EP2118404A1

EP2118404A1 - Large manipulator

Info

Publication number: EP2118404A1
Application number: EP08708080A
Authority: EP
Inventors: Kurt Rau
Original assignee: Putzmeister Concrete Pumps GmbH
Current assignee: Putzmeister Engineering GmbH
Priority date: 2007-03-13
Filing date: 2008-01-22
Publication date: 2009-11-18
Anticipated expiration: 2028-01-22
Also published as: ATE510978T1; ES2382591T3; WO2008110397A1; US20100139792A1; ATE550503T1; KR20090119756A; CN101641485B; CN101641485A; DE102007012575A1; ES2364940T3; EP2118404B1; EP2186968A1; US8281811B2; EP2186968B1; KR101449077B1

Abstract

The manipulator has a mast support (10) rotatable around a vertical axis and arranged in a drive frame (10). A bending mast (20) is formed of mast arms (1-5), which are pivotable around a bending axis. A pendulum element (50) hanging downward from a mast stop, and a control unit is arranged in a control device. Two inclination transmitters (53) are arranged in a housing and are angled against each other around an axis parallel to an end tubular axis under an angle of 90 degrees. The housing has a marking indicating orientation of one of the transmitters within the housing.

Description

large manipulator

description

The invention relates to a large manipulator, in particular a car concrete pump, with a arranged on a frame, in particular on a chassis, about a substantially vertical axis of rotation rotatable by means of a drive unit mast bracket, composed of at least two mast arms articulated mast, which mast arms to each horizontal, mutually parallel bending axes relative to the mast block or an adjacent mast arm by means of a further drive unit limited pivotally, with one of the mast tip of the last mast arm hanging down pendulum element, arranged in a control device actuator and responsive to output signals of the actuator, the drive units the buckling and rotation axes in accordance with a by means of the actuator relative to the instantaneous position of the mast tip indicating adjustment actuated computer-assisted coordinate encoder, wherein the mast top the spatial n movements of the actuator is trackable.

Large manipulators of this type are implements such as truck-mounted concrete pumps, mixer pumps, spraying robots and the like to understand that can be used with suitable support with full 360 ° swivel range of the girder even when stretched horizontal position of the kink. The operator is responsible for the control of the large manipulator and the positioning of the arranged on the last arm of the articulated mast, preferably designed as a tail hose shuttle.

In a trained as a truck concrete pump large manipulator with a remote control device, it is already known (EP-O 715 673 B2) that the

Operator designed as end hose pendulum by hand The concrete application point deflects and that the mast tip automatically follows it. For this purpose, a signal transmission path is provided with which the mast tip can be moved by the operator with computer assistance via an adjustment path predetermined by the end hose. The actuator is designed as detachable and / or height-adjustable arranged direction-sensitive tilt sensor on the movable end hose. The directional sensitivity of the tilt sensor is realized there by the use of a two-axis tilt sensor. The tilt sensor has evaluation electronics for outputting an adjustment path signal dependent on the measured inclination direction and a speed signal for the movement of the mast tip which is dependent on the measured inclination angle. The inclinometer is located in a relation to the mast tip torsionally secured to the end hose housing. Due to these measures, it is possible to move the mast tip in a direction corresponding to the deflection direction when deflecting the end hose at a speed dependent on the deflection or inclination angle.

Proceeding from this, the object of the invention is to improve the large manipulator with its control device fixed to the pendulum element in such a way that the positioning of the control device on the pendulum element is facilitated and simplified.

To solve this problem, the combinations of features specified in claims 1 and 8 are proposed. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims.

An advantageous embodiment of the invention provides that the articulated mast of trained as a truck concrete pump large manipulator is designed as a concrete distributor, and that passed over the mast arms concrete delivery line is, which opens at its end in a from the top of the mast down hanging, the pendulum element forming end hose.

According to a first preferred embodiment of the invention, two tilt sensors arranged at an angle of 90 ° about an axis parallel to the pendulum element axis are arranged inside the housing, wherein the housing also has a marking indicating the alignment of at least one of the inclination sensors within the housing. Advantageously, the inclination sensors are arranged on two support sections, which are angled relative to one another at 90 ° to one another and are embedded in the interior of the housing, wherein the support plate has a further receiving portion receiving the associated electronics. The electronics are connected to the outputs of the inclinometer and are used primarily for signal conditioning and transmission to the co-ordinator of the on-board computer.

