EP1727980A1 - Device and method for controlling a two-cylinder thick matter pump - Google Patents

Device and method for controlling a two-cylinder thick matter pump

Info

Publication number
EP1727980A1
EP1727980A1 EP05716191A EP05716191A EP1727980A1 EP 1727980 A1 EP1727980 A1 EP 1727980A1 EP 05716191 A EP05716191 A EP 05716191A EP 05716191 A EP05716191 A EP 05716191A EP 1727980 A1 EP1727980 A1 EP 1727980A1
Authority
EP
European Patent Office
Prior art keywords
reversing
pump
stroke
delivery
pipe switch
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05716191A
Other languages
German (de)
French (fr)
Other versions
EP1727980B1 (en
Inventor
Stefan Höfling
Wilhelm Hofmann
Wolf-Michael Petzold
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Putzmeister Concrete Pumps GmbH
Original Assignee
Putzmeister AG
Putzmeister Werk Maschinenfabrik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Putzmeister AG, Putzmeister Werk Maschinenfabrik GmbH filed Critical Putzmeister AG
Priority to EP07119583A priority Critical patent/EP1906012B1/en
Publication of EP1727980A1 publication Critical patent/EP1727980A1/en
Application granted granted Critical
Publication of EP1727980B1 publication Critical patent/EP1727980B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B7/00—Piston machines or pumps characterised by having positively-driven valving
    • F04B7/02—Piston machines or pumps characterised by having positively-driven valving the valving being fluid-actuated
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B9/00—Piston machines or pumps characterised by the driving or driven means to or from their working members
    • F04B9/08—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid
    • F04B9/10—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid
    • F04B9/109—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers
    • F04B9/117—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers the pumping members not being mechanically connected to each other
    • F04B9/1176—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers the pumping members not being mechanically connected to each other the movement of each piston in one direction being obtained by a single-acting piston liquid motor
    • F04B9/1178—Piston machines or pumps characterised by the driving or driven means to or from their working members the means being fluid the fluid being liquid having plural pumping chambers the pumping members not being mechanically connected to each other the movement of each piston in one direction being obtained by a single-acting piston liquid motor the movement in the other direction being obtained by a hydraulic connection between the liquid motor cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B15/00—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B15/00—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts
    • F04B15/02—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts the fluids being viscous or non-homogeneous
    • F04B15/023—Pumps adapted to handle specific fluids, e.g. by selection of specific materials for pumps or pump parts the fluids being viscous or non-homogeneous supply of fluid to the pump by gravity through a hopper, e.g. without intake valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B7/00—Piston machines or pumps characterised by having positively-driven valving
    • F04B7/02—Piston machines or pumps characterised by having positively-driven valving the valving being fluid-actuated
    • F04B7/0233—Piston machines or pumps characterised by having positively-driven valving the valving being fluid-actuated a common distribution member forming a single discharge distributor for a plurality of pumping chambers
    • F04B7/0241—Piston machines or pumps characterised by having positively-driven valving the valving being fluid-actuated a common distribution member forming a single discharge distributor for a plurality of pumping chambers and having an oscillating movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B9/00—Piston machines or pumps characterised by the driving or driven means to or from their working members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2201/00—Pump parameters
    • F04B2201/02—Piston parameters
    • F04B2201/0201—Position of the piston
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/09—Motor parameters of linear hydraulic motors
    • F04B2203/0903—Position of the driving piston
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S417/00—Pumps
    • Y10S417/90—Slurry pumps, e.g. concrete

Definitions

  • the invention relates to a device and a method for controlling a two-cylinder thick matter pump with two delivery cylinders which open into front end openings in a material feed container and are actuated in counter-clockwise manner by means of at least one hydraulic reversing pump and hydraulic drive cylinders actuated by this, with a feed side arranged inside the material feed container alternately connectable to the openings of the delivery cylinder and opening the other opening and connected on the outlet side to a delivery line, hydraulically operable pipe switch, a reversing process of the pipe switch being triggered each time a delivery stroke is completed, the drive cylinders also being formed at one end to form a closed hydraulic circuit with one connection of the reversing pump and at the other end hydraulically connected to each other via a rocking oil line, and for the umste Control of the pipe switch Compressed oil is branched off from the hydraulic lines leading from the reversing pump to the drive cylinders.
  • a device for controlling a two-cylinder thick matter pump of this type is known (DE-A 195 42 258), in which the end positions of the pistons of the drive cylinders can be tapped by means of cylinder switching sensors with the generation of end position signals.
  • the flow reversal of the reversing pump can be triggered there via the end position signals of the drive cylinders.
  • the end position signals are usually triggered via the two rod-side cylinder switching sensors. But it happens again and again that the cylinder shift sensors fail. In such a case it had previously been necessary to switch to manual operation or to switch off the machine. Proceeding from this, the invention has for its object to develop a device and a method with which a reliable pumping operation with continuous concrete flow can be guaranteed even without the cylinder switching sensors common today.
  • the solution according to the invention is based above all on the knowledge that, with the inclusion of a computer control, additional operating data from the hydraulic circuit for controlling the reversing pump and the pipe switch can be evaluated.
  • a first solution variant of the invention provides that the reversing device is a computer-aided arrangement for determining the probable stroke duration and for registering it in a data memory as well as for time monitoring during each piston stroke and for triggering a diverter switch reversal and flow reversal of the reversing pump as required a defined, compared to the expected stroke time elapsed stroke time.
  • the reversing device preferably has a time monitoring routine which has an algorithm for determining a comparison value from the stroke time and the probable stroke duration and for converting it into a reversal signal for the pipe switch and the reversing pump when a predetermined value is exceeded.
  • the reversing device has an input routine for storing the stroke duration measured when the concrete pump is calibrated with at least a defined delivery quantity. Since the delivery rate for computer-aided concrete pumps can be varied, for example, using a remote control device, it is particularly advantageous if the reversing device device has a computing routine for converting the registered stroke time depending on the delivery rate set on a remote control device.
  • a sensor for monitoring the hydraulic pressure on the high-pressure side of the reversing pump is provided, the output signal of which can be evaluated with a pressure monitoring routine of the reversing device in order to trigger a changeover of the switch and flow reversal of the reversing pump.
  • a pressure monitoring routine of the reversing device for this purpose, an average pump pressure can be determined and stored during each pressure stroke.
  • the pressure monitoring routine then has an algorithm for determining a pressure rise occurring at the end of each pressure stroke in the drive cylinder in question compared to the mean pressure value and for converting it into a changeover signal for the pipe switch and / or the reversing pump.
  • the reversing device can also have a path monitoring routine responsive to the output signals of selected cylinder switching sensors for triggering the changeover of the switch and / or reversing the flow of the reversing pump.
  • the reversing device can additionally have a measuring routine for determining the stroke duration from the output signals of the cylinder switching sensors and for their registration. The stroke duration registered in this way in a data memory can be used in an emergency to control the time of the flow reversal.
  • a preferred embodiment of the invention provides that the path monitoring routine that responds to selected cylinder switching sensors, the pressure monitoring routine that responds to the pressure measured values, and the time monitoring routine that responds to the stroke time preferably form a hierarchically structured, redundant program sequence for reversing the pipe switch and / or the reversing pump.
  • the control according to the invention switches the reversing pump in normal operation when the bottom-side cylinder switch is reached and thus ensures a continuous flow of concrete.
  • the respective stroke duration is calculated during operation and the average high pressure at the pressure outlet of the reversing pump is determined and stored in data memories.
  • the controller for the continued operation of the pump can be automatically switched over to at least one of the bottom-side cylinder switching sensors.
  • the rod-side cylinder switching sensors are prioritized. During operation, however, the rod and the bottom-side cylinder switching sensors are monitored and can be activated independently of one another for the aforementioned measuring processes.
  • the stroke time since the last switching operation can be monitored with the additional measures according to the invention and compared with the registered stroke duration.
  • the expected stroke time can be calculated depending on the flow rate, the speed or the viscosity of the material to be conveyed. If the stroke time has almost expired, the high pressure at the pump outlet is compared with the mean stored high pressure of the current stroke. If the pressure rises above a predetermined threshold, forced reversal can be initiated in this case.
