Patent Application
20240295132
The present invention relates to a thick matter distributor mast, a thick matter pump, and a thick matter conveying system.
Known from the prior art are generic thick matter distributor masts, thick matter pumps, and thick matter conveying systems. These are typically designed for conveying a specific type of thick matter, for example of a certain density, so that there is the risk of overloading and damage to components of the thick matter distributor mast and of the thick matter pump when conveying heavier, i.e. denser, thick matters while using thick matter distributor masts, thick matter pumps and thick matter conveying systems not conceived for this purpose. This can be the case, for example, if an operating range provided for the mast arms of the thick matter distributor mast is exceeded. In addition, when used with a substructure, as in the case of a truck-mounted concrete pump, there is a risk of capsizing and therefore of considerable damage to the entire system. Likewise, in the conveying of heavier thick matters, high rotating speeds during the rotation of a slewing gear typically connected to the mast assembly of a thick matter distributor mast can lead to overloading, in particular of components of the thick matter distributor mast. The same applies to excessive pump and changeover speeds of the core pump and S-pipe, the latter being usual components of a thick matter pump.
Also, variable ambient conditions, such as the influence of wind, while conveying a thick matter can cause design limits of components of the thick matter distributor mast and of the thick matter pump to be exceeded. To take this into account, generous conservative tolerance ranges are usually provided in the basic design, so that the operation of the components is unnecessarily restricted during use in typical conditions.
A flexible and situation-adapted use of a thick matter distributor mast and of a thick matter pump for thick matter of different weights—including those that are heavier than those corresponding to the basic design—is therefore not easily possible. Therefore, buckets to be hoisted by crane are regularly used to convey such particularly heavy thick matter. Alternatively, the thick matter distributor mast can be mechanically modified to suit the application and fitted with a shorter mast assembly, which however is complex and permanently limits the maximum operating range of the thick matter distributor mast.
Likewise, the operation of thick matter distributor masts and thick matter pumps is problematic when conveying particularly heavy thick matter or under variable ambient conditions where the stability of the entire thick matter conveying system is at its limit. This limit is not usually taken into account automatically by the thick matter conveying system, but can at best be recognized by the user, which in turn depends on his/her experience. For the conveying of a thick matter that is heavier than the thick matter intended for conveying by the thick matter conveying system, the stability during operation of the thick matter conveying system is therefore fundamentally not reliably guaranteed. As a rule, such conveying of overly heavy thick matter is therefore prohibited.
Against the background of the issues mentioned above, it is, therefore, an object of the present invention to provide an improved thick matter distributor mast, an improved thick matter pump, and an improved thick matter conveying system.
The solution according to the invention lies in the features of the independent claims. Advantageous refinements are the subject matter of the dependent claims.
Disclosed according to the invention is a thick matter distributor mast for distributing a thick matter to be conveyed by means of a thick matter pump, having a slewing gear which is rotatable about a vertical axis at a maximum rotating speed; a mast assembly having at least a first mast arm and a second mast arm, wherein the first mast arm is connected to the slewing gear at a proximal end of the mast assembly, and wherein the mast arms each have a maximum operating range; a conveying line which extends across the mast assembly and comprises a proximal end, which is connectable to an outlet of a thick matter pump, and a distal end, wherein the distal end of the conveying line transitions to an end hose at a distal end of the mast assembly; a receiver unit for receiving at least one item of operational information; a processing unit for determining a currently permissible operating range of the first mast arm and the second mast arm respectively and/or for determining a currently permissible slewing gear speed, each depending on the at least one received item of operational information; and a control unit for limiting the operating range of the corresponding mast arm to the respective currently permissible operating range, if one of the determined currently permissible operating ranges of the first mast arm and the second mast arm is smaller than the respective maximum operating range, and/or for limiting the rotating speed of the slewing gear if the determined currently permissible rotating speed is less than the maximum rotating speed.
Moreover disclosed according to the invention is a thick matter pump for conveying a thick matter through a conveying line of a thick matter distributor mast, having a double-piston core pump which has a maximum pump speed; an S-pipe which is switchable at a maximum switching speed and has an end that is disposed on an outlet of the thick matter pump and is connectable to a conveying line; a receiver unit for receiving at least one item of operational information; a processing unit for determining a currently permissible pump speed and/or for determining a currently permissible switching speed, each depending on the at least one received item of operational information; and a control unit for limiting the pump speed to the currently permissible pump speed if the determined currently permissible pump speed is less than the maximum pump speed, and/or for limiting the switching speed if the determined currently permissible switching speed is less than the maximum switching speed. Instead of the pump speed, a pump frequency can also be considered, and instead of the switching speed, a switching frequency can also be considered. Typically, the values of the pump frequency and the switching frequency are the same in this instance.
Furthermore disclosed according to the invention is a thick matter conveying system, having a thick matter distributor mast for distributing a thick matter to be conveyed; a thick matter pump for conveying the thick matter through a conveying line of the thick matter distributor mast; and a substructure on which the thick matter distributor mast and the thick matter pump are disposed, the substructure comprising: a support structure for supporting the substructure, wherein the support structure has a stability range with a first threshold and with an upper limit defined by a maximum stability parameter; a receiver unit for receiving at least one item of operational information; a processing unit for determining a current stability parameter, depending on the at least one received item of operational information, and for determining a future stability parameter to be anticipated, depending on the at least one received item of operational information and at least one item of forecast information, the latter being characteristic of a predicted change of the stability parameter upon the orderly operation of at least one component of the thick matter distributor mast and/or the thick matter pump; and a control unit for controlling an operating parameter of at least one component of the thick matter distributor mast and/or the thick matter pump, wherein the control unit is configured to control the operating parameter in such a manner that, if the determined current stability parameter is above the first threshold and the determined future stability parameter to be anticipated is closer to the maximum stability parameter than the determined current stability parameter, the operation of the component takes place at a reduced speed.
The thick matter distributor mast according to the invention and the thick matter pump according to the invention can be disposed on a stationary or a mobile substructure. The substructure of the thick matter conveying system according to the invention can also be mobile or stationary. The thick matter distributor mast according to the invention, the thick matter pump according to the invention and the thick matter conveying system according to the invention are configured as a truck-mounted concrete pump, for example.
The invention is a particularly advantageous design embodiment of a thick matter distributor mast, a thick matter pump and a thick matter conveying system, with dynamic and situation-dependent real-time determination of permissible operating parameters of the participating components. In this way, the individual components under consideration can be operated in an orderly fashion up to a permissible operating parameter, so that it is possible to use thick matter conveying even in scenarios where safe and efficient use of conventional thick matter conveying systems without the risk of damaging the thick matter conveying systems is not possible at all, or is only possible by way of complex methods, for example by way of assembly work. Both the components of the thick matter distributor mast and the thick matter pump are taken into account here. For example, use scenarios in which the mast assembly can generate more load torque than the substructure can accommodate are typical in this respect. For such a case, the operating range of each individual mast arm of the mast assembly can in the present context then be limited in such a way that the stability of the entire system is still maintained. Overloading of individual components can be avoided. This also makes possible thick matter conveying systems for specialized applications in which, for example, the mast assembly can indeed reach a large height but cannot be used in the fully extended state, and for which a smaller substructure is sufficient. As a result, the thick matter conveying system can be configured to be more compact and lighter. The invention also makes use of the fact that, at a reduced speed of the components, the forces acting are lower. Thus, by systematically reducing the speed, for example by a predetermined factor, gradually or depending on the remaining stability, it is possible, even when approaching the upper limit of stability in peripheral situations, i.e. under extreme operating conditions close to maximum stability, to use the components as efficiently as possible and with the greatest possible scope and intensity of action even in these peripheral situations.