A further preferred embodiment of the invention provides that the rigid support plate is embedded with its parts located on the receiving parts in the space consisting of an elastomeric material housing. At the two opposite ends of the housing straps are preferably arranged or formed, with which the housing in the manner of a sensor belt can be fixed against rotation and against displacement at the end hose. The marking according to the invention is preferably designed as a bar marking arranged on the housing surface and oriented in the stretching direction of the articulated mast. This ensures that the two inclinometers are sensitive to direction, so that they respond both to deflections of the pendulum in the direction of stretching and laterally thereto and therefore are suitable together with the associated evaluation to issue a Verstellwegsignals. Furthermore, a speed signal for the movement of the mast tip, which is dependent on the measured angle of inclination, can be generated. For reasons of operational reliability, the drive units of the articulated mast and of the mast block are appropriately actuated via the coordinate transmitter while maintaining the height of the mast top in a given horizontal plane in combination. This ensures that the mast tip follows the actuator on the pendulum element in such a way that it always remains at a certain height distance above the ground. In addition, care is taken to ensure that the mast tip is tracked only if the pendulum element has a predetermined minimum deflection of, for example, + 50 cm. To adjust the height of the mast top, a hand-operated height adjustment element can additionally be provided on the sensor belt.

A second embodiment variant according to the invention provides that the control device has a first pendulum element-fixed three-dimensional inertial sensor as an actuator and a second frame-mounted three-dimensional inertial sensor as a reference element for the determination of the momentary frame-fixed pendulum element coordinates, and that the coordinate transmitter to the output from the two inertial sensors output data below Forming the control signals for the drive units of the rotary and articulated axes responds. With these measures it is achieved that it does not depend on the necessary in the use of inclinometers sliding and rotationally fixed fixation of the control device on the shuttle. In addition, the inertial sensors also allow a certain twisting of the end hose, which would lead to inaccuracies in the mast control when using tilt sensors. The inertial sensors according to the invention advantageously have a number of degrees of freedom corresponding number of gravitational sensors or gyro units.

According to another preferred embodiment of the invention, in which more another actuator for actuating a flow regulator of

Concrete pump is provided, the further actuator is in the final arranged hose-tight housing and is connected via a signal path to the concrete pump, where it communicates advantageously on the input side without contact with an external actuator. With this measure, it is achieved that an operation of the flow regulator by the operator is possible without this decreases his hands from the end hose. Advantageously, the further actuator for this purpose, two of a flow rate increase or reduction corresponding set inputs, which are contactlessly actuated via a radio link. The radio link expediently has an RFID transponder (RFID = Radio Frequency Identification) as triggering element and an RFID reader that is resistant to end-use, wherein the at least one RFID transponder transmits an identity and basic data packet via the RFID read receiver to the Remote control transmits. This ensures that only an authorized operator who has the RFID transponder (RFID tag) can operate the pump via the remote control. Suitably, each control input is assigned a separate RFID read receiver, while the at least one RFID transponder can be integrated in a work glove.

A further preferred embodiment of the invention provides an additional radio remote control unit, which the operator carries with him and which comprises several control units communicating via a radio link with the mast drive and / or the pump drive, wherein the control units of the radio remote control unit and the actuators in the end hose-fixed housing optionally via a Switching element can be activated on the radio remote control unit. With these measures it is achieved that the operator can optionally use the radio remote control device or the end hose-resistant remote control device for the mast actuation and the pumping operation. In order to avoid incorrect operation by unauthorized operators, it is further proposed according to the invention that the radio remote control device carries an RFID transponder (RFID tag), the content of which is conveyed via an endarm fixed housing arranged RFID read receiver (RFID reader) is readable and identifiable.

The invention further relates to a remote control device for fixing to a pendulum element of a large manipulator with a housing and with at least one housing arranged in the actuator for the large manipulator control.

