Device for actuating a bending mast in a large manipulator and a large manipulator comprising said device

摘要

The invention relates to a device for monitoring the safety of a bending pole (22) in a large manipulator, whereby the arms (23-27) of the mast can be pivoted in relation to each other by means of a drive unit (34-38). The relative position of the arms of the mast in relation to the respective adjacent arm of the mast or frame of the mast (21) is measured for adjusting the position thereof. According to the invention, the positing measuring values (ε_I) of the arms of the mast are used in order to control the safety of the drive units (34-38) or the actuators thereof (80-84) in relation to a variation of predefined safety values.