Thus, by means of the invention, thick matter conveying can also be carried out on construction sites at which heavy concrete is to be conveyed. Safe operation can also take place, especially in peripheral situations close to the upper limit of stability, with loads exceeding a design load, for example a correspondingly high load of the end hose (e.g. above 200 kg). An extra-long end hose can likewise be used. At the same time, factors influencing safe operation, such as wind speed or maximum ground load capacity, can be taken into account so that the operation of one or more components is restricted if required. This opens up new fields of application for the use of thick matter conveying systems. It is also readily possible to use the thick matter conveying system with additional loads, corresponding to a crane function.
First, some terms are to be explained hereunder:
Thick matter is a generic term for hard-to-convey media. The thick matter can be, for example, a substance with coarse-grained components, a substance with aggressive components, or similar. The thick matter can also be a bulk material. In one embodiment, the thick matter is fresh concrete. Fresh concrete can contain grains up to a size of more than 30 mm, binds, forms deposits in voids, and for these reasons is difficult to convey. In a further embodiment, the thick matter is heavy concrete with a density of more than 2300 kg/m3.
The components of a thick matter distributor mast or a thick matter pump are to be understood to be in particular such elements as are listed in the independent claims. Examples include the slewing gear and mast arm for the thick matter distributor mast, and the core pump and S-pipe for the thick matter pump. The components should have operating parameters by way of which the respective component is to be operated. Operating parameters may include, for example, a rotating speed of the slewing gear, a manipulation speed of a mast arm joint, an operating speed of an actuator of a mast arm, a pump speed or a pump frequency of the core pump, or a switching speed or a switching frequency of the S-pipe.
The slewing gear is rotatable about a vertical axis, for example a central axis of the slewing gear, for example by 360 degrees. The slewing gear may comprise at least one actuator, such as a hydraulic or pneumatic cylinder or an electromechanical actuator or a combination of a plurality of actuators, even of different types, by way of which said slewing gear can change its position in relation to the substructure by rotation. To this end, the slewing gear typically comprises a hydraulic motor and a pinion with a planetary gearbox.
The mast assembly comprises at least two, but may also comprise three, four or five, mast arms. Typically, the mast assembly comprises three to seven mast arms. The first mast arm, at its proximal end, is connected to the slewing gear, and, at its distal end, is connected to the proximal end of an adjacent mast arm. The other mast arms are successive, and, in each case at their proximal ends, are connected to a distal end of the adjacent mast arm. The distal end of the mast assembly corresponds to the distal end of the last mast arm in the succession, which moreover has no further connection at its distal end.
The mast arms within the mast assembly are each connected to one other by way of a mast joint in such a way that they can be moved at least, for example exclusively, in one dimension, at least independently of the other mast arms. Each mast arm is assigned the mast joint on the proximal end of the former.
The first mast arm is connected to the slewing gear by way of the mast joint of the former in such a way that, when the slewing gear rotates about its vertical axis, the first mast arm—and in embodiments the entire mast assembly as well—is also rotated about this axis. For example, the mast arm is attached to the slewing gear in such a way that said mast arm can be moved, for example exclusively, in a vertical direction independently of the slewing gear and, for example, can be rotated by way of its mast joint. It is also conceivable for a mast arm to have a telescopic functionality and to be able to be extended or shortened telescopically and infinitely along its longitudinal axis. For example, a mast arm is adjustable in such a manner that at least the distal end of the mast arm can be moved in at least one of the three spatial directions (x, y and z directions). Alternatively or additionally, a mast arm is rotatable about its longitudinal axis. For example, a mast arm comprises at least one actuator for its mast joint, such as a hydraulic or pneumatic cylinder or an electromechanical actuator or a combination of a plurality of actuators, even of different types, with which said mast arm can change its position relative to at least one other mast arm, in particular the mast arm connected at the proximal end. The actuators can be configured, for example, to rotationally pivot the mast arm about a horizontal axis, the latter for example running through its mast arm joint, and/or to move said mast arm in a translatory manner in one, in two, or in all spatial directions. Alternatively or additionally, the mast arm may have further actuators by means of which said mast arm can be extended, shortened or rotated, for example telescopically.
Each mast arm has a maximum operating range within which it can move. For a mast arm, an opening angle can be defined between the longitudinal axis of the former and the longitudinal axis of that mast arm fastened to the proximal end, this opening angle corresponding to the opening angle of the mast joint of the former. The opening angle can be determined, for example, by comparing the inclination angles of the respective mast arms. The inclination angle of a mast arm can be recorded by means of an inclination sensor. In the case of the first mast arm, such a maximum or minimum opening angle of its mast joint can be provided between its longitudinal axis and a plane perpendicular to the vertical axis of the slewing gear. It is also conceivable that, alternatively or additionally, a maximum horizontal and/or vertical distance between the proximal and distal ends of the mast arms is provided in each case as the maximum operating range within which the respective mast arm can be moved. For example, respective specific maximum operating ranges are defined for the individual mast arms of a mast assembly or for the entire mast assembly.
The conveying line of the thick matter distributor mast can be attached to the mast arms. For example, the conveying line is connected to a mast arm at least at the distal end of the mast assembly. This location of the fastening then corresponds to the load attachment point. The transition of the conveying line to an end hose at a distal end of the mast assembly is to be understood to mean that the conveying line extends beyond the mast assembly and, by way of the end hose, has a region without any fastening to the mast assembly. Accordingly, the end hose can hang freely at the distal end of the mast assembly. The end hose and the conveying line can be separate or in one piece and configured in such a way that the thick matter to be conveyed is conveyed from the conveying line into the end hose with as little loss as possible. In addition, the end hose may have an end hose pinch valve for controlling the thick matter flow rate.
The thick matter distributor mast, the thick matter pump, and the thick matter conveying system each comprise means for carrying out or controlling the method according to the invention. These means include in particular the receiver unit, the processing unit, and the control unit and can be configured as hardware and/or software components which are separate or combined in various ways. The means comprise, for example, at least one memory with program instructions of a computer program, and at least one processor which is configured to execute program instructions from the at least one memory.