  • the measures described above can also be used individually for reversing the pipe switch and the reversing pump.
  • Figure 1 shows a section of a two-cylinder slurry pump in a partially sectioned diagram.
  • FIG. 2 shows a circuit diagram of a computer-assisted drive hydraulics for a two-cylinder thick matter pump
  • Fig. 3 is a flowchart of a redundant program sequence for pump control.
  • the control arrangement shown in FIG. 2 is intended for a thick matter pump according to FIG. 1, which has two delivery cylinders 50, 50 ', the front openings 52 of which open into a material feed container 54 and can be connected alternately to a delivery line 58 via a pipe switch 56 during the pressure stroke ,
  • the delivery cylinders 50, 50 ' are driven in a push-pull manner via hydraulic drive cylinders 5, 5' and a reversing hydraulic pump 6.
  • the delivery pistons 60, 60 'of the delivery cylinders 50, 50' are connected to the pistons 8, 8 'of the drive cylinders 5, 5' via a common piston rod 9, 9 '.
  • the drive cylinders 5, 5 ' are pressurized with oil at the bottom via the hydraulic lines 11, 11' of the hydraulic circuit with the aid of the reversing pump 6 and are on their rod end hydraulically connected to each other via a rocking oil line 12.
  • the direction of movement of the drive pistons 8, 8 ', and thus of the common piston rods 9, 9', is reversed by reversing the direction of flow of the reversing pump 6 via a reversing device 18 containing a computer 14 and an adjustment mechanism 16.
  • the reversing pump 6 has a swash plate 62, which is swiveled through its zero position during reversal, so that the direction of delivery of the pressure oil in the hydraulic lines 11, 11 'is reversed.
  • the delivery rate of the reversing pump 6 can be varied by the swivel angle of the swash plate 62 at a predetermined speed of the drive motor, not shown.
  • the swivel angle of the swash plate 62 can be adjusted via a remote control device 64 with the support of the computer 14.
  • the reversing pump 6 and the pipe switch 56 are reversed as soon as the pistons 8, 8 'of the drive cylinders 5, 5' reach their end position.
  • the reversing device 18 has a plurality of redundant control routines which are linked to one another to form a hierarchically structured program sequence (cf. FIG. 3).
  • the reversing device evaluates output signals of the cylinder switching sensors 20, 22 and 20 ', 22' which are arranged at a distance from the rod-side and bottom ends of the two drive cylinders 5, 5 'and are connected on the output side to the computer-assisted reversing device 18.
  • the cylinder switching sensors respond to the drive pistons 8, 8 'running past during pump operation and signal this event to the computer input 66, 68.
  • a reversing signal 76 is triggered in the reversing device, which reverses the reversing pump 6 via the adjusting mechanism 16.
  • reversal of the pipe switch 56 is also triggered via the directional valve and the plunger cylinders 72, 72 '.
  • the computer 14 has a path monitoring routine 40 in which the output signals of the rod-side cylinder switching sensors 20, 20 'are evaluated, forming a reversing signal 76 for the reversing pump 6 and / or the pipe switch 56.
  • a path monitoring routine 40 in which the output signals of the rod-side cylinder switching sensors 20, 20 'are evaluated, forming a reversing signal 76 for the reversing pump 6 and / or the pipe switch 56.
  • at least one of the rod-side cylinder switching sensors 20, 20 'fails at least one of the bottom-side cylinder switching sensors 22, 22' is activated to form the reversing signal 76 via the monitoring routine 40 in its place.
  • the reversing device 18 further comprises a pressure sensor 24, which is connected to the high pressure side 78 of the reversing pump 6 and whose output signal is evaluated in the computer 14 with the aid of a pressure monitoring routine 80.
  • the pressure monitoring routine 80 calculates an average high pressure in the course of a lifting operation and comprises an algorithm for determining a pressure rise occurring at the end of each delivery stroke and for converting it into a reversing signal 76 'for the reversing pump 6 and / or the pipe switch 56. This reversing signal is preferred in the event of a failure of the cylinder shift sensors 20, 20 '; 22, 22 'used for reversal.
  • a stroke duration dependent on the Ford and the drive speed of the reversing pump 6 can be determined and stored in a data memory of the computer 14. Even during the pumping operation, the stroke duration can be adjusted via the rod-like and bottom-side cylinder switching sensors 20, 20 '; 22, 22 'Measure and register as a function of the set delivery rate and engine speed. If for this purpose the stroke time is monitored after each switching operation and compared with the registered stroke duration, a reversing signal 76 "for the reversing pump 6 and / or the pipe switch 56 can be derived from this via a time monitoring routine 82 of the computer 14.
  • the comparison routine 82 points out expediently has an algorithm which also converts the stored stroke time when adjusting tion of the delivery rate and / or the engine speed allows.
  • the reversing signal 76 "derived from this ensures that an automatic reversal of the reversing pump 6 and the pipe switch 56 is triggered even if the cylinder switching sensors 20, 20 '; 22, 22' and the pressure sensor 24 fail, or if these sensors are not present can.
  • the cylinder shift sensors 20, 20 '; 22, 22 'responsive monitoring routine 40, the pressure monitoring routine 80 responsive to the pressure sensor 24 and the time monitoring routine responsive to the stroke time 82 are linked together in this order to form a redundant, priority-structured program sequence (FIG. 3).
  • the reversal process is triggered via one of the three routines of the program sequence.
  • the stroke time is monitored in the program block 84 after each reversing process and, if necessary, a new stroke duration is stored.
  • the invention relates to a device and a method for controlling a two-cylinder thick matter pump, the delivery pistons of which are actuated in a push-pull manner by means of a hydraulic reversing pump 6 and hydraulic drive cylinders controlled by this.
  • the delivery cylinders 50, 50 ' are connected to a delivery line 58 with a pressure switch 56 with each pressure stroke. At the end of each delivery stroke in the delivery cylinders 50, 50 ', a reversing process of the pipe switch 56 and the reversing pump 6 is triggered.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Reciprocating Pumps (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Control Of Multiple Motors (AREA)

Abstract

A liquid concrete pump has two cylinders and pistons alternately operated by a hydraulic reversing pump (6). For each pressure stroke the cylinders (50, 50') are connected to a delivery pipe (58) via a junction (56). The pump (6) and pipe junction (56) reverse direction at the end of each pressure stroke by a computer using information from a memory storage device and monitoring the time taken by each piston stroke.

Description

Vorrichtung und Verfahren zur Steuerung einer Zweizylinder- DickstoffpumpeDevice and method for controlling a two-cylinder thick matter pump
Beschreibungdescription
Die Erfindung betrifft eine Vorrichtung und ein Verfahren zur Steuerung einer Zweizylinder-Dickstoffpumpe mit zwei über stirnseitige Öffnungen in einen Materialaufgabebehälter mündenden, mittels mindestens einer hydraulischen Reversierpumpe und über diese angesteuerter hydraulischer An- triebszylinder im Gegentakt betätigbaren Förderzylindern, mit einer innerhalb des Materialaufgabebehälters angeordneten, eintrittsseitig abwechselnd an die Öffnungen der Förderzylinder anschließbaren und die jeweils andere Öffnung freigebenden und austrittsseitig mit einer Förderleitung verbundenen, hydraulisch betätigbaren Rohrweiche, wobei jeweils bei Beendigung eines Förderhubs ein Umsteuervorgang der Rohrweiche ausgelöst wird, wobei ferner die Antriebszylinder an ihrem einen Ende unter Bildung eines geschlossenen Hydraulikkreises mit je einem Anschluß der Reversierpumpe und an ihrem anderen Ende über eine Schaukelölleitung miteinander hydraulisch verbunden sind und wobei zur Umsteuerung der Rohrweiche Druck- öl aus den von der Reversierpumpe zu den Antriebszylindern führenden Hydraulikleitungen abgezweigt wird.The invention relates to a device and a method for controlling a two-cylinder thick matter pump with two delivery cylinders which open into front end openings in a material feed container and are actuated in counter-clockwise manner by means of at least one hydraulic reversing pump and hydraulic drive cylinders actuated by this, with a feed side arranged inside the material feed container alternately connectable to the openings of the delivery cylinder and opening the other opening and connected on the outlet side to a delivery line, hydraulically operable pipe switch, a reversing process of the pipe switch being triggered each time a delivery stroke is completed, the drive cylinders also being formed at one end to form a closed hydraulic circuit with one connection of the reversing pump and at the other end hydraulically connected to each other via a rocking oil line, and for the umste Control of the pipe switch Compressed oil is branched off from the hydraulic lines leading from the reversing pump to the drive cylinders.
