. The support aid µC is also connected to an inclination sensor 49 arranged on the chassis 12, which detects the inclination of the large manipulator.

[0045] Based on the support configuration of the large manipulator 10 with the working boom in travel position 13 and, if applicable, taking into account the weights and the position of the tanks 26, 27, 28 and other payload, the program-controlled support aid µC determines the center of gravity S of the large manipulator 10 and the support forces F to be set. e1 , F e2 , F e3 , F e4separately for each support leg 18, 19, 20, 21, the chassis 12 is supported with as little tension as possible. During, and especially at the end of, the support process, i.e., during the vertical extension of the support legs 18, 19, 20, 21, care must be taken to ensure that the support forces F to be set e1 , F e2 , F e3 , F e4 to conclude the bracing process with the measured bracing forces F g1 , F g2 , F g3 , F g4 They should match as closely as possible. This can be done manually, for example, by setting the support forces F. e1 , F e2 , F e3 , F e4 are displayed on a display device and the operator sets the support forces F measured with the support force sensors 30, 31, 32, 33 g1 , F g2 , F g3 , F g4the support legs 18, 19, 20, 21, which are lowered to the ground and are also shown on the display device, are adjusted by selectively extending / retracting the individual support legs 18, 19, 20, 21 so that the required support forces F e1 , F e2 , F e3 , F e4 The support feet 45, 46, 47, 48 are set. Alternatively, the program-controlled support aid µC controls the drive units 41, 42, 43, 44 of the support legs 18, 19, 20, 21, continuously recording the support forces F measured by the support force sensors 30, 31, 32, 33. g1 , F g2 , F g3 , F g4 , and compares these with the support forces F to be set. e1 , F e2 , F e3 , F e4 until the measured support force values ​​match the determined support force values.

[0046] If the center of gravity S of the large manipulator cannot be assumed to be constant, the program-controlled support aid µC must first determine the center of gravity S of the large manipulator. Based on this center of gravity S, and taking into account the extended position of the support booms 14, 15, 16, 17, the support forces F to be set are determined. e1 , F e2 , F e3 , F e4 for the individual support legs 18, 19, 20, 21, which are necessary when supporting with the working boom 13 still folded in, so that the chassis 12 is not strained at the end of the setup process.

[0047] The center of gravity S of the large manipulator 10 can only be considered constant if the extended position of the outriggers 14, 15, 16, 17 with the support legs 18, 20, 21, 22 has a negligible influence on the position of the center of gravity S of the large manipulator 10. If this is not the case, the extended position of the outriggers 14, 15, 16, 17 and the dependent positions of the centers of gravity of the outriggers 14, 15, 16, 17 together with the support legs 18, 20, 21, 22 must be taken into account in the calculation of the center of gravity S of the large manipulator 10 by the program-controlled outrigger µC.

[0048] The total weight of the large manipulator 10 is taken into account when determining the support forces F to be set. e1 , F e2 , F e3 , F e4not absolutely necessary, as the support forces can also be determined as relative values. The actual total weight and the absolute support forces F to be set for each support leg 18, 19, 20, 21 e1 , F e2 , F e3 , F e4 These forces can also be determined only when the large manipulator is lifted. This is done by adding the measured support forces F. g1 , F g2 , F g3 , F g4 First, the total weight of the large manipulator 10 is determined, and based on the determined total weight and the determined relative support forces, the absolute support forces F are then calculated. e1 , F e2 , F e3 , F e4 derived and ultimately adjusted during the support process.

[0049] By setting up the chassis 12 without tension, the support forces are optimally distributed on the support legs 18, 19, 20, 21 even when the working boom 13 is extended, so that excessive loads on the individual support legs 18, 19, 20, 21 do not occur even during operation with the working boom 13 extended.

[0050] The support forces for the individual support legs can be determined, for example, using methods of numerical simulation such as the finite element method (FEM) and multibody simulation (MBS) or using suitable analytical calculation methods.

[0051] In the Fig. 4a and Fig. 4b is each an FE simulation model with different support configurations of the large manipulator 10 for determining the support forces F e1 , F e2 , F e3 , F e4 The individual support legs are shown as examples. This is shown in the Fig. 4a and Fig.The FE model shown in Figure 4b consists essentially of massless beam elements of finite stiffness to represent the supporting structure of the large manipulator and of two mass elements to account for the manipulator's own weight (hereinafter referred to as the FE beam model). The total self-weight of the large manipulator is divided into two parts: a mass element with position S M It takes into account the dead weight of the boom; a second mass element with position Su represents the dead weight of the substructure.