The receiver unit of the thick matter distributor mast, of the thick matter pump, and of the thick matter conveying system is in each case configured to receive at least one item of operational information. The item of operational information is indicative and representative of a property of a variety of possible properties of the thick matter distributor mast, of the thick matter pump, and of the thick matter conveying system or their components. It should thus be possible to assign an item of operational information to a component. Such a property, like also operating parameters, can be characterized, for example, by a measured variable. These can be properties that come to light already before or only after the conveying has commenced. For example, the receiving of an item of operational information can take place by measuring a measured variable which is characteristic of this item of operational information. Likewise, the item of operational information received from the receiver unit can define, or be the result of, an upstream calculation in which, for example, one or more measured variables have in turn been included. It is conceivable that such an upstream calculation is carried out directly on site in a correspondingly configured unit of the thick matter distributor mast, the thick matter pump and the thick matter conveying system, but it may also be done externally, for example on a server device, and the thus calculated item of operational information is then received by the receiver unit.
The processing unit of the thick matter distributor mast, thick matter pump and thick matter conveying system should in each case be understood as being configured to determine currently permissible operating ranges, currently permissible operating parameters and/or a current stability parameter and a future stability parameter to be anticipated. This should be at least partially dependent on—in particular all of the—received items of operational information. To this end, said processing unit may, for example, have access to the information received by the receiver units and have a currently permissible operating range, a currently permissible operating parameter and/or a current stability parameter and a future stability parameter to be anticipated, depending on the received items of operational information, while taking into account properties of components of the thick matter distributor mast, of the thick matter pump and/or the thick matter conveying system, that are defined and assumed to be constant, such as their mass or their spatial expansion. It is also conceivable that the determination of a currently permissible operating range of a mast arm is alternatively or additionally dependent on an already determined operating range of another, for example adjacent, mast arm of the mast assembly. For example, determining the currently permissible operating range of the second mast arm takes place after the permissible operating range of the first mast arm is determined and depends on the operating range determined for the first mast arm. For the purpose of determining the future stability parameter to be anticipated, at least the processing unit of the thick matter conveying system is configured to carry out the calculation of an item of forecast information which is characteristic of a predicted change in the stability parameter upon the orderly operation of one or a plurality of components of the thick matter distributor mast and/or the thick matter pump. For example, when calculating the item of forecast information, it can be assumed that the operating state of the remaining components remains unchanged during the forecast period, for example, 1 second, 2 seconds, or 3 seconds. An unchanged operating state is understood to mean, for example, in an initial approximation, such an operating state which is maintained without receiving another control signal in the forecast period. Alternatively or additionally, saved default or empirical values can be used to calculate the item of forecast information. Using the item of forecast information thus determined, the processing unit can determine a trend for the stability under consideration, which can be taken into account in addition to the current item of operational information in the controlling to be carried out by the control unit.
The control unit of the thick matter distributor mast, of the thick matter pump, and of the thick matter conveying system includes in each case appropriate means to limit an operating range or operating parameter of a component to a currently permissible operating range or a currently permissible operating parameter. The respective control unit may additionally or alternatively also comprise means to limit an operating parameter of a component to a currently permissible operating parameter, if a current stability parameter determined by a processing unit is less than a, for example defined, maximum stability parameter. Limiting the operating range of one or more components is to be understood to mean that an operating parameter of the respective component is limited, and the component is caused to operate according to the limited operating parameter. This means that the respective operating parameter can be limited to a still permissible scope of action, a still permissible speed of action or a still permissible frequency of action of the component, depending on the determined item of operational information or the determined stability parameter. The operation of the component outside the permissible operating range is precluded in particular. The scope of action, the speed of action or the frequency of action after limiting are smaller than the maximum scope of action, maximum intensity of action and maximum frequency of action which are fundamentally provided for the component in each case. For example, the control unit can determine a currently permissible upper limit for the operating range of a mast arm, and the operation of the thick matter distributor mast can be effected in such a way that the mast arm is deflected only below the determined upper limit. Accordingly, the opening angle or the actuator force of the mast arm can then be prevented, for example, from exceeding a correspondingly determined limit. To that end, the respective actuator can for example receive a suitable control signal, which is output by the control unit. For example, the control unit can thus limit the deflection of a mast arm by an actuator. This can prevent overloading of components of the thick matter distributor mast or loss of stability of the thick matter conveying system, as well as any respective damage associated therewith.
The respective receiver units, processing units and control units of the thick matter distributor mast, the thick matter pump, and the thick matter conveying system can be of an analogous or even identical configuration. These can be in each case different receiver units, processing units, and control units, but it is also conceivable that the receiver units, processing units, and control units of the thick matter distributor mast, of the thick matter pump, and of the thick matter conveying system are each formed as modules of an overall unit. Such an overall unit can then be disposed so as to be spatially combined in a special region of a thick matter conveying system that comprises a thick matter distributor mast and a thick matter pump.
The thick matter pump can comprise a core pump with two, for example exactly two, conveying cylinders. In this instance, switching takes place in an alternating manner from the first to the second conveying cylinder and from the second to the first conveying cylinder. An S-pipe can be switched cyclically between the conveying cylinders. In addition, an auxiliary cylinder can be configured so as to bridge each of the transitions.
The S-pipe is a movable section of the pipe by way of which the feed cylinders are connected in an alternating manner to the outlet of the thick matter pump. The pipe section and the auxiliary cylinder can be elements of an assembly that is releasably connected to the thick matter pump. This can facil-itate the maintenance and cleaning of the thick matter pump.
The substructure is a basic frame, for example a chassis, on which a thick matter distributor mast and/or a thick matter pump can be disposed. For example, the thick matter distributor mast and/or the thick matter pump are fastened to the substructure. The substructure can be of a stationary configuration (for example as a platform), or of a mobile configuration (for example as a vehicle). The substructure may include a support structure for support. If such a substructure is equipped with a thick matter distributor mast and a thick matter pump, the entire thick matter conveying system can thus be supported and its stability improved during operation.
The stability of the support structure, and thus of the entire thick matter conveying system, is higher the greater the spacing of the line of action, which takes into account all of the forces acting on the thick matter conveying system, from the tilting edges of the contact surface. However, a reliable statement pertaining to the stability can already be made on the basis of a line of action that at least takes into account the weight force acting on the thick matter conveying system. The more of the forces actually acting in the line of action that are taken into account the more precisely this statement can be made. Therefore, the stability of the thick matter conveying system can be characterized particularly advantageously by a stability parameter representing the spacing of the line of action from the tilting edges of the contact surface. The stability parameter is located within a defined or dynamically determinable stability range, within which the spacing of the line of action from each of the tilting edges is greater than or equal to zero; in this instance, a safety margin is preferably also taken into account. The stability of the support structure and thus of the thick matter conveying system is ensured within the stability range. The upper limit of the stability range is defined by a maximum stability parameter. The maximum stability parameter is present when the spacing of the line of action from one of the tilting edges is zero. Accordingly, the spacing of the line of action from at least one of the tilting edges decreases as the stability parameter increases. Above the upper limit, the spacing is less than zero and stability is no longer guaranteed. It is conceivable that a stability range for each operating situation of the thick matter conveying system is defined or determinable, for example by taking into account properties of the components of the thick matter conveying system under consideration that are assumed to be constant. For example, to this end, a contact surface can be defined or determinable for each possible arrangement of the support structure, for example by way of a specific set-up of support legs. The stability range furthermore comprises a first threshold and optionally also a second threshold. For example, the second threshold can be closer to the maximum stability parameter and thus closer to the upper limit of stability than the first. Accordingly, during the deflection of a mast assembly of a thick matter distributor mast toward peripheral situations, owing to the resulting moments acting on the support structure, first the first threshold is exceeded, then the second threshold, and then the upper limit.