Es ist eine Vorrichtung zur Steuerung einer Zweizylinder-Dickstoffpumpe dieser Art bekannt (DE-A 195 42 258), bei welcher die Endlagen der Kolben der Antriebszylinder mittels Zylinderschaltsensoren unter Erzeugung von Endlagensignalen abgreifbar sind. Die Durchflussumkehr der Reversierpumpe ist dort über die Endlagensignale der Antriebszylinder auslösbar. In der Praxis werden die Endlagensignale üblicherweise über die beiden stangen- seitigen Zylinderschaltsensoren ausgelöst. Es kommt aber immer wieder vor, dass die Zylinderschaltsensoren ausfallen. In einem solchen Fall mußte bisher auf Handbetrieb umgeschaltet oder die Maschine abgeschaltet werden. Ausgehend hiervon liegt der Erfindung die Aufgabe zugrunde, eine Vorrichtung und ein Verfahren zu entwickeln, womit auch ohne die heute üblichen Zylinderschaltsensoren ein zuverlässiger Pumpen betrieb mit kontinuierlichem Betonfluß gewährleistet werden kann.A device for controlling a two-cylinder thick matter pump of this type is known (DE-A 195 42 258), in which the end positions of the pistons of the drive cylinders can be tapped by means of cylinder switching sensors with the generation of end position signals. The flow reversal of the reversing pump can be triggered there via the end position signals of the drive cylinders. In practice, the end position signals are usually triggered via the two rod-side cylinder switching sensors. But it happens again and again that the cylinder shift sensors fail. In such a case it had previously been necessary to switch to manual operation or to switch off the machine. Proceeding from this, the invention has for its object to develop a device and a method with which a reliable pumping operation with continuous concrete flow can be guaranteed even without the cylinder switching sensors common today.
Zur Lösung dieser Aufgabe werden die in den Patentansprüchen 1 , 6, 11 und 14 angegebenen Merkmalskombinationen vorgeschlagen. Vorteilhafte Ausgestaltungen und Weiterbildungen der Erfindung ergeben sich aus den abhängigen Ansprüchen.To achieve this object, the combinations of features specified in claims 1, 6, 11 and 14 are proposed. Advantageous refinements and developments of the invention result from the dependent claims.
Die erfindungsgemäße Lösung geht vor allem von der Erkenntnis aus, dass bei Einbeziehung einer Rechnersteuerung zusätzl iche Betriebsdaten aus dem Hydraulikkreis zur Ansteuerung der Reversierpumpe und der Rohrweiche ausgewertet werden können.The solution according to the invention is based above all on the knowledge that, with the inclusion of a computer control, additional operating data from the hydraulic circuit for controlling the reversing pump and the pipe switch can be evaluated.
Eine erste Lösungsvariante der Erfindung sieht vor., dass die Umsteuerein- richtung eine computergestützte Anordnung zur Bestimmung der voraussichtlichen Hubdauer und zu deren Registrierung in einem Datenspeicher sowie zur Zeitüberwachung während eines jeden Ko Ibenhubs und zur Auslö- sung einer Rohrweichenumsteuerung und Durchflussumkehr der Reversierpumpe nach Maßgabe einer definierten, im Vergleich zur voraussichtlichen Hubdauer verstrichenen Hubzeit aufweist. Bevorzu gt weist dabei die Um- steuereinrichtung eine Zeitüberwachungsroutine auf, die einen Algorithmus zur Bestimmung eines Vergleichswerts aus Hubzeit und voraussichtlicher Hubdauer und zu deren Umsetzung bei Überschreiten eines vorgegebenen Werts in ein Umsteuersignal für die Rohrweiche undJoder die Reversierpumpe aufweist. Eine vorteilhafte Ausgestaltung der Erfindung sieht dabei vor, dass die Umsteuereinrichtung eine Eingaberoutine zur Abspeicherung der bei einem Einmessen der Betonpumpe bei mindest&ns einer definierten För- dermenge gemessenen Hubdauer aufweist. Da die Fördermenge bei computerunterstützten Betonpumpen beispielsweise über ein Fernsteuergerät variiert werden kann, ist es von besonderem Vorteil, w&nn die Umsteuereinrich- tung eine Rechenroutine zur Umrechnung der registrierten Hubdauer in Abhängigkeit von der an einem Fernsteuergerät eingestellten Fördermenge aufweist.A first solution variant of the invention provides that the reversing device is a computer-aided arrangement for determining the probable stroke duration and for registering it in a data memory as well as for time monitoring during each piston stroke and for triggering a diverter switch reversal and flow reversal of the reversing pump as required a defined, compared to the expected stroke time elapsed stroke time. The reversing device preferably has a time monitoring routine which has an algorithm for determining a comparison value from the stroke time and the probable stroke duration and for converting it into a reversal signal for the pipe switch and the reversing pump when a predetermined value is exceeded. An advantageous embodiment of the invention provides that the reversing device has an input routine for storing the stroke duration measured when the concrete pump is calibrated with at least a defined delivery quantity. Since the delivery rate for computer-aided concrete pumps can be varied, for example, using a remote control device, it is particularly advantageous if the reversing device device has a computing routine for converting the registered stroke time depending on the delivery rate set on a remote control device.
Gemäß einer bevorzugten oder alternativen Ausgestaltung der Erfindung ist ein Sensor zur Überwachung des Hydraulikdrucks auf der Hochdruckseite der Reversierpumpe vorgesehen, dessen Ausgangssignal mit einer Drucküberwachungsroutine der Umsteuereinrichtung zur Auslösung einer Rohrweichenumsteuerung und Durchflussumkehr der Reversierpumpe auswert- bar ist. Zu diesem Zweck kann während eines jeden Druckhubs ein mittlerer Pumpendruck ermittelt und abgespeichert werden. Die Drucküberwachungsroutine weist dann einen Algorithmus zur Bestimmung eines am Ende eines jeden Druckhubs im betreffenden Antriebszylinder gegenüber dem mittleren Druckwert auftretenden Druckanstieg und zu dessen Umsetzung in ein Um- Steuersignal für die Rohrweiche und/oder die Reversierpumpe auf.According to a preferred or alternative embodiment of the invention, a sensor for monitoring the hydraulic pressure on the high-pressure side of the reversing pump is provided, the output signal of which can be evaluated with a pressure monitoring routine of the reversing device in order to trigger a changeover of the switch and flow reversal of the reversing pump. For this purpose, an average pump pressure can be determined and stored during each pressure stroke. The pressure monitoring routine then has an algorithm for determining a pressure rise occurring at the end of each pressure stroke in the drive cylinder in question compared to the mean pressure value and for converting it into a changeover signal for the pipe switch and / or the reversing pump.
Wenn im Abstand von den stangen- und bodenseitigen Enden der Antriebszylinder je ein auf einen vorbeilaufenden Kolben ansprechender Zylinderschaltsensor angeordnet ist, kann die Umsteuereinrichtung außerdem eine auf die Ausgangssignale ausgewählter Zylinderschaltsensoren ansprechende Wegüberwachungsroutine zur Auslösung der Rohrweichenumsteuerung und/oder Durchflussumkehr der Reversierpumpe aufweisen. Die Umsteuereinrichtung kann in diesem Fall zusätzlich eine Messroutine zur Hubdauerbestimmung aus den Ausgangssignalen der Zylinderschaltsensoren und zu deren Registrierung aufweisen. Die auf diese Weise in einem Datenspeicher registrierte Hubdauer kann im Notfall zur Zeitsteuerung der Durchflussumkehr eingesetzt werden.If a cylinder switching sensor responsive to a piston passing by is arranged at a distance from the rod and bottom ends of the drive cylinders, the reversing device can also have a path monitoring routine responsive to the output signals of selected cylinder switching sensors for triggering the changeover of the switch and / or reversing the flow of the reversing pump. In this case, the reversing device can additionally have a measuring routine for determining the stroke duration from the output signals of the cylinder switching sensors and for their registration. The stroke duration registered in this way in a data memory can be used in an emergency to control the time of the flow reversal.