A first embodiment variant of the remote control device according to the invention provides that two inclination encoders angled at an angle of 90 ° to one another inside the housing, and that the housing carries an orientation indicating at least one inclination sensor within the housing.

According to an advantageous embodiment of the invention, the inclination sensors of the remote control device are arranged on two 90 ° against each other angled receiving parties of an embedded inside the housing support plate. In addition, the support plate can have a further receiving part bearing the evaluation electronics, which is preferably arranged between the two receiving parties carrying the inclination sensors and angled with respect thereto.

According to a further variant of the invention, the actuator of the remote control device is designed as endschlauchfester, three-dimensional inertial sensor. Furthermore, a second, frame-mounted, three-dimensional inertial sensor is provided as reference element for the determination of the instantaneous end hose coordinates which are fixed to the frame. The inertial sensors according to the invention advantageously have a number of degrees of freedom corresponding number of gravitational sensors and / or gyro units. A further preferred or alternative embodiment of the invention provides that the rigid support plate with its parts located on the receiving parts is embedded in a space-saving manner in the housing consisting of an elastomeric material. At the two opposite ends of the housing straps are preferably arranged or formed, with which the housing in the manner of a sensor belt torsion and displacement fixed to a pendulum element or end hose can be fixed. The marking according to the invention is preferably designed as a bar marking arranged on the housing surface.

According to an advantageous embodiment of the invention, in which a further actuator for actuating a flow regulator is provided, the further actuator is in the housing and communicates on the input side advantageously without contact with an external actuator. With this measure it is achieved that an operation of the flow regulator by the operator is possible without that his hands from the shuttle or end hose decreases. Advantageously, the further actuator for this purpose, two of a flow rate increase or reduction corresponding control inputs, which are contactlessly actuated via a radio link.

In the following the invention will be explained in more detail with reference to the embodiments schematically illustrated in the drawing. Show it

Fig. 1 a and b is a side view and a plan view of a truck-mounted concrete pump with unfolded articulated mast;

2 shows a section through the end hose of the truck-mounted concrete pump with a sensor belt fixed to the end hose; 3 shows a plan view of a concrete pump with an enlarged sensor belt for illustrating the orientation of the sensor belt on the end hose;

4 shows a detail of an end hose with sensor belt to illustrate the distance range for the actuation of the actuators for the flow rate adjustment.

5 is a perspective view of a building construction with a formwork and a stationary concrete pump as an example of a stationary application of the remote control device according to the invention;

6 is a schematic representation of the movement sequence during concreting using the remote control device according to the invention to illustrate the changes in position of the mast top and the end hose;

7 shows a representation of the earth-stable, frame-fixed and end-hose-fixed coordinate systems of a mobile concrete pump for illustrating the coordinate transformations to be carried out when using inertial sensors.

The large manipulators shown schematically in FIGS. 1 a, b and 7 designed as truck-mounted concrete pumps have a chassis 10, a near the front axle 12 and the cab 14 of the chassis 10 arranged around a vertical axis of rotation 18 rotatable by 360 °, a folding mast 20 supporting mast block 16 and a conveying line, not shown in the drawing, guided by the mast arms 1, 2, 3, 4, 5 of the articulated mast. tion, which opens in the area of the mast top 55 in a pendulum element forming end hose 50.

To actuate the drive units of the articulated mast 20, a remote control device is provided, which comprises a signal generator 53 and a vehicle-mounted central control system which communicates with the signal generator 53 galvanically or wirelessly. For adjusting the mast tip 55 and arranged thereon, hanging down Endschlauchs 50 at least one communicating with the signal generator 53 actuator 52, 54 is provided, which is actuated by the operator 51.

In the embodiment shown in Fig. 2, the actuators 52, 54 are formed as tilt sensors or gravitational sensors, which are arranged in a releasably attached to the end hose 50 housing 30. The inclination sensors 52, 54 determine the inclination of the hose with respect to earth gravity and pass on the data, for example via a CAN bus or via a radio link, to the central control of the concrete pump. The end tube 50 becomes a biaxial joystick in this way.

