EP1849931B1 - Selbstfahrende Maschine mit Knickmast mit einer verbesserten Vorrichtung zur Überwachung und Kontrolle vom Betrieb dieser Maschine - Google Patents

Selbstfahrende Maschine mit Knickmast mit einer verbesserten Vorrichtung zur Überwachung und Kontrolle vom Betrieb dieser Maschine Download PDF

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Publication number
EP1849931B1
EP1849931B1 EP06123187.4A EP06123187A EP1849931B1 EP 1849931 B1 EP1849931 B1 EP 1849931B1 EP 06123187 A EP06123187 A EP 06123187A EP 1849931 B1 EP1849931 B1 EP 1849931B1
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Prior art keywords
machine
boom
articulated
conditions
self
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EP06123187.4A
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English (en)
French (fr)
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EP1849931A3 (de
EP1849931A2 (de
Inventor
Davide Cipolla
Nicola Pirri
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COMPAGNIA ITALIANA FORME ACCIAIO S P A
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COMPAGNIA ITALIANA FORME ACCIAIO S P A
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/54—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes with pneumatic or hydraulic motors, e.g. for actuating jib-cranes on tractors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/88—Safety gear
    • B66C23/90—Devices for indicating or limiting lifting moment
    • B66C23/905—Devices for indicating or limiting lifting moment electrical
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0436—Devices for both conveying and distributing with distribution hose on a mobile support, e.g. truck