Eine bevorzugte Ausgestaltung der Erfindung sieht vor, dass die auf ausge- wählte Zylinderschaltsensoren ansprechende Wegüberwachungsroutine, die auf die Druckmesswerte ansprechende Drucküberwachungsroutine und die auf die Hubzeit ansprechende Zeitüberwachungsroutine eine vorzugsweise hierarchisch strukturierte, redundante Programmfolge zur Umsteuerung der Rohrweiche und/oder der Reversierpumpe bilden.A preferred embodiment of the invention provides that the path monitoring routine that responds to selected cylinder switching sensors, the pressure monitoring routine that responds to the pressure measured values, and the time monitoring routine that responds to the stroke time preferably form a hierarchically structured, redundant program sequence for reversing the pipe switch and / or the reversing pump.
Die erfindungsgemäße Steuerung schaltet im Normalbetrieb die Reversier- pumpe beim Erreichen der bodenseitigen Zylinderschalter um und sorgt somit für einen kontinuierlichen Betonfluß. Gleichzeitig wird während des Betriebs die jeweilige Hubdauer errechnet und der mittlere Hochdruck am Druckausgang der Reversierpumpe ermittelt und in Datenspeichern abgelegt.The control according to the invention switches the reversing pump in normal operation when the bottom-side cylinder switch is reached and thus ensures a continuous flow of concrete. At the same time, the respective stroke duration is calculated during operation and the average high pressure at the pressure outlet of the reversing pump is determined and stored in data memories.
Für den Fall, dass mindestens einer der stangenseitigen Zylinderschaltsensoren ausfällt, kann die Steuerung für den Weiterbetrieb der Pumpe automatisch auf mindestens einen der bodenseitigen Zylinderschaltsensoren umgeschaltet werden. Die stangenseitigen Zylinderschaltsensoren sind zwar prio- risiert. Beim Betrieb werden jedoch die Stangen- und die bodenseitigen Zylinderschaltsensoren überwacht und können unabhängig voneinander für die vorgenannten Messvorgänge aktiviert werden.In the event that at least one of the rod-side cylinder switching sensors fails, the controller for the continued operation of the pump can be automatically switched over to at least one of the bottom-side cylinder switching sensors. The rod-side cylinder switching sensors are prioritized. During operation, however, the rod and the bottom-side cylinder switching sensors are monitored and can be activated independently of one another for the aforementioned measuring processes.
Für den Fall, dass drei oder alle vier Zylinderschaltsensoren ausfallen, kann mit den zusätzlichen erfindungsgemäßen Maßnahmen die Hubzeit seit dem letzten Umschaltvorgang überwacht und mit der registrierten Hubdauer verglichen werden. Die voraussichtliche Hubdauer kann in Abhängigkeit von der Fördermenge, der Drehzahl oder der Viskosität des Förderguts berechnet werden. Ist die Hubzeit annähernd abgelaufen, so wird der Hochdruck am Pumpenausgang mit dem mittleren abgespeicherten Hochdruck des aktuellen Hubes verglichen. Bei einem Anstieg des Druckes über eine vorgegebene Schwelle kann in diesem Fall eine Zwangsumsteuerung veranlasst werden.In the event that three or all four cylinder shift sensors fail, the stroke time since the last switching operation can be monitored with the additional measures according to the invention and compared with the registered stroke duration. The expected stroke time can be calculated depending on the flow rate, the speed or the viscosity of the material to be conveyed. If the stroke time has almost expired, the high pressure at the pump outlet is compared with the mean stored high pressure of the current stroke. If the pressure rises above a predetermined threshold, forced reversal can be initiated in this case.
Sofern die gemessene Hubzeit die registrierte Hubdauer übersteigt und bis dahin kein Druckanstieg festgestellt wird, kann eine Zwangsumsteuerung allein aufgrund der Zeitmessung erfolgen. Damit ist sichergestellt, dass auch bei einem Ausfall des Drucksensors ein automatischer Weiterbetrieb der Betonpumpe gewährleistet ist.If the measured stroke time exceeds the registered stroke duration and no pressure increase has been determined by then, a forced reversal can take place solely on the basis of the time measurement. This ensures that too in the event of a pressure sensor failure, automatic operation of the concrete pump is guaranteed.
Zur Vereinfachung der Pumpensteuerung können die vorstehend beschrie- benen Maßnahmen auch einzeln zur Umsteuerung der Rohrweiche und der Reversierpumpe eingesetzt werden.To simplify the pump control, the measures described above can also be used individually for reversing the pipe switch and the reversing pump.
Im Folgenden wird die Erfindung anhand eines in der Zeichnung in schema- tischer Weise dargestellten Ausführungsbeispiels näher erläutert. Es zeigenThe invention is explained in more detail below on the basis of an exemplary embodiment shown schematically in the drawing. Show it
Fig. 1 einen Ausschnitt aus einer Zweizylinder-Dickstoffpumpe in teilweise geschnittener schaubildlicher Darstellung;Figure 1 shows a section of a two-cylinder slurry pump in a partially sectioned diagram.
Fig. 2 ein Schaltschema einer rechnergestützten Antriebshydraulik für eine Zweizylinder-Dickstoffpumpe;2 shows a circuit diagram of a computer-assisted drive hydraulics for a two-cylinder thick matter pump;
Fig. 3 ein Flußdiagramm einer redundanten Programmfolge für die Pumpensteuerung.Fig. 3 is a flowchart of a redundant program sequence for pump control.
Die in Fig. 2 dargestellte Steuerungsanordnung ist für eine Dickstoffpumpe entsprechend Fig. 1 bestimmt, die zwei Förderzylinder 50, 50' aufweist, deren stirnseitige Öffnungen 52 in einen Materialaufgabebehälter 54 münden und abwechselnd während des Druckhubs über eine Rohrweiche 56 mit einer Förderleitung 58 verbindbar sind. Die Förderzylinder 50, 50' werden über hydraulische Antriebszylinder 5, 5' und eine Reversierhydropumpe 6 im Gegentakt angetrieben. Zu diesem Zweck sind die Förderkolben 60, 60' der Förderzylinder 50, 50' mit den Kolben 8, 8' der Antriebszylinder 5, 5' über eine gemeinsame Kolbenstange 9, 9' verbunden.The control arrangement shown in FIG. 2 is intended for a thick matter pump according to FIG. 1, which has two delivery cylinders 50, 50 ', the front openings 52 of which open into a material feed container 54 and can be connected alternately to a delivery line 58 via a pipe switch 56 during the pressure stroke , The delivery cylinders 50, 50 'are driven in a push-pull manner via hydraulic drive cylinders 5, 5' and a reversing hydraulic pump 6. For this purpose, the delivery pistons 60, 60 'of the delivery cylinders 50, 50' are connected to the pistons 8, 8 'of the drive cylinders 5, 5' via a common piston rod 9, 9 '.