[0052] As an alternative to beam elements, the stiffness of the supporting structure of the large manipulator can also be represented in an FE model using spring elements. The total self-weight of the large manipulator can be taken into account with a single mass element or with more than two.

[0053] The Fig. Figure 5 shows a top view of the FE beam model from the Fig. 4a, Fig.4b. However, the beam model serves here only to illustrate the extension positions of the support booms 14, 15, 16, 17 and to explain a suitable analytical calculation method for determining the F e1 , F e2 , F e3 , F e4 .

[0054] The analytical calculation method is based on the static equations for the moment and force equilibrium of the large manipulator 10. This can generally be expressed as a linear system of equations of the form [00Fg]︸T=[L1xL2xL3xL4xL1yL2yL3yL4y1111]︸A[Fe1Fe2Fe3Fe4]︸Fe represent. The expressions L denote ix for i=1,...,4 the distances of the support feet to the overall center of gravity S of the large manipulator 10 in the longitudinal axis of the large manipulator 10 and the expressions L iyFor i=1,...,4, the distances of the support feet to the overall center of gravity S of the large manipulator 10 in the direction orthogonal to the longitudinal axis of the large manipulator 10 are given. The weight force of the entire large manipulator is given by F. g The system of equations (11) is further described as a linear matrix equation with the vectors T and F. e and representable in matrix A.

[0055] The system of equations (11) represents with three equations for four unknowns (the support forces F) e1 , F e2 , F e3 , F e4 This represents an underdetermined system of equations and generally has infinitely many solutions. To determine the solution that represents the unstressed state of the large manipulator, the fact that the sum of the squares of the support forces is minimal in the unstressed state is used. The problem is thus formulated as a minimization problem of the form minFe1,Fe2,Fe3,Fe4=Fe12+Fe22+Fe32+Fe42 described, where the system of equations (11) must be satisfied as a constraint. The analytical solution of this minimization problem is given by Fe=A†T with the pseudoinverse of matrix A, A†=AT(AAT)−1, given.

[0056] The above calculation method is used below as an example for the support of the large manipulator 10 according to the Fig. 5 (i.e., the outriggers 14 (front left); 15 (front right); and 16 (rear left) are fully extended and the outrigger 17 (rear right) is not extended) the following support forces F to be set e1 , F e2 , F e3 , F e4 determined: F ei Absolutely F ei Relative Front left 35 10% Front Right 90 26% Rear right 130 38% Back left 91 26%

[0057] It is clearly evident that a much higher support force must be set on the unfolded support boom 17 (rear right) than on the other support booms 14, 15 and 16. The diagonally opposite support boom 14 (front left), on the other hand, must be loaded considerably less in order to set up the large manipulator 10 without bracing.

[0058] Fig. Figure 6 shows a flowchart according to the invention, with the process steps that the support aid µC performs until the large manipulator 10 is set up stress-free and leveled in accordance with the invention.

[0059] The process starts in step S10. In step S12, the support configuration of the large manipulator 10 is determined, for example, by querying the position sensors 34, 35, 36, 37 of the support booms 14, 15, 16, 17. Taking into account the fill levels (weights) of the tanks 26, 27, 28 and the payload, the support aid µC determines the center of gravity S of the large manipulator 10 in step S14. In step S16, the support aid µC determines the support forces F to be set, for example, using an iterative approximation method or an analytical calculation method, as described above. e1 , F e2 , F e3 , F e4for the individual outriggers 18, 19, 20, 21, which result in an unstressed setup of the large manipulator 10. The calculation is based on the assumption that the working boom 13 is folded in the mast support 11, i.e., in the travel position. In step S18, the outrigger control microcontroller (µC) controls the extension of the outriggers 18, 19, 20, 21 using the drive units 41, 42, 43, 44 and, in step S20, continuously queries the support force sensors 30, 31, 32, 33 for the currently measured support forces F. g1 , F g2 , F g3 , F g4 In step S22, the support aid µC controls the drive units of the support legs by selectively extending or retracting the support legs 18, 19, 20, 21 until the actually measured support force values ​​F g1 , F g2 , F g3 , F g4 the support force values ​​F to be set e1 , F e2 , F e3 , F e4 correspond, that is, F g1 = F e1 ; Fg2 = F e2 ; F g3 = F e3 , F g4 = F e4 .