As can be seen in particular from Fig. 2, are located in the housing 30 has two parallel to the Endschlauchachse 32 axis at an angle of 90 ° to each other angled inclination sensors 52, 54. The tilt sensors are for this purpose at two 90 ° to each other angled Recording parties 34, 36 arranged a support plate 38. In addition, the support plate 38 has a transmitter 40 supporting recording part 42, which is arranged between the two the tilt sensor bearing receiving parties 34, 36 and angled relative to these. The rigid support plate 38 is embedded with its located on the receiving parties 34, 36, 42 parts in the housing 30 formed of an elastomeric material. At the two opposite ends of the housing straps 46 are formed, with which the housing 30 in the manner of a sensor belt can be fixed against rotation and displacement on the end hose 50. In the evaluation electronics 40, the inclination data of the tilt sensors 52, 54 are converted either to a CAN bus or to an additional RFID reader 44 integrated in the housing. The RFID reader 44 also ensures that the release of the mast movement can only take place when an authorized operator 51, who carries a corresponding RFID transponder, is close enough to the end hose.

As can be seen in particular from FIG. 3, on the housing 30 there is a bar marking 47, which ensures that the sensor belt with its inclination transmitter 52, 54 in a specific orientation, which in the embodiment shown extends in the direction of extension of the articulated mast 20, can be fixed against rotation on the end hose. The inner shape of the sensor belt is adapted to the outer periphery of the end tube 50. The fixation on the end hose 50 is carried out with the aid of a knob-hole arrangement 49, which allows adaptation to different hose diameters in a certain range. The connection of the straps 46 during fixing of the sensor belt to the end hose 50 can also take place, for example, with the aid of a hook-and-loop fastener.

In the housing 30 of the sensor belt can also be an actuator 60+, 60- be accommodated for the operation of the feed pump. The forwarding of the setting data of this actuator can also be done via the CAN bus or via a radio link. In the exemplary embodiment shown in FIG. 4, the actuation of the actuators 60+, 60- for the concrete pump takes place via a radio link using RFID transmitters 62, 64, which are arranged in the gloves 66 of the operator 51 in the embodiment shown , At the actuators, a detection area 68 can be set, within which a switching or control process can be triggered. When approaching the Plus actuator 60+, the flow rate is increased, while when approaching the minus 60+ Actuator 60- the flow rate is reduced. The operator 51 on the end hose 50 therefore does not have to take his hands off the hose in order to adjust the flow rate of the concrete pump.

With the measures according to the invention, it is possible, by simply moving the end hose 50, to distribute the concrete in the manner desired by the operator 51 in a placement point 70. As can be seen from FIG. 6, rapid movements of the end hose 50 in a different direction only lead to relatively slight changes in position of the mast top 55 in the case of a pure distribution process. This is due to the fact that the mast movement responds only at a minimum deflection of the end hose 50. Continuously deflecting the end tube 50 in one direction or changing the direction slowly causes the mast 20 to follow in the desired direction. The latter is the case, for example, in the embodiment shown in FIG. 5, in which a stationary concrete placing boom 20 is moved by moving the end hose 50 along different positions 72 of a placement point 70 (formwork). In repeated operations of this kind, the way can also be learned.

In principle, it is possible to use inertial sensors instead of the two mutually perpendicular inclination sensors on the end hose. In this case, it is necessary for the remote control device 30 'to have a first end hose-fixed three-dimensional inertial sensor 53 as actuator and a second, frame-fixed three-dimensional inertial sensor 57 as reference element for the determination of the instantaneous end hose coordinates, which is additionally provided with a computer-aided coordinate transmitter the output from the two inertial sensors output data responsive to the formation of drive signals for the drive units of the rotational and bending axes of the buckling mast 20 responds. In this case, the inertial sensors 53, 57 have a number of centrifugal units and / or gravitational sensors corresponding to the number of degrees of freedom. The number of centrifugal units and / or gravitational sensors. The interconverting orthogonal coordinate systems are indicated in FIG. 7 as follows:

(X _g Y _g Z _g ) = Earth-fixed coordinate system

(X _f Y _f Z _f ) = vehicle-fixed coordinate system (X _Θ Y _Θ Z _Θ ) = end hose-fixed coordinate system

The conversion of the coordinate systems requires in each case a transformation matrix T (Ψ, θ, Φ), where Ψ, θ, Φ mean the Euler angles of the coordinate systems to be transformed.

