| 摘要 |
In a concrete-placing manipulator, preferably for mining and tunnelling, with a boom which is arranged on a carrier system in a vertical swivel joint and has a main arm sitting on a horizontal swivel joint and having a preferably triangular rocker arranged on the sprayer, a bottom auxiliary arm which is designed as a parallelogram and in which the rocker serves as a link, and a top auxiliary arm which is included in the parallelogram of the bottom auxiliary arm and carries the spray-nozzle arrangement, provision is made according to the invention for the main arm to be secured against pivoting in a perpendicular plane and to form the abutment for a drive serving to set the angle of rotation at the rocker attached to the main arm with a horizontal swivel joint. The rocker in turn serves as an abutment for the drive, attached to the parallelogram, of the bottom auxiliary arm, the dimensions of the four-bar mechanism which consists of the connecting joints of the parallel links at the rocker and at the top auxiliary arm being adapted to one another in such a way that, at the rocker set in each case to a selected arch angle, the spray nozzle attached via a universal-joint arrangement to the tip of the top auxiliary arm can be moved with the parallelogram drive over paths of a torus and, upon adjustment of the rocker, over adjoining paths of a spherical segment.
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