DEVICE FOR ACTUATING AN ARTICULATED MAST

摘要

The invention relates to a device for actuating an articulated mast particularly for large manipulators and concrete pumps. Said articulated mast (22) is pivotally connected to a mast base (21) that is rotatable about a vertical axis and comprises at least three mast arms (23 to 27) which are swivable to a limited extent about horizontal articulated shafts (28 to 32) that are located parallel to each other, the swiveling movement being relative to the mast base (21) or an adjacent mast arm (23 to 27) and being performed by means of a respective drive unit (34 to 38). The inventive device further comprises a control unit for triggering the drive units for the mast movement. Said control unit is provided with a coordinate transmitter (74, 76) which responds to a given guiding parameter (r) and measured angular values (epsilonnu) that are determined by means of angle sensors (44 to 48) located on the mast arms (23 to 27). The coordinate transmitter (74, 76) does a conversion into movement signals (Delta alphanu) for the drive units (34 to 38) according to predefined path/swiveling characteristics, said movement signals being related to the articulated shafts. In order to make the inventive device lighter and easier to build, geodetic angle sensors (44 to 48) which determine geostationary measured angular values (epsilonnu) that are assigned to the individual mast arms (23 to 27) are disposed in a rigid manner on the mast arms (23 to 27).