In the computer-assisted coordinate transmitter, the Cartesian coordinates are also converted into the frame-fixed cylindrical coordinates of the articulated mast (r, h, φ), where r is the distance of the end tube from the axis of rotation 18 of the mast block 16, h is the height of the end tube above the substrate 41 and φ is the angle of rotation mean the buckling mast 20 about the axis of rotation 18. The variables r and h are dependent variables, which are calculated from the given geometry and the measured angular positions of the mast arms within the kink mast.

A further preferred embodiment of the invention provides that the operator 51 additionally carries a radio remote control device 80, for example, on his belt, which has a plurality of, via a radio link with the mast drive and / or the pump drive communicating control units. The control units of the radio remote control device 80 and the actuators 52, 54 in the end hose-fixed sensor belt are selectively activated via a switching element from the radio remote control unit. The radio remote control device 80 may additionally carry an RFID transponder whose content can be read out and identified via the RFID read receiver 44 arranged in the end-tight sensor belt. Thus, the operator 51 can the concrete pump either from a greater distance with the remote control device 80 or when approaching the end hose 50 directly control this. The activation takes place via the RFID system.

In summary, the following should be noted: The invention relates to a large manipulator, in particular truck concrete pump with a mounted on a frame, in particular on a chassis 10 about a substantially vertical axis of rotation 18 rotatable mast block 16, with a buckling mast 20 with a from the mast top of the kink mast after hanging pendulum preferably formed as end hose 50, and with a control device for controlling the drive units of the buckling and rotating axes of the articulated mast, wherein the remote control device has at least one inclination sensor 52,54, which is arranged in a releasably secured to the shuttle 50 housing 30. According to the invention in the housing 30 two about an axis parallel to the pendulum element axis 32 at an angle of 90 ° to each other angled tilt sensor 52,54 arranged. In order to allow an exact orientation of the housing 30, this has a the orientation of at least one of the tilt sensor within the housing 30 indicative mark 47.

Claims

claims

1. Large manipulator, in particular truck-mounted concrete pump, with one on a frame, in particular on a chassis (10) arranged around a ne substantially vertical axis of rotation (18) by means of at least one

Drive unit rotatable mast block (16), with a composed of at least two mast arms (1, 2,3,4,5) articulated mast (20) which mast arms about each horizontal, mutually parallel bending axes relative to the mast block (10) or an adjacent mast arm means each of a further drive unit are pivotally limited, with one of the mast top (55) from hanging down pendulum member (50), arranged in a control device actuator (52,54) and with an output signals of the actuator (52,54) responsive , the drive units of the buckling and rotating axes of the articulated mast (20) in accordance with a by means of the actuator relative to the instantaneous position of the mast top (55) indicative of adjusting actuation computer-assisted Koordinatengebers, wherein the mast top (55) the spatial movements of the shuttle (50) is trackable and wherein the actuator has at least one tilt sensor which is in a pendulum on the Ele t (50) removably mounted housing (30) is arranged, characterized in that in the housing (30) two about a to the Endschlauchachse (32) parallel axis at an angle of 90 ° to each other angled inclination sensors (52,54) are arranged and that the housing (30) has an orientation of at least one of

Inclinometer (54) within the housing (30) indicative mark (47).

2. large manipulator according to claim 1, characterized in that the articulated mast (20) is designed as a concrete distribution boom, and that on the mast arms (1, 2,3,4,5) a concrete delivery line is guided, the at its end in a from the mast top (55) from downwards, the pendulum element (50) forming end hose opens.

3. large manipulator according to claim 1 or 2, characterized in that the inclination sensors (52,54) on two 90 ° against each other angled receiving parties (34,36) of an inside of the housing (30) embedded support plate (38) are arranged.

4. Large manipulator according to claim 3, characterized in that the support plate (38) has a further, one with the tilt encoders (52,54) connected evaluation (40) bearing receiving part (42).