The spacing of the line of action from one of the tilting edges and the orientation of the line of action are each at least dependent on the weight force of the thick matter conveying system and can be calculated, for example, by the processing unit. The orientation of the line of action may have vertical and horizontal direction components, and may depend on directions of action and/or values of multiple forces. For example, one or more forces to be taken into account in this respect can be defined or can be selected by a user (e.g. by means of a suitable user interface). If, for example, only the weight force of a thick matter conveying system is taken into account, then the line of action corresponds to a plumb line running through the overall center of gravity. The orientation of the line of action in this instance is identical to the position of the plumb line. If the orientation of the line of action additionally depends on a force having a horizontal component, such as a wind force acting on the side of the thick matter conveying system, then the orientation of the line of action also includes at least one horizontal component, and its orientation is not identical to that of the plumb line. It is conceivable that the orientation of the line of action is dependent on one or more additional forces in such a way that the processing unit is able to adapt the position gradually, and preferably only gradually, for example by a respective defined amount in a defined direction, upon the occurrence of one or more specific conditions, for example above a wind force prevailing in the operation of the thick matter conveying system. It is also conceivable that the orientation of the line of action depends on the directions of action and/or values of one or more, preferably all, items of operational information which are received by the receiver unit and are indicative of forces.
For example, the stability range can be described as a distance margin with a minimum value above which the stability of the support structure is no longer provided. Thus, any movement of a component can lead to a decrease, for example in the event of a deflection of a mast arm of a thick matter distributor mast in the distal direction, or an increase, again for example in the event of a deflection of a mast arm in the proximal direction, of the distance margin. If the distance margin has been used up, a maximum stability parameter is present and the upper limit of the stability range has been reached. If the operation of the component under consideration is to be anticipated to increase the distance margin, such operation can take place, optionally at a reduced speed.
An orderly operation of a component is to be understood to mean such an operation as is intended for the component fundamentally and in usual industrial practice, for which the component is conceived under typically prevailing conditions. For example, when a component is operating in an orderly fashion, a specific operating speed of the component is provided.
In embodiments of the thick matter distributor mast, thick matter pump and thick matter conveying system, the item of operational information is indicative of a joint torque of a mast arm, of a cylinder force of a mast arm, and/or of an opening angle of a mast arm.
The joint torque of a mast arm is the moment acting on its mast joint. This represents a moment that depends, among other things, on the total weight of the mast assembly, on wind loads, on the weight of the thick matter to be conveyed or also on the weight acting on the distal end of the first mast arm of the mast assembly, corresponding to a mast peak load. A conclusion pertaining to the joint torque can be drawn, for example, by measuring a cylinder force acting in an actuator of the respective mast arm or a cylinder pressure acting in the actuator of the mast arm in conjunction with one or a plurality of other measurements, such as a measurement of the respective joint angle. For example, the joint torque of a mast arm can be calculated by means of a transmission function, i.e. from a cylinder force and ajoint angle of the mast joint of the respective mast arm. The opening angle can be determined, for example, by comparing the inclination angles of adjacent mast arms.
The processing unit can be configured to calculate a load torque based on those items of operational information recorded which are indicative of the joint torques of all mast arms, and to determine the currently permissible operating range of the first mast arm and the second mast arm, respectively, the currently permissible slewing gear speed, the currently permissible pump speed, the currently permissible switching speed, the current stability parameter and/or the future stability parameter to be anticipated, in each case depending on the calculated load torque. Taking into account the respective inclination angles of the mast arms, the processing unit can in this way make a particularly precise determination of the stability parameter in real time.
In addition, the processing unit can be set up to determine the currently permissible operating range of the first mast arm and the second mast arm, respectively, the currently permissible slewing gear speed, the currently permissible pump speed, the currently permissible switching speed, the current stability parameter and/or the future stability parameter to be anticipated, in each case depending on an item of operational information which is indicative of a currently permissible theoretical maximum load torque.
In addition, the item of operational information can be indicative of a type of the thick matter to be conveyed, a density of the thick matter to be conveyed, a load on the end hose and/or a type of end hose. The item of operational information may likewise be indicative of an inclination angle of the thick matter conveying system, for example of its substructure, of an inclination angle of at least one mast arm, an actuator force of an actuator of a mast arm or an operating speed of an actuator of a mast arm. For example, the inclination angle of the thick matter conveying system corresponds to an angle between the rotation axis of the slewing gear and the direction of the plumb line.
In particular, it is conceivable that the receiver unit is configured to receive an item of operational information characteristic of the type of end hose by scanning a corresponding RFID tag of the end hose. The type of a thick matter, for example, refers to the material composition or viscosity of the thick matter to be conveyed. The inclination angle of a mast arm can be an absolute inclination angle, i.e. an angle that determines the position of the mast arm relative to the direction of the plumb line, or a relative inclination angle, that is, a differential angle between the inclination angles of two, in particular adjacent, mast arms.
The consideration of these properties when determining the operating parameters of the thick matter distributor mast and/or the thick matter pump and/or the stability parameters of the thick matter conveying system permits their safe and efficient utilization when conveying heavier thick matter. If, for example, the receiver unit receives an item of operational information characteristic of a particularly high cylinder force, the processing unit can determine a currently permissible operating range for this mast arm that is smaller than the maximum operating range, as a result of which overloading of the mast arm, or else of the thick matter distributor mast as a whole, can be avoided. The same applies with regard to any deterioration in stability that can be associated with this. This can be the case, for example, with a particularly high end hose load due to an overlength end hose, or when conveying heavy concrete.
However, even if the thick matter distributor mast, the thick matter pump, or the thick matter conveying system are operated according to their planned design, a currently permissible operating range which is smaller than the maximum operating range can be determined. In this case, stability parameters that are above the first threshold can likewise be determined. The item of operational information is therefore advantageous as an indication of an expected, especially maximum, wind speed or a maximum ground load capacity. As a result, an expected variable wind force or else an individual ground characteristic can be taken into account for the operation of the thick matter distributor mast, and the currently permissible operating parameters can be adapted accordingly. A low maximum wind speed to be anticipated, or solid ground, can allow the determination of wider and more extensive operating parameters than would be the case with strong wind or loose ground underneath. If corresponding items of operational information are received by the receiver unit, the processing unit can determine an operating range lower than the maximum currently permissible operating range for one or more of the mast arms, notwithstanding the thick matter that can actually be conveyed using maximum operating ranges of the mast arms.
