US 11,655,642 B2
Large manipulator with automated mast set-up
Torsten Bertram, Düsseldorf (DE); Christoph Rösmann, Essen (DE); Frank Hoffmann, Dortmund (DE); Freia Irina Muster, Schwerte (DE); Johannes Henikl, Dorsten (DE); and Maximilian Krämer, Lünen (DE)
Assigned to SCHWING GMBH, Heerstrasse (DE)
Appl. No. 16/472,612
Filed by Schwing GmbH, Herne (DE)
PCT Filed Dec. 21, 2017, PCT No. PCT/EP2017/084028
§ 371(c)(1), (2) Date Jun. 21, 2019,
PCT Pub. No. WO2018/115248, PCT Pub. Date Jun. 28, 2018.
Claims priority of application No. 10 2016 125 145.3 (DE), filed on Dec. 21, 2016.
Prior Publication US 2020/0392746 A1, Dec. 17, 2020
Int. Cl. E04G 21/04 (2006.01); B25J 9/16 (2006.01); B66C 13/40 (2006.01)
CPC E04G 21/0436 (2013.01) [B25J 9/1689 (2013.01); E04G 21/0463 (2013.01); B66C 13/40 (2013.01)] 14 Claims
OG exemplary drawing
1. A large manipulator comprising:
a chassis;
a mast pedestal rotatable around a vertical axis by means of a rotary drive and arranged on the chassis;
an articulated mast including two or more mast arms pivotally-movably connected, via articulated joints, with the respectively adjacent mast pedestal or other mast arm by a pivot drive; and
a control unit configured to actuate the pivot drive and/or the rotary drive to move the articulated mast, autonomously and time-optimized, with a control sequence from an initial position of the articulated mast into a pre-specified target position of the articulated mast,
wherein the control unit is configured to calculate the control sequence by numerically solving a dynamic optimization problem with constraints by minimizing a quality function, which contains (1) a total time of a folding operation when transferring the articulated mast from the initial position to the pre-specified target position or (2) a variable derived directly therefrom as an optimization variable.