5. large manipulator according to claim 3 or 4, characterized in that the rigid support plate (38) with their on the receiving parties

(34,36,42) located parts in the formed of an elastomeric material housing (30) is embedded.

6. large manipulator according to one of claims 1 to 4, characterized in that at two opposite ends of the housing

(30) straps (46) are arranged or formed, with which the housing (30) in the manner of a sensor belt is fixed against rotation and displacement on the end hose (50).

7. large manipulator according to one of claims 1 to 6, characterized in that the marking (47) is arranged as arranged on the housing surface, in the stretching direction of the articulated mast (20) aligned bar marking.

8. Large manipulator, in particular truck-mounted concrete pump, with one mounted on a frame, in particular on a chassis (10), in order to ne substantially vertical axis of rotation (18) by means of a drive unit rotatable mast block (16), with a composed of at least two mast arms (1, 2,3,4,5) articulated mast (20), which mast arms to each horizontal, mutually parallel bending axes the mast block (16) or an adjacent mast arm by means of a further drive unit are limited pivotally, with a from the mast top (55) from hanging down pendulum element (50) with an arranged on a control device actuator (53) and with a on output signals of the actuator (53) responsive, the drive units of the buckling and rotation axes of the

Knickmasts in accordance with a by means of the actuator (53) relative to the current position of the mast tip (55) indicated displacement actuating computer-assisted coordinate, wherein the mast tip (55) the spatial movements of the shuttle (50) is trackable, characterized in that the remote control device a first , end hose-fixed three-dimensional inertial sensor (53) as an actuator and a second, frame-fixed three-dimensional inertial sensor (57) as a reference member for the determination of the momentary fixed frame pendulum element coordinates, and in that the coordinate generator on the output from the two inertial sensors (53, 57) output data Activation signals for the drive units of the rotary and bending axes responds.

9. large manipulator according to claim 8, characterized in that the articulated mast (20) is designed as a concrete distribution boom, and that on the mast arms (1, 2,3,4,5) a concrete delivery line is guided, which at its end in one of the Mastspitze (55) from down-hanging, the pendulum element (50) forming end hose opens.

10. Large manipulator according to claim 8 or 9, characterized in that the inertial sensors (53, 57) correspond to one of the number of degrees of freedom corresponding number of centrifugal units and / or gravitation sensors.

11. Large manipulator according to one of claims 1 to 10 with a via at least one further actuator (60+, 60-) operable flow regulator for the concrete pump, characterized in that the further actuator (60+, 60-) in the end hose fixed housing (30 ) or sensor belt and connected via a signal path to the concrete pump and the input side communicates with an external actuating organ (62,64) without contact.

12. large manipulator according to claim 11, characterized in that the further actuator (60+, 60-) has at least two of a flow rate increase or reduction corresponding set inputs, which are contactlessly actuated via a radio link.

13. large manipulator according to claim 12, characterized in that the radio link comprises at least one RFID transponder (62,64) as a triggering member and a pendulum element or endarmfesten RFID read receiver (44).

14. Large manipulator according to claim 13, characterized in that the at least one RFID transponder (62, 64) transmits an identity data and basic data packet via the RFID read receiver (44) to the remote control device during each transmission process.

15. Grand manipulator according to one of claims 12 to 14, characterized in that each setting input is associated with an RFID read receiver (44).

16. Large manipulator according to one of claims 13 to 15, characterized in that the at least one RFID transponder (62, 64) is integrated in a working glove (66) of an operator (51).

17. Large manipulator according to one of claims 1 to 16, characterized by a radio remote control device (80) having a plurality of communicating via a radio link with the mast drive and / or the pump drive control units, wherein the control units of the radio remote control device and the actuators in the pendulum element fixed housing (30) or Sensor belt can be activated via a switching element from the radio remote control unit.

18. Large manipulator according to claim 17, characterized in that the radio remote control device (80) carries an RFID transponder (62,64), the content of which is readable and identifiable by means of a pendulum element-fixed housing or sensor belt arranged RFID read receiver (44).