In another embodiment, the item of operational information is indicative of a position of a load attachment point and/or of a load weight. For example, a horizontal spacing from the vertical axis of the slewing gear should be understood as the position of a load attachment point. The load weight should indicate the weight force acting at the load attachment point.
By way of these properties, the operating parameters and stability parameters can be determined individually and precisely for the respective thick matter to be conveyed and its properties, the latter being material-related, for example.
Further exemplary items of operational information are indicative of the weights of all mast arms with a filled conveyor line and/or with an unfilled conveyor line; of positions of the center of gravity of all mast arms; of weights of additional loads; of the position of additional weight attachment points; of wind forces acting on the mast arms; positions of the wind centroid of all mast arms; the weight of the substructure; a position of the center of gravity of the substructure; positions of the contact surfaces of the support legs in the retracted and/or deployed state; and/or leg forces.
In addition, the processing unit can alternatively or additionally determine a currently permissible slewing gear speed of the slewing gear for the thick matter distributor mast, this also being carried out depending on the item of operational information received by the receiver unit. For example, the cylinder force of a mast joint of a mast arm can increase significantly due to centrifugal force caused by the rotation of the slewing gear, so that there is risk of damage to the mast arm. If the receiver unit now receives an item of operational information indicative of such a high cylinder force, the processing unit can determine the currently permissible slewing gear speed to be less than the maximum slewing gear speed. In this case, the control unit limits the rotating speed of the slewing gear to the currently permissible rotating speed determined by the processing unit.
In one embodiment, the mast assembly comprises a further mast arm. In total, the number of mast arms in the mast assembly will in this instance be three. It is also conceivable that two or three further mast arms are provided in the mast assembly, wherein the mast assembly in this instance comprises four or five mast arms.
With additional mast arms, the maximum scope of action of the thick matter distributor mast can be easily increased. Especially when articulated joints are implemented in order to connect the individual mast arms to one other, the design of the mast assembly can still be particularly compact at the same time.
Optionally, the processing unit can be configured to determine a currently permissible operating range in each case for the, preferably each, further mast arm depending on the at least one received item of operational information, wherein the control unit is furthermore configured to limit the operating range to the respective currently permissible operating range should one of the determined currently permissible operating ranges of the further mast arms be smaller than the respective maximum operating range of the corresponding mast arm.
In this way, the further mast arm can be taken into account when determining the currently permissible operating range. In an analogous manner, the currently permissible operating range of the further mast arm can optionally also be limited by the control unit.
Advantageously, both the slewing gear and a first mast arm of the mast assembly as well as in each case two of the mast arms are connected to one another by way of an articulated joint, wherein the processing unit is furthermore configured to determine the current permissible operating range of a mast arm by establishing a currently permissible opening angle of the articulated joint at a proximal end of the mast arm. Moreover, the control unit can be configured to limit the operating range by way of restricting the pivoting capability of the mast arm to the currently permissible opening angle. Moreover, it is conceivable that all articulated joints have mutually parallel articulation axes. Furthermore, the articulated joints can each have a maximum opening angle of 120 degrees, preferably of 150 degrees, and particularly preferably of 180 degrees. However, opening angles between 180 degrees and 235 degrees, up to 270 degrees or up to 360 degrees, are also conceivable.
This is a particularly easy-to-implement and functional embodiment of the connection between the mast arms or between the mast arm and the slewing gear, in which a large scope of action for the thick matter distributor mast is still maintained and the positioning of the load attachment point in all spatial directions can be carried out as required within the scope of action.
In one embodiment of the thick matter conveying system, the control unit is configured to control the operating parameter in such a manner that, if the determined current stability parameter is above the first threshold and the determined future stability parameter to be anticipated is more distant from the maximum stability parameter than the determined current stability parameter, the component is operated at an unchanged speed.
Preferably, the stability range of the support structure comprises a second threshold, which is closer to the maximum stability parameter than the first threshold, wherein the control unit is further configured to control the operating parameter in such a manner that, if the determined current stability parameter is above the second threshold and the determined future stability parameter to be anticipated is closer to the maximum stability parameter than the determined current stability parameter, an orderly operation of the component is discontinued.
Additionally, the control unit can furthermore be configured to control the operating parameter in such a manner that, if the determined current stability parameter is above the second threshold and the determined future stability parameter to be anticipated is more distant from the maximum stability parameter than the determined current stability parameter, the operation of the component takes place at a reduced speed.
Although the stability can be at risk in peripheral situations, an orderly operation can nevertheless take place by taking into account the change in the stability parameter to be anticipated when the stability is anticipated to improve. This can optionally apply at least to the stability range between a first and a second threshold. If the determined current stability parameter is above the second threshold, and thus even closer to the upper limit of stability, the orderly operation may not be discontinued completely in the event of an anticipated improvement, but the operation of the component can take place at a reduced speed. In certain cases, the operation may in this way continue despite operating in close proximity to the upper limit of the stability range, so that the thick matter conveying system can be used even more effectively in peripheral situations.
In one embodiment of the thick matter conveying system, the control unit can additionally be configured to effect a signal output, depending on the determined current stability parameter and the determined future stability parameter to be anticipated.
For example, a first signal output can be effected if the determined current stability parameter is above the second threshold and the determined future stability parameter to be anticipated is closer to the maximum stability parameter than the determined current stability parameter, and/or a second signal output can be effected if the determined current stability parameter is above the first threshold and the determined future stability parameter to be anticipated is more distant from the maximum stability parameter than the determined current stability parameter, and/or a third signal output can be effected if the determined current stability parameter is above the second threshold and the determined future stability parameter to be anticipated is more distant from the maximum stability parameter than the determined current stability parameter.
In this way, the control unit can effect a corresponding signal output to a suitable user interface of the thick matter conveying system, for example in the form of a display, in particular in the form of the brightness of an illuminated operating element of a component of the thick matter conveying system. A corresponding display using a variable-size illuminated area is also possible. It is conceivable that the first signal output causes a maximum brightness or size, the second signal output causes a reduced brightness or size and/or the third signal output causes a minimum brightness or size. However, it may also be provided that a signal output in the form of an acoustic (e.g. as a warning tone) or haptic signal (e.g. a vibration of the operating element) is effected. In this way, the user-friendliness of the thick matter conveying system can be further increased.
Advantageously, the extent of the reduction in speed depends on the operating speed of the component. It is conceivable that the extent furthermore depends on how large the distance of the future stability parameter to be anticipated is from the maximum stability parameter. For example, it can be defined that the extent of the reduction of the speed increases as the distance decreases, for example in a linear manner or with the square of the distance.
In this way, a situation-appropriate response can be provided to a rapid or slow change in the stability of the thick matter conveying system.
Preferably, the processing unit is specified to determine the future stability parameter to be anticipated, depending on an item of forecast information, the latter being characteristic of a predicted change in the item of operational information upon the orderly operation of a plurality of, preferably all, components of the thick matter distributor mast and/or of the thick matter pump.