Die Antriebszylinder 5, 5' werden bei dem gezeigten Ausführungsbeispiel bodenseitig über die Hydraulikleitungen 11 , 11' des Hydraulikkreislaufs mit Hilfe der Reversierpumpe 6 mit Drucköl beaufschlagt und sind an ihrem stangenseitigen Ende über eine Schaukelölleitung 12 hydraulisch miteinander verbunden. Die Bewegungsrichtung der Antriebskolben 8, 8', und damit der gemeinsamen Kolbenstangen 9, 9', wird dadurch umgekehrt, dass die Durchflussrichtung der Reversierpumpe 6 über eine einen Computer 14 und einen Verstellmechanismus 16 enthaltende Umsteuereinrichtung 18 umgekehrt wird. Die Reversierpumpe 6 weist zu diesem Zweck eine Schrägscheibe 62 auf, die bei der Umsteuerung durch ihre Nullage hindurchgeschwenkt wird, so dass sich die Förderrichtung des Drucköls in den Hydraulikleitungen 11 , 11' umkehrt. Die Fördermenge der Reversierpumpe 6 kann bei vorgege- bener Drehzahl des nicht dargestellten Antriebsmotors durch den Schwenkwinkel der Schrägscheibe 62 variiert werden. Der Schwenkwinkel der Schrägscheibe 62 kann dabei über ein Fernsteuergerät 64 mit Unterstützung des Computers 14 verstellt werden.In the exemplary embodiment shown, the drive cylinders 5, 5 'are pressurized with oil at the bottom via the hydraulic lines 11, 11' of the hydraulic circuit with the aid of the reversing pump 6 and are on their rod end hydraulically connected to each other via a rocking oil line 12. The direction of movement of the drive pistons 8, 8 ', and thus of the common piston rods 9, 9', is reversed by reversing the direction of flow of the reversing pump 6 via a reversing device 18 containing a computer 14 and an adjustment mechanism 16. For this purpose, the reversing pump 6 has a swash plate 62, which is swiveled through its zero position during reversal, so that the direction of delivery of the pressure oil in the hydraulic lines 11, 11 'is reversed. The delivery rate of the reversing pump 6 can be varied by the swivel angle of the swash plate 62 at a predetermined speed of the drive motor, not shown. The swivel angle of the swash plate 62 can be adjusted via a remote control device 64 with the support of the computer 14.
Die Umsteuerung der Reversierpumpe 6 und der Rohrweiche 56 erfolgt, sobald die Kolben 8, 8' der Antriebszylinder 5, 5' ihre Endlage erreichen. Die Umsteuereinrichtung 18 weist zu diesem Zweck mehrere redundante Steuerroutinen auf, die unter Bildung einer hierarchisch strukturierten Programmfolge miteinander verknüpft sind (vgl. Fig. 3).The reversing pump 6 and the pipe switch 56 are reversed as soon as the pistons 8, 8 'of the drive cylinders 5, 5' reach their end position. For this purpose, the reversing device 18 has a plurality of redundant control routines which are linked to one another to form a hierarchically structured program sequence (cf. FIG. 3).
Die Umsteuereinrichtung verwertet Ausgangssignale der jeweils im Abstand von den stangenseitigen und bodenseitigen Enden der beiden Antriebszylinder 5, 5' angeordneten Zylinderschaltsensoren 20, 22 und 20', 22', die aus- gangsseitig mit der rechnergestützen Umsteuereinrichtung 18 verbunden sind. Die Zylinderschaltsensoren sprechen auf die beim Pumpbetrieb vorbeilaufenden Antriebskolben 8, 8' an und signalisieren dieses Ereignis an den Rechnereingang 66, 68. Beim Auftreten der Ausgangssignale wird in der Umsteuereinrichtung ein Umsteuersignal 76 ausgelöst, das die Reversierpumpe 6 über den Verstellmechanismus 16 umsteuert. Im Zuge des Um- steuervorgangs wird außerdem eine Umsteuerung der Rohrweiche 56 über das Wegeventil und die Plungerzylinder 72, 72' ausgelöst. Im Normalbetrieb werden primär die Signale der stangenseitigen Zylinderschaltsensoren 20, 20' zur Erzeugung eines Umsteuersignais 76 verwendet. Dazu weist der Computer 14 eine Wegüberwachungsroutine 40 auf, in welcher d ie Ausgangssignale der stangenseitigen Zylinderschaltsensoren 20, 20' unter Bildung eines Umsteuersignais 76 für die Reversierpumpe 6 und/oder die Rohrweiche 56 ausgewertet werden. Für den Fall, dass mindestens einer der stangenseitigen Zylinderschaltsensoren 20, 20' ausfällt, wird an deren Stelle mindestens einer den bodenseitigen Zylinderschaltsensoren 22, 22' zur Bildung des Umsteuersignais 76 über die Überwachungsroutine 40 akti iert.The reversing device evaluates output signals of the cylinder switching sensors 20, 22 and 20 ', 22' which are arranged at a distance from the rod-side and bottom ends of the two drive cylinders 5, 5 'and are connected on the output side to the computer-assisted reversing device 18. The cylinder switching sensors respond to the drive pistons 8, 8 'running past during pump operation and signal this event to the computer input 66, 68. When the output signals occur, a reversing signal 76 is triggered in the reversing device, which reverses the reversing pump 6 via the adjusting mechanism 16. In the course of the reversal process, reversal of the pipe switch 56 is also triggered via the directional valve and the plunger cylinders 72, 72 '. In normal operation, the signals from the rod-side cylinder switching sensors 20, 20 'used to generate a changeover signal 76. For this purpose, the computer 14 has a path monitoring routine 40 in which the output signals of the rod-side cylinder switching sensors 20, 20 'are evaluated, forming a reversing signal 76 for the reversing pump 6 and / or the pipe switch 56. In the event that at least one of the rod-side cylinder switching sensors 20, 20 'fails, at least one of the bottom-side cylinder switching sensors 22, 22' is activated to form the reversing signal 76 via the monitoring routine 40 in its place.
Die Umsteuereinrichtung 18 umfaßt ferner einen Drucksensor 24, der an die Hochdruckseite 78 der Reversierpumpe 6 angeschlossen ist und dessen Ausgangssignal im Rechner 14 mit Hilfe einer Drucküberwachungsroutine 80 ausgewertet wird. Die Drucküberwachungsroutine 80 errechnet im Verlauf eines Hubvorgangs einen mittleren Hochdruck und umfaßt einen Algo rithmus zur Bestimmung eines am Ende eines jeden Förderhubs auftretenden Druckanstiegs und zu dessen Umsetzung in ein Umsteuersignal 76' für die Reversierpumpe 6 und/oder die Rohrweiche 56. Dieses Umsteuersignal wird bevorzugt bei einem Ausfall der Zylinderschaltsensoren 20, 20'; 22, 22' zur Umsteuerung verwendet.The reversing device 18 further comprises a pressure sensor 24, which is connected to the high pressure side 78 of the reversing pump 6 and whose output signal is evaluated in the computer 14 with the aid of a pressure monitoring routine 80. The pressure monitoring routine 80 calculates an average high pressure in the course of a lifting operation and comprises an algorithm for determining a pressure rise occurring at the end of each delivery stroke and for converting it into a reversing signal 76 'for the reversing pump 6 and / or the pipe switch 56. This reversing signal is preferred in the event of a failure of the cylinder shift sensors 20, 20 '; 22, 22 'used for reversal.
Weiter kann bei der Einmessung der Betonpumpe eine von der Ford ermen- ge und der Antriebsdrehzahl der Reversierpumpe 6 abhängige Hubdauer bestimmt und in einem Datenspeicher des Rechners 14 abgelegt werden. Auch während des Pumpbetriebs läßt sich die Hubdauer über die stangen- seifigen und bodenseitigen Zylinderschaltsensoren 20, 20'; 22, 22' in .Abhängigkeit von der eingestellten Fördermenge und der Motordrehzahl messen und registrieren. Wenn dazu nach jedem Umschaltvorgang die Hubzeit ü- berwacht und mit der registrierten Hubdauer verglichen wird, kann -hieraus über eine Zeitüberwachungsroutine 82 des Rechners 14 ein Umsteuersignal 76" für die Reversierpumpe 6 und/oder die Rohrweiche 56 abgeleitet werden. Die Vergleichsroutine 82 weist dabei zweckmäßig einen Algorithmus auf, der auch eine Umrechnung der gespeicherten Hubdauer bei der Verstel- lung der Fördermenge und/oder der Motordrehzahl ermöglicht. Mit dem hieraus abgeleiteten Umsteuersignal 76" wird sichergestellt, dass auch bei Ausfall der Zylinderschaltsensoren 20, 20'; 22, 22' und des Drucksensors 24 o- der bei NichtVorhandensein dieser Sensoren eine automatische Umsteue- rung der Reversierpumpe 6 und der Rohrweiche 56 ausgelöst werden kann.Furthermore, when measuring the concrete pump, a stroke duration dependent on the Ford and the drive speed of the reversing pump 6 can be determined and stored in a data memory of the computer 14. Even during the pumping operation, the stroke duration can be adjusted via the rod-like and bottom-side cylinder switching sensors 20, 20 '; 22, 22 'Measure and register as a function of the set delivery rate and engine speed. If for this purpose the stroke time is monitored after each switching operation and compared with the registered stroke duration, a reversing signal 76 "for the reversing pump 6 and / or the pipe switch 56 can be derived from this via a time monitoring routine 82 of the computer 14. The comparison routine 82 points out expediently has an algorithm which also converts the stored stroke time when adjusting tion of the delivery rate and / or the engine speed allows. The reversing signal 76 "derived from this ensures that an automatic reversal of the reversing pump 6 and the pipe switch 56 is triggered even if the cylinder switching sensors 20, 20 '; 22, 22' and the pressure sensor 24 fail, or if these sensors are not present can.