Definitions

  • the present invention concerns a self-propelled, articulated-boom machine comprising a system for controlling and monitoring the operation of such machine.
  • the stabilisers are typically shaped as extendable legs resting on a point removed from the centre of equilibrium of the carriage, thereby extending the support base. This arrangement is especially useful in conditions of rough terrain, as is often the case on the building sites where such machines operate.
  • the desired safety aims cannot be achieved simply by acting on the sturdiness of the machine structures or increasing the respective safety coefficients in the design thereof.
  • this would lead to a considerable increase of the weight and overall size of the machine.
  • this consequence is not acceptable both due to the growing difficulties in the type-approval procedure for such machines by the relevant authorities, and because the industry market, on the contrary, has a keen interest in light-weight, compact and inexpensive machines.
  • the Applicant had long set itself the problem of supplying lorry-mounted, articulated-boom pumps and similar machines provided with safety devices capable of allowing correct use of the vehicle, and which were at the same time as light-weight as possible and suitable to the actual requirements of use of the specific client.
  • patent EP 1356910 the Applicant claims a system for the monitoring and control of the operation of articulated-boom machines, which system employs a plurality of sensors for detecting the data concerning position, attitude and operation parameters of the individual operation elements of the machine.
  • the sensors transmit the detected data to a central unit, which processes them and compares them with reference data relating to the correct use of the machine, and said unit reports to the operator the result of the analysis, visualising information and/or alarm signals on a suitable display.
  • DE 10 2004 012 966 A1 relates to a mobile working device, in particular an auto concrete pump and a process for preparation of the auto concrete pump on the ground, in which direct measures of the forces acting on the support legs are performed.
  • DE 101 10 176 A1 describes a mobile working device, in particular an auto concrete pump, in which in the region of the support legs measuring devices for determining the respective vertical load are arranged.
  • the aim of the present invention is hence to provide a self-propelled, articulated-boom machine with a control and monitoring system which is capable of continuously supervising the machine during the operation thereof, thereby minimising the responsibilities of the operator in charge thereof.
  • a further object of the present invention is to supply a self-propelled, articulated-boom machine for concrete distribution in casting areas, which comprises automatic monitoring systems capable of reducing the risk of breakage or abnormal wear phenomena of the machine, in particular of the articulated boom thereof.
  • Still another object of the invention is to provide a self-propelled , articulated-boom machine wherein said monitoring system is capable of continuously informing the operator about the operating and static/dynamic equilibrium conditions of the machine and furthermore wherein said monitoring system is capable of signalling any irregularity of use and of correcting any incorrect setting or control by the operator in the conduction of the machine.
  • Fig. 1 shows, by way of example of an articulated-boom machine addressed by the present invention, a lorry-mounted concrete pump, wherein the control and monitoring system of the invention is embedded.
  • F marks the concrete pumping assembly, which receives the concrete from a loading hopper T and sends it pressurised to a delivery pipe P.
  • Pipe P is an articulated pipe which runs along articulated boom B to an end hose M for concrete delivery to the casting areas.
  • the articulated boom shown in fig. 1 consists of five blocks B1-BS, the last block BS preferably having an intermediate joint H to allow greater manoeuvrability of the end part of boom B in the casting area.
  • the control and monitoring system of the invention anyhow, is applied to a self-propelled, articulated boom machine with lorry-mounted concrete pumps, regardless of the number of blocks (normally from 3 to 6) making up the articulated boom thereof.
  • extendable stabiliser legs G are provided, capable of transferring the resting points on the ground to a certain distance from the carriage.
  • Legs G may be differently shaped, according to the use for which the boom machine is intended, without the function thereof varying from a conceptual point of view.
  • front legs G are of the fixed, slip-off type, while the rear legs are of the jib-like swivelling type.
  • the boom machine is further provided with a plurality of sensors for real time detection of instant data concerning the geometrical conditions of the operating attitude of the different machine components and the load conditions of the same, as well as the operation data of pump assembly F.
  • the data detected by said sensors are then collected in a central processing unit which provides to acquire the signals, to possibly codify them and extract therefrom numeric values which are meaningful for the operator.
  • Said central unit is finally connected, through an interface can-bus, to a display, preferably employing a graphic interface, whereon the operator is capable of reading the instant values representing the operation conditions and the further indications about the safety conditions of the machine, as better detailed in the following.
  • the information displayed on the display consists of intelligible indications useful to the operator, on the basis whereof he may act independently to guide the machine and perform the correction operations which may be suggested by the system, for example by moving the articulated boom to return to an operation area, or by folding the boom to return to safer conditions, or again by changing the pump operation speed to avoid resonance phenomena.
  • the operator hence manually drives the machine not only on the basis of his personal practical experience, but also on the basis of specific information on the instant conditions of the machine attitude and loads.
  • the central unit Whenever, during machine operation, at least one of said critical conditions is approached exceeding a preset threshold value, for example 90% of the threshold value, the central unit provides to actuate a sound and visual alarm signal and to simultaneously actuate suitable automatic cycles for the gradual stopping of the machine and/or for the gradual distancing from said critical condition.
  • a preset threshold value for example 90% of the threshold value
  • these critical conditions may also be the following:
  • the above critical conditions are detected by a suitable network of sensors arranged in a suitable position on the machine, the signals coming from said detection sensors being acquired by the central unit and suitably processed by the same, on the basis of the geometric parameters of the machine, so as to obtain processed data concerning the forces and the moments instantaneously acting on the machine. Such processed data are then compared with the parameters concerning the safety thresholds, previously stored in a memory area of said central unit, thereby allowing to establish at any time the condition of closer or farther approaching of said critical conditions.
  • load sensors are provided on the support feet of stabiliser legs G, i.e. flexure sensors detecting flexure of the legs following the lifting of carriage V on the same, i.e., again, pressure sensors in the cylinder-piston assemblies actuating stabiliser legs G.
  • carriage levelling two level sensors are instead provided, according to the main longitudinal and transversal axes (X and Y) of carriage V.
  • the value of the overturning moment applied to carriage V by articulated boom B is calculated by an angle sensor of the first element B1 of the articulated boom to the horizontal plane and a pressure transducer detecting the pressure of the work fluid in the cylinder-piston assembly which actuates the lifting of boom B1.
  • This condition is detected by measuring the variation over time of the angular position of boom B or of one of the elements thereof, and of the pressure in the cylinder-piston assembly controlling the first block of boom B.
  • the onset of the swinging condition and the greater or smaller swinging width of the individual elements of boom B depend on the mutual angular position of such elements, as well as, of course, on the speed of the pumping assembly F.
  • An overall detection of this phenomenon is hence possible from the sole angular position sensor of boom B1, or through a series of similar sensors also detecting the angular position of the other booms B2-B4, or by controlling the development of the pressures within the cylinder-piston assemblies controlling the various joints of boom B. In this last case, the start of the swinging movement is always detected promptly, regardless of the individual boom element where such phenomenon begins.
  • the central unit of the control and monitoring system is therefore capable of determining the admissible operation range of the boom machine and in particular of the articulated boom of the same, independently for each of the critical conditions detected above.
  • threshold parameters or a threshold function as well as a maximum approaching percentage to such threshold, beyond which the control system actuates the alarm signals and begins the automatic manoeuvre for moving away from the critical condition, for example by changing the frequency of the externally applied force i.e. the number of pumping cycles per minute.
  • control and monitoring system of the present invention hence does not limit itself to simply pointing out to the operator admissible and non admissible work areas, leaving to the operator the full responsibility of managing the machine in the frame of such indications, but provides itself to monitor the different possible critical conditions found during use of the machine and to monitor the various moving components of the machine, so as to avoid that said critical conditions are undesirably approached.
  • conditions A and B are considered by the system as basic preconditions, the meeting whereof is necessary to give consent to machine operation.
  • a preset threshold value for example 90% of the maximum admissible value
  • the system would provide to immediately inhibit the further completion of the process until the above-said conditions are newly met.
  • a condition of this type may occur for example following ground sagging under the support feet of stabiliser legs G, or due to improper use of boom B for the handling of loads, or due to the configuration of a smaller stabilisation area than the one provided in the plan.
  • Meeting conditions C and D is instead carried out by the system by monitoring the boom position and the operation speed of pump assembly F.
  • the unit detects that the machine has exceeded the threshold value provided for the stability thresholds, it provides to change the position of boom B - for example by stopping the rotation or the extending motion thereof, or by bringing it back in the position immediately preceding the exceeding of the threshold - so as to bring the machine back into a condition of greater safety.
  • the system accepts, as was said before, the correction actions manually set by the operator, however, only if such actions act indeed in the direction opposite to the critical condition, and this is so until the machine has fully returned within the above-said threshold value.
  • the system behaves similarly - i.e. with an action not interrupting the process - also in connection with swinging condition D.
  • the central unit monitors the swinging movements of the articulated boom or of the different elements thereof, during concrete distribution operations. Should these swinging movements approach the frequency of pumping assembly F, the central unit provides to vary for the time required the working frequency, and hence concrete flow rate, thereby avoiding resonance phenomena.
  • the system is capable of detecting the onset of the swinging phenomenon well in advance of when the phenomenon may be perceived by the operator and the action on the pump frequency may hence be much prompter, thereby avoiding at the root the start of abnormal stresses in articulated boom B and in the support structures of the same. It is hence, to all effects, an active-type dampening system of the swinging movements in the boom.
  • a feature of the system of a preferred embodiment of the present invention is that, whenever the threshold value of a critical condition is exceeded, it brings the moving components of the carriage in a safe position in a smooth and gradual way, i.e. by providing ramps which slow down the current movements. This object is achieved by using proportional valves. Thereby, the risk of sudden - and hence dangerous - adjustment movements of the system, due to an excessively abrupt arrest, is considerably reduced.
  • the control and monitoring system of the present invention further provides a self-teaching system of the boom movement operations, through calculation logic processes which are well-known per se to people skilled in the field, so it is capable of storing, on demand and with a suitable code, a particular sequence of boom-moving operations performed by the operator.
  • the system is further capable - when it is supplied with the above-said code - of performing the same procedures which were carried out by the operator in due time with the same sequential order.
  • the system operates intelligently, a priori avoiding exceeding the threshold of the critical conditions that may have been encountered during the self-teaching step, hence suggesting a correct boom trajectory for the required process.
  • the data used by the system for supplying indications to the operator and for monitoring the machine are stored in a suitable "data register", i.e. in a memory device of the central unit, capable of also storing use abnormalities, for example through a "threshold exceeded" signal whenever the articulated boom is led into an area which the central unit has deemed impassable or nearly so.
  • the data thus stored are used by the person in charge, or by the owner, of the machine, or otherwise by the body in charge of maintenance, to reconstruct the use that was made of the machine, the duration and number of times that the machine worked in conditions close to or outside the preset threshold values, and, in an integrated manner, is suitable to create a schedule of ordinary maintenance operations.
  • a self-propelled, articulated boom machine comprising a control and monitoring system, which is capable of detecting the instant operation data of the machine, of checking on the basis of such data the observance of critical operation conditions of the machine and of performing in a prompt and automatic manner the suitable correction manoeuvres for quickly returning to the admissible operation areas.
  • a control and monitoring system which is capable of detecting the instant operation data of the machine, of checking on the basis of such data the observance of critical operation conditions of the machine and of performing in a prompt and automatic manner the suitable correction manoeuvres for quickly returning to the admissible operation areas.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Operation Control Of Excavators (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Jib Cranes (AREA)