[0060] Once the support forces are optimally adjusted in step S22, the large manipulator 10 is leveled in step S24, i.e. the support legs are moved in pairs (i.e. always two left / right or front / rear supports) until the large manipulator 10 is horizontally aligned.

[0061] The flowchart includes all the necessary steps for fully automatic setup of the large manipulator 10. As explained above, some of these steps are optional or can also be performed manually by the operator of the large manipulator 10.

[0062] The leveling of the large manipulator can also be an integral part of the support force setting, i.e., the leveling is not temporally linked to the support force setting, but the large manipulator 10 is also automatically leveled during the support force setting.

[0063] Alternatively, adjusting the support forces F would also be possible g1 , F g2 , F g3 , F g4 This is possible using displacement sensors on the support legs 18, 19, 20, 21. This requires, for example, that the stiffnesses of the support booms 14, 15, 16, 17 are known and that a predefined state has been established before the large manipulator 10 is aligned. Under these conditions, the support forces F acting on the support legs 18, 19, 20, 21 can be determined using suitable displacement sensors that measure the extension length of the support legs 18, 19, 20, 21. g1 , F g2 , F g3 , F g4derive and, as shown above, according to the determined support forces F e1 , F e2 , F e3 , F e4 set.

[0064] Once the setup process is complete, the large manipulator 10 can be put into operation, i.e., for example, in the case of a truck-mounted concrete pump, the mast 13 can be lifted from the mast support 11 and unfolded to carry out the concreting operation.

[0065] The determination of the support forces was explained here using the example of a truck-mounted concrete pump. However, the invention is applicable to other types of large manipulators, e.g., mobile cranes, aerial work platforms, fire department turntable ladders, etc. The invention can also be applied to large manipulators that are supported on the ground by more than four outriggers during operation. Reference symbol list 10 mobile large manipulators 11 Mast support 12 chassis 13 working booms 13a-c segments working boom 14-17 Support booms 18-21 support legs 22 funnels 23 Concrete conveying pipe 24 turntables 25 rotating tower 26 Diesel tank 27 AdBlue tank 28 water tank 29 Driver's cab 30-33 support force sensors 34-37 Position sensors Support boom 38-40 Tank level sensors 41-44 Drive units 45-48 support feet 49 Tilt sensor