In der beschriebenen Umsteuereinrichtung sind die auf ausgewählte Zylinderschaltsensoren 20, 20'; 22, 22' ansprechende Überwachungsroutine 40, die auf den Drucksensor 24 ansprechende Drucküberwachungsroutine 80 und die auf die Hubzeit ansprechende Zeitüberwachungsroutine 82 in dieser Reihenfolge zu einer redundanten, prioritätsstrukturierten Programmfolge (Fig. 3) miteinander verknüpft. Die Auslösung des Umsteuervorgangs erfolgt über eine der drei Routinen der Programmfolge. Außerdem wird in dem Programmblock 84 nach jedem Umsteuervorgang die Hubzeit überwacht und gegebenenfalls eine neue Hubdauer abgespeichert.In the reversing device described, the cylinder shift sensors 20, 20 '; 22, 22 'responsive monitoring routine 40, the pressure monitoring routine 80 responsive to the pressure sensor 24 and the time monitoring routine responsive to the stroke time 82 are linked together in this order to form a redundant, priority-structured program sequence (FIG. 3). The reversal process is triggered via one of the three routines of the program sequence. In addition, the stroke time is monitored in the program block 84 after each reversing process and, if necessary, a new stroke duration is stored.
Zusammenfassend ist folgendes festzuhalten: Die Erfindung bezieht sich auf eine Vorrichtung und ein Verfahren zur Steuerung einer Zweizylinder- Dickstoffpumpe, deren Förderkolben mittels einer hydraulischen Reversier- pumpe 6 und über diese angesteuerter hydraulischer Antriebszylinder im Gegentakt betätigt werden. Die Förderzylinder 50, 50' werden bei jedem Druckhub über eine Rohrweiche 56 mit einer Förderleitung 58 verbunden. Bei Beendigung eines jeden Förderhubs in den Förderzylindern 50, 50' wird ein Umsteuervorgang der Rohrweiche 56 und der Reversierpumpe 6 ausge- löst. Um einen zuverlässigen Betrieb auch bei Ausfall von Schalt- oder Drucksensoren zu gewährleisten, wird gemäß der Erfindung vorgeschlagen, dass beim Einmessen der Betonpumpe und/oder während des Pumpbetriebs die Hubdauer der Kolben in den Antriebszylindern gemessen und registriert wird, und dass während eines jeden Förderhubs die Hubzeit über- wacht und mit der registrierten Hubdauer verglichen wird, und dass die Reversierpumpe 6 jeweils unter Durchflussumkehr durchgeschwenkt und/oder die Rohrweiche umgesteuert wird, wenn die Hubzeit die registrierte Hubdau- er um ein vorgegebenes Maß übersteigt. Zusätzlich können die Ausgangssignale eines mit der Reversierpumpe verbundenen Drucksensors oder an den Arbeitszylindern angeordneter Zylinderschaltsensoren 20, 20' zur Auslösung eines Umsteuervorgangs ausgewertet werden. In summary, the following can be stated: The invention relates to a device and a method for controlling a two-cylinder thick matter pump, the delivery pistons of which are actuated in a push-pull manner by means of a hydraulic reversing pump 6 and hydraulic drive cylinders controlled by this. The delivery cylinders 50, 50 'are connected to a delivery line 58 with a pressure switch 56 with each pressure stroke. At the end of each delivery stroke in the delivery cylinders 50, 50 ', a reversing process of the pipe switch 56 and the reversing pump 6 is triggered. In order to ensure reliable operation even in the event of switching or pressure sensor failure, it is proposed according to the invention that when the concrete pump is measured and / or during pumping operation, the stroke length of the pistons in the drive cylinders is measured and registered, and that during each delivery stroke the stroke time is monitored and compared with the registered stroke duration, and that the reversing pump 6 is swiveled under flow reversal and / or the pipe switch is reversed when the stroke time is the registered stroke duration. it exceeds a predetermined amount. In addition, the output signals of a pressure sensor connected to the reversing pump or cylinder switching sensors 20, 20 'arranged on the working cylinders can be evaluated in order to trigger a reversal process.

Claims

Patentansprüche claims
1. Vorrichtung zur Steuerung einer Zweizylinder-Dickstoffpumpe mit zwei über stirnseitige Öffnungen (52) in einen Materialaufgabebehälter (54) mündenden, mittels mindestens einer hydraulischen Reversierpumpe (6) und über diese angesteuerter hydraulischer Antriebszylinder (5, 5') im Gegentakt betätigbaren Förderzylindern (50, 50'), mit einer innerhalb des Materialaufgabebehälters (54) angeordneten, eintrittsseitig abwechselnd an die Öffnungen (52) der Förderzylinder (50, 50') an- schließbaren und die jeweils andere Öffnung freigebenden und aus- trittsseitig mit einer Förderleitung (58) verbundenen, hydraulisch betätigbaren Rohrweiche (56), wobei die Antriebszylinder (5, 5') an ihrem einen Ende über je eine Hydraulikleitung (11 , 11') mit einem Anschluß der Reversierpumpe (6) und an ihrem anderen Ende über eine Schau- kelölleitung (12) miteinander hydraulisch verbunden sind, und mit einer Einrichtung (18) zur Umsteuerung der Reversierpumpe (6) nach Ablauf eines jeden Kolbenhubs, dadurch gekennzeichnet, dass die Umsteuereinrichtung eine computergestützte Anordnung (84, 82) zur Bestimmung einer voraussichtlichen Hubdauer und zu deren Registrierung in einem Datenspeicher sowie zur Zeitüberwachung während eines jeden Kolbenhubs und zur Auslösung einer Umsteuerung der Rohrweiche (56) und/oder einer Durchflussumkehr der Reversierpumpe (6) nach Maßgabe einer definierten, im Vergleich zur voraussichtlichen Hubdauer verstrichenen Hubzeit aufweist.1. Device for controlling a two-cylinder thick matter pump with two delivery cylinders (5, 5 ') which can be actuated in push-pull manner and which open into a material feed container (54) via front openings (52) and which are actuated in push-pull mode by means of at least one hydraulic reversing pump (6). 50, 50 '), with one arranged inside the material feed container (54), alternately connectable on the inlet side to the openings (52) of the delivery cylinders (50, 50') and opening the other opening and on the outlet side with a delivery line (58 ) connected, hydraulically actuable pipe switch (56), the drive cylinders (5, 5 ') at one end via a hydraulic line (11, 11') each with a connection of the reversing pump (6) and at its other end via a display Kelölleitung (12) are hydraulically connected to each other, and with a device (18) for reversing the reversing pump (6) after the end of each Ko lbenhubs, characterized in that the reversing device has a computer-aided arrangement (84, 82) for determining an expected stroke duration and for its registration in a data memory as well as for time monitoring during each piston stroke and for triggering a reversal of the pipe switch (56) and / or a flow reversal of the reversing pump (6) in accordance with a defined stroke time that has elapsed in comparison with the expected stroke duration.