Here, the effects due to the operation of not only one but a plurality of components are taken into account when determining the future stability parameter to be anticipated. For example, a plurality of future sub-parameters to be expected, each characterizing, for example, the spacing from one of the tilt edges of the thick matter conveying system, can also be determined to this end, and the future stability parameter to be anticipated can be selected from the determined sub-parameters. For example, the sub-parameter that comes closest to the maximum stability parameter can be selected. In particular, leg forces, a torque acting on the slewing gear or else, preferably all, load torques of the mast arms can be taken into account. This allows an even more meaningful estimation of the stability parameter to be anticipated, and thus an even more effective and safe operation of the thick matter conveying system in peripheral situations.
In one embodiment, the predicted change of the stability parameter is assumed to be the greatest possible increasing influence of the component on the stability parameter.
This allows for a particularly simple conservative estimation of the item of forecast information, in which time-consuming calculations can be dispensed with.
Alternatively or additionally, the item of forecast information can be calculated taking into account a control signal to be output by the control unit for the orderly operation in a forecast period.
It is thus conceivable for it to be stipulated that the control unit will output one or more control signals in the context of the orderly operation of the thick matter conveying system. For example, this can be due to a requirement placed on the thick matter conveying system for a specific control action of the thick matter conveying system, for example, of one or a plurality of actuators of the thick matter conveying system. Such a request can be received, for example, at the receiver unit, for example by user input on a suitable user interface (e.g. by a joystick movement on a hand-held control device), of the thick matter conveying system. In this way, the output of control signals by the control unit can also be taken into account when determining the future stability parameter to be anticipated. In a further embodiment, the support structure further comprises at least one horizontally and vertically displaceable support leg. A support leg of a thick matter conveying system represents a component of the support structure that serves to increase the stability of the thick matter conveying system. The influence of the support structure on stability depends in particular on an individual arrangement and set-up of support legs. To this end, the support leg can be supported on the ground with a support plate. Four support legs are usually provided for a support structure. Further optionally, the receiver unit here is configured to receive an item of operational information which is indicative of a torque of a slewing gear of the thick matter distributor mast that is rotatable about a vertical axis, a horizontal leg force of the at least one support leg, or a vertical leg force of the at least one support leg.
A horizontal or vertical leg force is understood to be a horizontal or vertical force acting on a support leg. By taking the above-mentioned properties into account when determining the current stability parameter as well as the future stability parameter to be anticipated, it is possible to draw particularly reliable conclusions pertaining to the stability of the support structure and additionally also to the static load.
According to one embodiment, the processing unit of the thick matter conveying system is configured to calculate a current position of the overall center of gravity of the thick matter conveying system from a plurality of received items of operational information, and to determine the stability parameter depending on the calculated current position of the overall center of gravity. For example, the processing unit can be configured to calculate the respective distance of a line of action of at least one force acting on the thick matter conveying system from the tilting edges of the contact surface, and to determine the stability parameter depending on the calculated distance, wherein the at least one force acting on the thick matter conveying system comprises a weight force of the thick matter conveying system acting on the current position of the overall center of gravity of the thick matter conveying system.
According to one embodiment, the respective receiver unit of the thick matter distributor mast, of the thick matter pump, or of the thick matter conveying system comprises a sensor unit for recording an item of operational information, a communication interface for recording an item of operational information, or a user interface for recording an item of operational information.
By using a sensor unit, the receiver unit can acquire items of operational information automatically and independently of a user input. The sensor unit may comprise one or a plurality of sensors of the same type or of different types. Exemplary sensors include force and pressure sensors (e.g. for recording a cylinder force of a mast joint of a mast arm, a force acting on an actuator of a mast arm, or the load of the end hose), position sensors (e.g. sensors of a satellite-based position system such as GPS, GLONASS or Galileo), position sensors (e.g. spirit levels or inclination sensors for recording an inclination angle of a mast arm), electrical sensors (e.g. induction sensors), optical sensors (e.g. laser sensors or 2D scanners for recording the type of the thick matter to be conveyed) or acoustic sensors (e.g. ultrasonic sensors for recording the density of the thick matter to be conveyed, or vibration sensors). A wind measuring and forecasting device for determining a wind speed to be anticipated also represents a suitable sensor. Similarly, an item of operational information can also be acquired by the interaction of a plurality of sensors of the sensor unit.
Alternatively or additionally, the respective receiver unit may also comprise one or a plurality of (e.g. wireless) communication interfaces through which (e.g. externally) recorded items of operational information are received by the receiver unit in a manner known by a person skilled in the art.
If a user interface is provided for recording items of operational information, this user interface can be configured as, by way of example, at least one button, a keypad, a keyboard, a mouse, a display unit (e.g. a display), a microphone, a touch-sensitive display unit (e.g. a touch screen), a camera and/or a touch-sensitive surface (e.g. a touchpad). For example, the item of operational information is received by recording a user input at the user interface.
Furthermore disclosed is a further thick matter conveying system according to the invention, which comprises a thick matter distributor mast according to the invention, a thick matter pump according to the invention and/or a thick matter conveying system according to the invention. Reference is made to the above description for further explanation. This further thick matter conveying system according to the invention can also be configured as a truck-mounted pump by way of example.
Moreover disclosed is a method for operating a thick matter distributor mast according to the invention, having a slewing gear which can be rotated around a vertical axis at a maximum rotating speed; a mast assembly having at least a first mast arm and a second mast arm, wherein the first mast arm is connected to the slewing gear at a proximal end of the mast assembly, and wherein the mast arms each have a maximum operating range; a conveying line which extends across the mast assembly and comprises a proximal end connectable to an outlet of a thick matter pump, and a distal end, wherein the distal end of the conveying line transitions to an end hose at a distal end of the mast assembly; and having a receiver unit, a processing unit and a control unit, the method comprising the steps of: receiving, by the receiver unit, at least one item of operational information; determining, by the processing unit, a currently permissible operating range of the first mast arm and the second mast arm, respectively, and/or determining, by the processing unit, a currently permissible slewing gear speed, in each case depending on the at least one received item of operational information; and limiting, by the control unit, the operating range of the corresponding mast arm to the respective currently permissible operating range, if one of the determined currently permissible operating ranges of the first mast arm and of the second mast arm is smaller than the respective maximum operating range; and/or limiting, by the control unit, the rotating speed of the slewing gear if the determined currently permissible rotating speed is less than the maximum rotating speed.
Likewise disclosed is a method for operating a thick matter pump having a double-piston core pump which has a maximum pump speed; an S-pipe which can be switched over at a maximum switching speed and has an end that is disposed on an outlet of the thick matter pump and can be connected to a conveying line; and having a receiver unit, a processing unit and a control unit, the method comprising the steps of: receiving, by the receiver unit, at least one item of operational information; determining, by the processing unit, a currently permissible pump speed and/or determining, by the processing unit, a currently permissible switching speed, in each case depending on the at least one received item of operational information; and limiting, by the control unit, the pump speed to the currently permissible pump speed if the determined currently permissible pump speed is less than the maximum pump speed, and/or limiting, by the control unit, the switching speed if the determined currently permissible switching speed is less than the maximum switching speed. Instead of the pump speed, a pump frequency can also be considered, and instead of the switching speed, a switching frequency can also be considered.