19. Large Manipulator according to claim 17, characterized in that in the pendulum element-fixed housing or sensor belt, an RFID transponder is arranged, the content of which via a remote control device (80) arranged RFID reader is triggered and identifiable.

20. Remote control device for fixing to the end hose (50) of a concrete placing boom (20) having, preferably mobile concrete pump with a housing (30), at least one disposed in the housing, as tilt sensor (52,54) formed actuator and responsive to output signals of the actuator Evaluation electronics (40), characterized in that two in the interior of the housing (30) at an angle of 90 ° about a housing axis against each other angled inclinometer (52,54) are arranged, and that the housing has an alignment of at least one of the inclination indicators within the housing indicative mark (47).

21. Remote control device according to claim 20, characterized in that the inclination transmitters (52, 54) are arranged at two receiving sections (34, 36), which are angled away from one another by 90 °, of a support plate (38) embedded in the interior of the housing (30).

22. Remote control device according to claim 21, characterized in that the support plate (38) has a further, the transmitter (40) carrying receiving portion (42), preferably between the two inclination transmitter (52,54) carrying receiving parties (34,36) arranged and angled relative to these.

23. Remote control device according to claim 21 or 22, characterized in that the rigid support plate (38) with its located on the receiving parts parts (52,54,40) is embedded in the formed of an elastomeric material housing (30).

24. Remote control device according to one of claims 20 to 23, characterized in that at two opposite ends of the housing (30) belts (46) are arranged or formed, with which the housing (30) in the manner of a sensor belt twisting and sliding on End hose (50) can be fixed.

25. Remote control device according to one of claims 20 to 24, characterized in that the marking (47) is formed as surface arranged on the housing bar marking.

26. Remote control device for fixing to the end hose (50) of a concrete distributor boom (20) having, preferably mobile concrete pump, with a housing (30) and at least one arranged in the housing, on a deflection of the end hose (50) responsive actuator, characterized in that the actuator is designed as end hose-resistant, three-dimensional inertial sensor (53), and that a second, frame-mounted, three-dimensional inertial sensor (57) is provided as reference element for the determination of the current frame-fixed end hose coordinates.

27. Remote control device according to claim 26, characterized in that the inertial sensors (53, 57) comprise a number of degrees of freedom corresponding number of centrifugal units and / or gravitational sensors.

28. Remote control device according to one of claims 20 to 27, characterized in that in the housing (30) a further actuator (60+, 60-) is arranged, the input side communicates with an external actuator (64) without contact.

29. Remote control device according to claim 28, characterized in that the further actuator (60+, 60-) has at least two of a flow rate increase or reduction corresponding set inputs, which are contactlessly actuated via a radio link.

30. Remote control device according to claim 29, characterized in that the radio link comprises at least one RFID transponder (62,64) as a triggering element and an endarmfesten RFID read receiver (44).

31. Remote control device according to claim 30, characterized in that the at least one RFID transponder (62, 64) transmits an identity and basic data packet via the RFID read receiver (44) during each transmission process.

32. Remote control device according to one of claims 29 to 31, characterized in that each setting input is associated with an RFID read receiver (44).

33. Remote control device according to one of claims 30 to 32, characterized in that the at least one RFID transponder (62, 64) is integrated in a working glove (66) of an operator (51).

34. Remote control device for fixing to the end hose (50) of a concrete placing boom (20) having, preferably mobile concrete pump with a housing (30), arranged at least one arranged in the housing, as tilt sensor or as a three-dimensional inertial sensor actuator and responsive to output signals of the actuator evaluation (40), wherein the formed of an elastomeric material housing on two opposite sides

Ends with straps (46) is provided, with which it is fixed in the manner of a sensor belt torsion and displacement resistant to Endschläuchen with different diameters.

35. Remote control device according to claim 34, characterized in that on the housing surface preferably designed as a mark marker (47) is arranged.

36. Remote control device according to claim 34 or 35, characterized in that the straps (46) have a closure (49) for the stepwise or continuous adjustment of the belt diameter.

37. Remote control device according to claim 36, characterized in that the closure (49) is designed as knob / Ösenverschlüsse.

38. Remote control device according to claim 36, characterized in that the closure is designed as a Velcro fastener.