Claims

[1] Mobile large manipulator (10), in particular a truck-mounted concrete pump, with a chassis (12), a work boom (13) rotatably arranged on the chassis (12) about a vertical axis and which can be unfolded and / or extended, support booms (14, 15, 16, 17) which are each arranged on the chassis (12) and which can be fully or partially extended horizontally from a driving position to a support position, vertically extendable support legs (18, 19, 20, 21) arranged at the outer ends of the support booms (14, 15, 16, 17) which support the mobile large manipulator (10) by generating a respective support force of the support legs (18, 19, 20, 21), and a program-controlled support aid (µC) which is used to determine target support forces (F e1 , F e2 , F e3 , F e4 ) for the individual support legs (18, 19, 20, 21) taking into account the support position of the support arms (14, 15, 16, 17), characterized by, that the program-controlled support aid (µC) is used to determine target support forces (F e1 , F e2 , F e3 , F e4 ) for the individual support legs (18, 19, 20, 21) taking into account the support position of the support booms (14, 15, 16, 17), in which the chassis (12) of the large manipulator (10) is set up without bracing in the supported state, wherein each support leg (18, 19, 20, 21) is equipped with a support force sensor (30, 31, 32, 33) for measuring the respective support force (F G1 , F G2 , F G3 , F G4 ) is assigned and the support aid (µC) is configured to control the extension process of the support legs (18, 19, 20, 21) in such a way that the measured support forces (F g1 , F g2 , F g3 , F g4 ) for the individual support legs (18, 19, 20, 21) according to the determined support forces (F e1 , F e2 , F e3 , F e4 ) will be set. [2] Mobile large manipulator (10) according to claim 1, characterized by , that the support aid (µC) is further configured to determine the support forces (F) e1 , F e2 , F e3 , F e4 ) to take into account the center of gravity (S) of the large manipulator (10). [3] Mobile large manipulator (10) according to claim 2, characterized by , that the support aid (µC) is set up to calculate the position of the center of gravity (S) of the large manipulator (10). [4] Mobile large manipulator (10) according to claim 3, characterized by , that the support aid (µC) is set up to take into account the fill levels of tanks (26, 27, 28) of the large manipulator (10) when calculating the position of the center of gravity (S). [5] Mobile large manipulator (10) according to any of the preceding claims, characterized by , that the large manipulator (10) includes sensors (34, 35, 36, 37) for determining the support position of the support booms (14, 15, 16, 17). [6] Mobile large manipulator (10) according to any one of the preceding claims, characterized by , that the support aid (µC) is set up to determine the support forces (F) e1 , F e2 , F e3 , F e4 ) to use a numerical simulation. [7] Mobile large manipulator (10) according to any one of claims 1 to 5, characterized by , that the support aid (µC) is set up to determine the support forces (F e1 , F e2 , F e3 , F e4 ) to use an analytical calculation method. [8] Mobile large manipulator (10) according to any one of the preceding claims, characterized by , that the large manipulator (10) includes sensors for detecting the inclination of the chassis (12) and that the support aid (µC) is configured to adjust the inclination of the chassis (12) while maintaining the support forces already set (F e1 , F e2 , F e3 , F e4) or while simultaneously adjusting the support forces (F e1 , F e2 , F e3 , F e4 ), to set to a minimum. [9] Mobile large manipulator (10) according to any one of the preceding claims, characterized by , that the support legs (14, 15, 16, 17) are extended by an operator to the ground before the program-controlled support aid (µC) applies the determined support forces (F e1 , F e2 , F e3 , F e4 ) sets up. [10] Mobile large manipulator (10) according to any one of claims 1 to 9, characterized by , that the support aid (µC) is set up to determine the support forces (F) determined e1 , F e2 , F e3 , F e4 ) to display on a display device. [11] Mobile large manipulator (10) according to claim 10, characterized by , that by manually extending the support legs (18, 19, 20, 21) the support forces (F) measured by the sensors (30, 31, 32, 33) g1 , Fg2 , F g3 , F g4 ) are set so that they correspond to the support forces (F) determined by the support aid (µC). e1 , F e2 , F e3 , F e4 ) are equivalent to. [12] Method for program-controlled support of the support process of a mobile large manipulator (10), in particular a truck-mounted concrete pump, comprising a chassis (12), a work boom (13) rotatably arranged on the chassis (12) about a vertical axis and which can be unfolded and / or extended, support booms (14, 15, 16, 17) which are each arranged on the chassis (12) and which can be fully or partially extended horizontally from a driving position to a support position, vertically extendable support legs (18, 19, 20) arranged at the outer ends of the support booms (14, 15, 16, 17) which support the mobile large manipulator (10) by generating a respective support force of the support legs (18, 19, 20, 21), comprising the method steps: - Determination of a support configuration (S12), wherein the support configuration specifies support positions of support booms (14, 15, 16, 17) of the large manipulator (10), - Determination of the support forces (F e1 , F e2 , F e3 , F e4 ) for the support legs (18, 19, 20, 21) of the large manipulator (10) taking into account the support configuration (S16), characterized by , that the support forces (F e1 , F e2 , F e3 , F e4 ) for the support legs (18, 19, 20, 21) of the large manipulator (10) taking into account the support configuration (S16), in which the chassis (12) of the large manipulator (10) is set up unbraced in the supported state, wherein each support leg (18, 19, 20, 21) is equipped with a support force sensor (30, 31, 32, 33) for measuring the respective support force (F G1 , F G2 , F G3 , F G4) is assigned and the support aid (µC) controls the extension process of the support legs (18, 19, 20, 21) so that the measured support forces (F g1 , F g2 , F g3 , F g4 ) for the individual support legs (18, 19, 20, 21) according to the determined support forces (F e1 , F e2 , F e3 , F e4 ) will be set. [13] Method according to claim 12 comprising a determination (S14) of the center of gravity (S) of the mobile large manipulator (10), which is used to determine the support forces (F) e1 , F e2 , F e3 , F e4 ) is taken into account. [14] Method according to claim 13 further comprising - an automatic extension process of the support legs (S18), - a continuous measurement of the support forces (F g1 , F g2 , F g3 , F g4 ) (S 20), during the extension process of the support legs (18, 19, 20, 21) - a comparison of the continuously measured support forces (F g1 , F g2 , F g3 , F g4 ) with the support forces to be set (F e1 , F e2 , F e3 , F e4 ) (S22) and readjustment of the support legs until the measured support forces (F g1 , F g2 , F g3 , F g4 ) with the determined support forces (F e1 , F e2 , F e3 , F e4 ) agree. [15] Method according to any one of claims 12 to 14, further characterized by an automatic leveling (S24) of the mobile large manipulator (10).

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