Furthermore disclosed is a method for operating a thick matter conveying system having a thick matter distributor mast, a thick matter pump, and a substructure on which the thick matter distributor mast and the thick matter pump can be disposed, wherein the substructure comprises a support structure for supporting the substructure, and wherein the support structure has a stability range having a first threshold and having an upper limit defined by a maximum stability parameter; and having a receiver unit, a processing unit and a control unit, the method comprising the steps of: receiving, by the receiver unit, at least one item of operational information; determining, by the processing unit, a current stability parameter, depending on the at least one received item of operational information; determining, by the processing unit, a future stability parameter to be anticipated, depending on the at least one received item of operational information and an item of forecast information which is characteristic of a predicted change of the stability parameter upon the orderly operation of at least one component of the thick matter distributor mast and/or the thick matter pump; and controlling, by the control unit, an operating parameter of at least one component of the thick matter distributor mast and/or the thick matter pump in such a manner that, if the determined current stability parameter is above the first threshold and the determined future stability parameter to be anticipated is closer to the maximum stability parameter than the determined current stability parameter, the operation of the component takes place at a reduced speed.
For further explanation of further advantageous developments of the methods, reference is made to the above-described developments of the thick matter distributor mast, the thick matter pump and the thick matter conveying system.
Likewise disclosed is a computer program with program instructions to cause a processor to execute and/or control at least one of the disclosed methods when the computer program is executed on the processor. For example, the disclosed computer program is stored on a computer-readable data carrier.
The embodiments and configurations described above are only to be understood as examples and are not intended to limit the present invention in any way.
The invention will be explained in more detail in an exemplary manner below with reference to the appended drawings and by way of advantageous embodiments. In the figures:
Shown in
The mast assembly 40 comprises a first mast arm 41, a second mast arm 42, as well as a first further mast arm 43, and a second further mast arm 44. Here, the proximal end of the first mast arm 41 corresponds to the proximal end of the mast assembly 40, and the distal end of the second mast arm 42 corresponds to the distal end of the mast assembly 40. The slewing gear 19 is to be rotatable at a maximum rotating speed about a vertical axis, i.e. about an axis in the image plane.
The first mast arm 41 is connected to the slewing gear 19 by way of a mast arm joint at the proximal end of the first mast arm 41. The connection by way of the mast arm joint here is configured as a fastening by means of an articulated joint. The first further mast arm 43 is connected, at its proximal end, by way of a mast arm joint likewise configured as an articulated joint, to the distal end of the first mast arm 41. Following in an analogous manner is the second further mast arm 44 which is connected in the same way by way of an articulated joint to the first further mast arm 43. The second mast arm 42, by way of an articulated joint at its proximal end, is connected to the distal end of the second further mast arm 44.
Each of the mast arms 41, 42, 43, 44 of the mast assembly 40 here has an operating range. In the example of
Furthermore, a substructure 30 is shown in dashed lines, on which the thick matter distributor mast 18 is disposed. The substructure 30 here, by way of example, is disposed on a vehicle 33 in dotted lines.
The conveying line 17 has a proximal end which is connected to a thick matter pump (not shown) and extends from the substructure 30, along the slewing gear 19, and from the proximal end of the mast assembly 40 to the distal end of the latter. There, the conveying line 17 transitions to an end hose 45. The location of the transition here specifies a load attachment point 46 at which the mast assembly 40 can additionally have an eyelet, for example.
In addition, the thick matter distributor mast 18 has a receiver unit 11, a processing unit 12 and a control unit 13.
The receiver unit 11 comprises a sensor unit with a plurality of sensors which are in each case disposed in the mast joints of the mast arms 41, 42, 43, 44. Accordingly, the receiver unit 11 is configured to receive at least one item of operational information from the sensor unit. In the example of
Depending on this received item of operational information, the processing unit 12 determines a currently permissible operating range for each of the mast arms 41, 42, 43, 44. This respective determined currently permissible operating range is defined as a currently permissible opening angle. The currently permissible opening angle can correspond to an angle less than or equal to the maximum opening angle.
If the receiver unit 11 receives an item of operational information characteristic of a particularly high cylinder force, the processing unit 12 determines the currently permissible opening angle, and thus the currently permissible operating range, to be smaller than the maximum opening angle. This is done, for example, in order to avoid overloading the second mast arm 42 or also the thick matter distributor mast 18 as a whole. Such a scenario can occur, for example, in the case of a particularly high load bearing on the end hose 45 in the load attachment point 46, which typically occurs when conveying heavy concrete or else when filling high formwork.
However, even when the thick matter distributor mast 18 is operated according to its planned design, a currently permissible operating range which is smaller than the maximum operating range can be determined. This can be the case, for example, in adverse ambient conditions such as strong wind or unpaved ground. If corresponding items of operational information are received by the receiver unit 11, for example by recording a user input on a user interface of the receiver unit 11, the processing unit 12 can determine an operating range which is lower than the maximum currently permissible operating range despite the thick matter that is actually able to be conveyed with the maximum operating ranges of the mast arms.
If the processing unit 12 determines a currently permissible operating range of a mast arm that is less than the maximum operating range, the control unit 13 limits the operating range of the corresponding mast arm to the determined currently permissible operating range, and thus in the present example to a currently permissible opening angle that is smaller than the maximum opening angle. In this case, a deflection of the corresponding mast arm is not carried out by the thick matter distributor mast 18, for example by corresponding actuators of the thick matter distributor mast 18, and is precluded in response to a control signal of the control unit 13, for example.
If the currently permissible opening angle of the corresponding mast arm determined by the processing unit 12 is equal to or greater than its maximum opening angle, the operating range of the mast arm is not limited and its deflection is not discontinued. This can be the case, for example, when conveying takes place according to the planned design of the thick matter distributor mast 18.
Moreover, in the present example, the processing unit 12 additionally determines a currently permissible slewing gear speed, which is likewise dependent on the item of operational information received by the receiver unit 11, for example, from the cylinder forces recorded by the sensors of the sensor unit. In this case it may occur that a currently permissible rotating speed of the slewing gear 19 can be lower than the maximum rotating speed used in orderly operation. For example, the cylinder force of the second mast arm 42 in its mast arm joint 47 can increase significantly due to centrifugal force caused by the rotation of the slewing gear 19, so that there is a risk of damage to the second mast arm 42. If such a high cylinder force is now recorded by sensors of the receiver unit 11, the processing unit 12 can determine the currently permissible slewing gear speed to be lower than the maximum slewing gear speed. In this case, the control unit 13 limits the rotating speed of the slewing gear 19 to the currently permissible rotating speed determined by the processing unit 12.
In the present example, the receiver unit 11 comprises a user interface, for example, a touch-sensitive display unit, by means of which an item of operational information in the form of a user input can be recorded. For example, a user can enter the type of thick matter to be conveyed and the receiver 11 can receive a corresponding item of operational information.