2. Vorrichtung nach Anspruch 1 , dadurch gekennzeichnet, dass die Umsteuereinrichtung (18) eine Zeitüberwachungsroutine (82) aufweist, die einen Algorithmus zur Bestimmung eines Vergleichswerts aus Hubzeit und voraussichtlicher Hubdauer und zu dessen Umsetzung bei Über- schreiten eines vorgegebenen Werts in ein Umsteuersignal (76") für die Reversierpumpe (6) und/oder die Rohrweiche (56) aufweist. 2. Device according to claim 1, characterized in that the reversing device (18) has a time monitoring routine (82) which has an algorithm for determining a comparison value from the stroke time and the anticipated stroke duration and for converting it when a predetermined value is exceeded in a reversal signal ( 76 ") for the reversing pump (6) and / or the pipe switch (56).
3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Umsteuereinrichtung (18) eine Eingaberoutine zum Abspeichern einer beim Einmessen der Betonpumpe bei mindestens einer definierten, vorzugsweise über ein Fernsteuergerät (64) einstellbaren Fördermenge gemessenen Hubdauer enthält.3. Apparatus according to claim 1 or 2, characterized in that the reversing device (18) contains an input routine for storing a stroke duration measured when measuring the concrete pump at at least one defined, preferably via a remote control device (64) adjustable delivery quantity.
4. Vorrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Umsteuereinrichtung (18) eine Rechenroutine zur Umrechnung der registrierten Hubdauer in Abhängigkeit von der vor- zugsweise an einem Fernsteuergerät (64) eingestellten Fördermenge aufweist.4. Device according to one of claims 1 to 3, characterized in that the reversing device (18) has a computing routine for converting the registered stroke time as a function of the delivery rate which is preferably set on a remote control device (64).
5. Vorrichtung nach einem der Ansprüche 1 bis 4, gekennzeichnet durch mindestens einen Sensor (24) zur Überwachung des Hydraulikdrucks auf der Hochdruckseite (78) der Reversierpumpe (6), dessen Ausgangssignal mit einer Drucküberwachungsroutine (80) der Umsteuereinrichtung (18) zur Auslösung einer Rohrweichenumsteuerung und/oder einer Durchflussumkehr der Reversierpumpe (6) auswertbar ist.5. Device according to one of claims 1 to 4, characterized by at least one sensor (24) for monitoring the hydraulic pressure on the high pressure side (78) of the reversing pump (6), the output signal with a pressure monitoring routine (80) of the reversing device (18) for triggering a pipe switch reversal and / or a flow reversal of the reversing pump (6) can be evaluated.
6. Vorrichtung zur Steuerung einer Zweizylinder-Dickstoffpumpe mit zwei über stirnseitige Öffnungen (52) in einen Materialaufgabebehälter (54) mündenden, mittels mindestens einer hydraulischen Reversierpumpe (6) und über diese angesteuerter hydraulischer Antriebszylinder (5, 5') im Gegentakt betätigbaren Förderzylindern (50, 50'), mit einer innerhalb des Materialaufgabebehälters (54) angeordneten, eintrittsseitig abwechselnd an die Öffnungen (52) der Förderzylinder (50, 50') anschließbaren und die jeweils andere Öffnung freigebenden und aus- trittsseitig mit einer Förderleitung (58) verbundenen, hydraulisch betä- tigbaren Rohrweiche (56), wobei die Antriebszylinder (5, 5') an ihrem einen Ende über je eine Hydraulikleitung (11 , 11') mit einem Anschluß der Reversierpumpe (6) und an ihrem anderen Ende über eine Schau- kelölleitung (12) miteinander hydraulisch verbunden sind, und mit einer Einrichtung (18) zur Umsteuerung der Reversierpumpe nach Ablauf eines jeden Kolbenhubs, gekennzeichnet durch mindestens einen Sensor zur Überwachung des Hydraulikdrucks auf der Hochdruckseite (78) der Reversierpumpe (6), dessen Ausgangssignal mit einer Drucküberwachungsroutine (80) der computergestützten Umsteuereinrichtung (18) zur Auslösung einer Umsteuerung der Rohrweiche (56) und/oder einer Durchflussumkehr der Reversierpumpe (6) auswertbar ist.6.Device for controlling a two-cylinder thick matter pump with two feed cylinders (5) opening into a material feed container (54) via end openings (52) and actuated in counter-clockwise fashion by means of at least one hydraulic reversing pump (6) and hydraulic drive cylinders (5, 5 ') controlled by this. 50, 50 '), which is arranged inside the material feed container (54), can be connected alternately on the inlet side to the openings (52) of the delivery cylinders (50, 50') and connects the other opening to the outlet side and is connected to a delivery line (58) on the outlet side , hydraulically actuated pipe switch (56), the drive cylinders (5, 5 ') at one end via a hydraulic line (11, 11') each with a connection of the reversing pump (6) and at its other end via an inspection Kelölleitung (12) are hydraulically connected to each other, and with a device (18) for reversing the reversing pump after each piston stroke, characterized by at least one sensor for monitoring the hydraulic pressure on the high pressure side (78) of the reversing pump (6), the output signal with a pressure monitoring routine (80) of the computer-aided reversing device (18) for triggering a reversal of the pipe switch (56) and / or a flow reversal of the reversing pump (6) can be evaluated.
7. Vorrichtung nach Anspruch 5 oder 6, dadurch gekennzeichnet, dass die Drucküberwachungsroutine (80) einen Algorithmus zur Bestimmung eines am Ende eines jeden Druckhubs auf der Hochdruckseite (78) der Reversierpumpe (6) auftretenden Druckanstiegs und zu dessen Umsetzung in ein Umsteuersignal (76') für die Rohrweiche (56) und/oder die Reversierpumpe (6) enthält.7. The device according to claim 5 or 6, characterized in that the pressure monitoring routine (80) an algorithm for determining an increase in pressure occurring at the end of each pressure stroke on the high pressure side (78) of the reversing pump (6) and for converting it into a reversal signal (76 ') for the pipe switch (56) and / or the reversing pump (6).
8. Vorrichtung nach einem der Ansprüche 1 bis 7, dadurch gekennzeichnet, dass im Abstand von den Stangen- und bodenseitigen Enden der Antriebszylinder (5, 5') je ein auf einen vorbeilaufenden Kolben (8, 8') ansprechender Zylinderschaltsensor (20, 20'; 22, 22') angeordnet ist, und dass die Umsteuereinrichtung (18) eine auf die Ausgangssignale ausgewählter Zylinderschaltsensoren ansprechende Wegüberwachungsroutine (40) zur Umsteuerung der Rohrweiche (56) und/oder zur Auslösung einer Durchflussumkehr der Reversierpumpe (6) aufweist.8. Device according to one of claims 1 to 7, characterized in that at a distance from the rod and bottom ends of the drive cylinders (5, 5 ') each responsive to a passing piston (8, 8') responsive cylinder switching sensor (20, 20th '; 22, 22') and that the reversing device (18) has a path monitoring routine (40) responsive to the output signals of selected cylinder switching sensors for reversing the pipe switch (56) and / or for triggering a flow reversal of the reversing pump (6).
9. Vorrichtung nach Anspruch 8, dadurch gekennzeichnet, dass die Umsteuereinrichtung (18) eine Messroutine (84) zur Hubdauerbestimmung aus den Ausgangssignalen der Zylinderschaltsensoren (20, 20'; 22, 22') und zu deren Registrierung aufweist.9. The device according to claim 8, characterized in that the reversing device (18) has a measuring routine (84) for determining the stroke duration from the output signals of the cylinder switching sensors (20, 20 '; 22, 22') and for their registration.
10. Vorrichtung nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass die auf ausgewählte Zylinderschaltsensoren (20, 20') ansprechende Wegüberwachungsroutine (40), die auf Drucksensoren (24) ansprechende Drucküberwachungsroutine (80) und die auf die Hubzeit ansprechende Zeitüberwachungsroutine (82) eine Programmfolge zur redundanten Umsteuerung der Rohrweiche (56) und/oder der Reversierpumpe (6) bilden.10. Device according to one of claims 1 to 9, characterized in that the selected cylinder switching sensors (20, 20 ') responsive path monitoring routine (40), the pressure monitoring routine (80) responsive to pressure sensors (24) and the time monitoring routine (82) responsive to the stroke time form a program sequence for the redundant reversal of the pipe switch (56) and / or the reversing pump (6).
11. Verfahren zur Steuerung einer Dickstoffpumpe mit zwei über stirnseitige Öffnungen (52) in einen Materialaufgabebehälter (54) mündenden, mittels einer hydraulischen Reversierpumpe (6) und über diese ange- steuerter hydraulischer Antriebszylinder (5, 5') im Gegentakt betätigbaren Förderzylindern (50, 50'), mit einer innerhalb des Materialaufgabebehälters (54) angeordneten, eintrittsseitig abwechselnd an die Öffnungen (52) der Förderzylinder (50, 50') anschließbaren und die jeweils andere Öffnung freigebenden und austrittsseitig mit einer Förderleitung (58) verbindbaren, hydraulisch betätigbaren Rohrweiche (56), wobei jeweils bei Beendigung eines Förderhubs in den Förderzylindern (50, 50') ein Umsteuervorgang der Rohrweiche (56) und/oder der Reversierpumpe (6) ausgelöst wird, dadurch gekennzeichnet, dass beim Einmessen der Betonpumpe und/oder während des Pumpbetriebs die voraussichtliche Hubdauer der Kolben (8, 8') in den Antriebszylindern (5, 5') gemessen und registriert wird, dass während eines jeden Förderhubs die Hubzeit überwacht und mit der voraussichtlichen Hubdauer verglichen wird, und dass die Reversierpumpe (6) jeweils unter Durchflussumkehr durchgeschwenkt und/oder die Rohrweiche (56) umge- steuert wird, wenn die Hubzeit die voraussichtliche Hubdauer um ein vorgegebenes Maß übersteigt.11. Method for controlling a thick matter pump with two delivery cylinders (50) which open into a material feed container (54) via front openings (52) and are actuated in a push-pull manner by means of a hydraulic reversing pump (6) and hydraulic drive cylinders (5, 5 ') actuated by this , 50 '), with a hydraulically actuatable device arranged inside the material feed container (54), which can be connected alternately on the inlet side to the openings (52) of the conveying cylinders (50, 50') and which releases the other opening and on the outlet side can be connected to a conveying line (58) Pipe switch (56), wherein a reversal process of the pipe switch (56) and / or the reversing pump (6) is triggered each time a delivery stroke ends in the delivery cylinders (50, 50 '), characterized in that when the concrete pump is measured and / or during of the pumping operation, the expected stroke time of the pistons (8, 8 ') in the drive cylinders (5, 5') is measured and registered It is ensured that the stroke time is monitored and compared with the expected stroke duration during each delivery stroke, and that the reversing pump (6) is swiveled through with flow reversal and / or the pipe switch (56) is reversed when the stroke time changes the expected stroke duration exceeds a predetermined level.
12. Verfahren nach Anspruch 11 , dadurch gekennzeichnet, dass die registrierte Hubdauer in Abhängigkeit von einer vorgegebenen Fördermen- ge für den Vergleich mit der augenblicklichen Hubzeit leistungsproportional umgerechnet wird. 12. The method according to claim 11, characterized in that the registered stroke time is converted in proportion to the output depending on a predetermined delivery quantity for comparison with the current stroke time.
13. Verfahren nach Anspruch 11 oder 12, dadurch gekennzeichnet, dass während des Pumpvorgangs der Hydraulikdruck auf der Druckseite (78) der Reversierpumpe (6) überwacht wird, und dass ein am Ende eines jeden Kolbenhubs gemessener Druckanstieg zur Bildung eines Um- Steuersignals für die Reversierpumpe (6) und/oder die Rohrweiche (56) ausgewertet wird.13. The method according to claim 11 or 12, characterized in that during the pumping process, the hydraulic pressure on the pressure side (78) of the reversing pump (6) is monitored, and that a pressure increase measured at the end of each piston stroke to form a changeover signal for the Reversing pump (6) and / or the pipe switch (56) is evaluated.
14. Verfahren zur Steuerung einer Dickstoffpumpe mit zwei über stirnseitige Öffnungen (52) in einen Materialaufgabebehälter (54) mündenden, mittels einer hydraulischen Reversierpumpe (6) und über diese angesteuerter hydraulischer Antriebszylinder (5, 5') im Gegentakt betätigbaren Förderzylindern (50, 50'), mit einer innerhalb des Materialaufgabebehälters (54) angeordneten, eintrittsseitig abwechselnd an die Öffnungen der Förderzylinder anschließbaren und die jeweils andere Öffnung (52) freigebenden und austrittsseitig mit einer Förderleitung (58) verbindbaren, hydraulisch betätigbaren Rohrweiche (56), wobei jeweils bei Beendigung eines Förderhubs in den Förderzylindern ein Umsteuervorgang der Rohrweiche (56) und/oder der Reversierpumpe (6) ausgelöst wird, dadurch gekennzeichnet, dass während des Pumpvorgangs der Hydraulikdruck auf der Druckseite der Reversierpumpe (6) überwacht wird, und dass ein am Ende eines jeden Kolbenhubs gemessener Druckanstieg zur Bildung eines Umsteuersignais (76') für die Reversierpumpe (6) und/oder die Rohrweiche (56) ausgewertet wird.14.Method for controlling a thick matter pump with two delivery cylinders (50, 50) which open into a material feed container (54) via end openings (52) and can be actuated in a push-pull manner by means of a hydraulic reversing pump (6) and hydraulic drive cylinders (5, 5 ') actuated by this '), with a hydraulically actuated pipe switch (56), which is arranged inside the material feed container (54), can be connected alternately on the inlet side to the openings of the delivery cylinders and opens the other opening (52) and on the outlet side can be connected to a delivery line (58) Completion of a delivery stroke in the delivery cylinders, a reversing process of the pipe switch (56) and / or the reversing pump (6) is triggered, characterized in that the hydraulic pressure on the pressure side of the reversing pump (6) is monitored during the pumping process, and that one at the end of a every piston stroke measured pressure rise to form one s reversing signal (76 ') for the reversing pump (6) and / or the pipe switch (56) is evaluated.
15. Verfahren nach einem der Ansprüche 11 bis 14, dadurch gekennzeichnet, dass während des Pumpvorgangs das Vorbeilaufen der Kolben (8, 8') an den Zylinderschaltsensoren (20, 20'; 22, 22') der Arbeitsoder Förderzylinder (5, 5'; 50, 50') registriert und zur Bestimmung eines Umsteuersignais für die Reversierpumpe (6) und/oder die Rohrweiche (56) ausgewertet wird. 15. The method according to any one of claims 11 to 14, characterized in that during the pumping process the pistons (8, 8 ') pass the cylinder switching sensors (20, 20'; 22, 22 ') of the working or delivery cylinders (5, 5'; 50, 50 ') is registered and evaluated to determine a reversing signal for the reversing pump (6) and / or the pipe switch (56).
16. Verfahren nach Anspruch 15, dadurch gekennzeichnet, dass die Ausgangssignale zweier im Abstand voneinander angeordneter Zylinderschaltsensoren (20, 20') zur Bestimmung der Hubdauer und zu deren Registrierung nach jedem Kolbenhub ausgewertet werden.16. The method according to claim 15, characterized in that the output signals of two spaced-apart cylinder switching sensors (20, 20 ') are evaluated to determine the stroke duration and to register it after each piston stroke.
17. Verfahren nach Anspruch 15 oder 16, dadurch gekennzeichnet, dass die Ausgangssignale (76, 76', 76") der Zylinderschaltsensoren (20, 20'; 22, 22'), des Drucküberwachungssensors (24) und des Hub- zeit/Hubdauervergleichers (82) zur redundanten Auslösung eines Um- steuervorgangs der Reversierpumpe (6) und/oder der Rohrweiche (56) verwendet werden. 17. The method according to claim 15 or 16, characterized in that the output signals (76, 76 ', 76 ") of the cylinder switching sensors (20, 20'; 22, 22 '), the pressure monitoring sensor (24) and the stroke time / stroke duration comparator (82) can be used for the redundant triggering of a reversal process of the reversing pump (6) and / or the pipe switch (56).
EP05716191A 2004-03-26 2005-03-18 Device and method for controlling a two-cylinder thick matter pump Active EP1727980B1 (en)

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