Depending on the item of operational information received by the receiver unit 11, i.e. presently an item of information pertaining to the type of the thick matter to be conducted, the processing unit 12 determines a currently permissible pump speed, for example a (maximum) pump speed provided for conveying thick matter of the present type, as well as a currently permissible (maximum) switching speed which may likewise be provided for conveying thick matter of the present type, for example.
In particular, the currently permissible pump speed as well as the currently permissible switching speed determined in this way can be less than a maximum pump speed of the core pump 15 and a maximum switching speed of the S-pipe 24. If this is the case with the selected example of the specific type of the thick matter to be conveyed, then the control unit 13 limits the pump speed of the core pump 15 to the determined currently permissible pump speed, and limits the switching speed of the S-pipe 24 to the determined currently permissible switching speed.
In this way, for example, potential overloads of components of the thick matter pump 16 or a thick matter distributor mast 18 can be taken into account when conveying a thick matter of a certain type. For example, when conveying a particularly highly viscous thick matter, it is conceivable that the core pump 15 may not be operated at the maximum pump speed and the S-pipe 24 may not be operated at the maximum switching speed either, in order to avoid damage to the thick matter pump 16. It is equally conceivable that in the case of a particularly dense and thus heavy thick matter, the core pump 15 may not be operated at the maximum pump speed either and the S-pipe 24 may not be operated at the maximum switching speed either, since the respective load torques of the mast arms otherwise would become so large that there is the risk of overloading the thick matter distributor mast 18 by conveying the thick matter along the conveying line.
Shown in
The substructure 30 comprises a support structure 31 with support legs 32 for supporting the substructure 30. Defined for the support structure 31 is a stability range which, while by way of example taking into account the positioning of the support legs 32, has a first threshold and a second threshold and an upper limit, wherein the upper limit is defined by a maximum stability parameter. A receiver unit 11, a processing unit 12, and a control unit 13 are also provided in the substructure 30.
The receiver unit 11 is configured to receive a plurality of items of operational information, each by way of example being representative of a horizontal and a vertical leg force of each of the support legs 32. To this end, the receiver unit 11 has a sensor unit which has corresponding sensors in the support legs 32 for recording the respective leg force.
Depending on these items of operational information thus received by the receiver unit 11, the processing unit 12 determines a current stability parameter which characterizes the current stability of the support structure as well as its mechanical load capacity. Moreover, the processing unit 12 also determines a future stability parameter to be anticipated, depending on items of forecast information that are in each case characteristic of a predicted change in the stability parameter upon the orderly operation of one or more components of the thick matter distributor mast 18 and the thick matter pump 16. By way of example, the components considered in the context of the determination of the item of forecast information can be mast arms or a slewing gear 19 of the thick matter distributor mast 18, a core pump or an S-pipe of the thick matter pump 16.
The control unit 13 is configured to control an operating parameter of the considered component of the thick matter distributor mast 18 and/or thick matter pump 16. If the component is a mast arm of the thick matter distributor mast 18, the operating parameter is characteristic of the manipulation speed of the articulated joint of the corresponding mast arm joint, for example. For example, the manipulation speed {dot over (α)} used in orderly operation may correspond to ±2°/s. For example, if the component under consideration is a slewing gear of the thick matter distributor mast 18, the operating parameter can be the rotating speed {dot over (φ)}, which is no more than ±6°/s.
If the case now occurs that the current stability parameter determined by the processing unit 12 is above the first threshold within the stability range, and that the determined future stability parameter to be anticipated is closer to the maximum stability parameter, that is to say that the trend of stability will deteriorate further if the component under consideration is operated in an orderly fashion, the control unit 13 controls the operating parameters of the respective component so that the operation of the component takes place at a reduced speed. In the aforementioned example of the mast arm, the manipulation speed a of the articulated joint and/or the rotating speed {dot over (φ)} would accordingly be reduced by the control unit 13 to a reduced manipulation speed {dot over (α)}red<{dot over (α)}, or rotating speed {dot over (φ)}red<{dot over (φ)}, respectively. If the stability range is described as a distance margin, the distance margin is reduced in this case.
If, however, when the first threshold is exceeded by the current stability parameter determined by the processing unit 12, the equally determined future stability parameter to be anticipated is far removed from the maximum stability parameter, that is to say that the trend of stability will improve in the orderly operation of the component concerned, the control unit 13 can thus control operating parameters of the component in such a way that the operation of the component takes place at an unchanged speed. The manipulation speed {dot over (α)} of the articulated joint and/or the rotating speed ¢ would not be reduced by the control unit 13 in this case. When describing the stability range as a distance margin, this would result in an increase in the distance margin.
If the current stability parameter determined by the processing unit 12 is already above the second threshold, thus already closer to an upper limit of stability, and if the determined safety parameter to be anticipated in the future is still closer to the maximum stability parameter, the control unit 13 controls the component in such a way that that the orderly operation of the component is discontinued. In the example described, no further manipulation of the articulated joint and/or rotation of the slewing gear would be performed ({dot over (α)}=0, {dot over (φ)}=0), and would for example be precluded in response to a control signal of the control unit 13. A distance margin would not change.
However, when the second threshold is exceeded by the current stability parameter determined by the processing unit 12 and when the position of the future stability parameter to be anticipated, which is likewise determined by the processing unit 12, is more distant from the maximum stability parameter, the control unit 13 can perform controlling in such a way that the operation of the component under consideration takes place at a reduced speed. Accordingly, manipulation of the articulated joint and/or rotation of the slewing gear could nevertheless take place, despite exceeding the second threshold and thus operating close to critical stability, albeit at a lower speed, {dot over (α)}red<{dot over (α)}, {dot over (φ)}red<{dot over (φ)}. This would result in a slow increase in the distance margin.
By way of example, a component of the thick matter conveying system 10 is to be operable by way of a control element configured as a three-axis joystick with illuminated displays, each representing one of the six directions of movement of the joystick. Since the operation of components of the thick matter conveying system 10 and thus a change of one or more items of operational information is to be assumed to be the result of the joystick being operated in a direction of movement by a user, the determination of the future stability parameter to be anticipated is also dependent on such operation.
For example, the brightness of the respective displays in this instance can be reduced for those directions of movement for which the control unit 13 actuates operating parameters of the respective component in such a way that the operation of the component takes place at a reduced speed. In contrast, the brightness of the respective displays for such directions of movement for which the control unit 13 controls operating parameters of the component in such a way that the operation of the component takes place at an unchanged speed can be maximum. Finally, the brightness of those displays for the directions of movement for which the control unit 13 discontinues the operation of the components can be minimal.
The embodiments of the present invention described in this specification and the optional features and properties listed in this respect are to be understood as also being disclosed in all combinations with one other. In particular, the description of a feature comprised by an embodiment is also presently not to be understood as being indispensable or essential for the functioning of the embodiment-unless explicitly stated to the contrary.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2021 107 139.9 | Mar 2021 | DE | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2022/057353 | 3/21/2022 | WO |