Claims (6)

  1. Eine selbstfahrende Gelenkarm-Maschine, aufweisend:
    - lastwagenmontierte Betonpumpen, welche an einem Wagen (V) montiert sind und einen Gelenkarm (B) aufweisen,
    - ausfahrbare Stützbeine (G), welche bereitgestellt sind, um die Aufliegepunkte zu einer bestimmten Distanz von dem Wagen (V) aus zu verlegen, und
    - ein System zum Steuern und Überwachen des Betriebs der selbstfahrenden Gelenkarm-Maschine,
    das System aufweisend:
    - eine Mehrzahl von Sensoren, welche in der Lage sind, Augenblicksdaten betreffend der geometrischen Lage der sich bewegenden Komponenten der Maschine und der Last und Betriebsdaten derselben zu detektieren,
    - sowie eine Zentralrecheneinheit, welche in der Lage ist, kontinuierlich solche Daten zu empfangen, um diese zu verarbeiten und diese mit zuvor gespeicherten Sicherheitsparametern zu vergleichen, wobei die Zentraleinheit in der Lage ist, das Erfüllen von einer oder mehreren kritischen Bedingungen für die Maschinensicherheit kontinuierlich zu prüfen, und, wenn wenigstens eine der kritischen Bedingungen einen vordefinierten Schwellenwert, welcher individuell für jede kritische Bedingung gesetzt sein kann, überschreitet, die Zentraleinheit in der Lage ist, ein Alarmsignal zu betätigen und gleichzeitig automatische Abläufe zum Stoppen der Maschine und/oder Wegbewegen von den kritischen Bedingungen zu aktivieren,
    gekennzeichnet dadurch, dass die kritischen Bedingungen aufweisen wenigstens
    - den Kontakt mit dem Untergrund und Ausrichtung des Wagens (V), und
    - das Kippmoment, welches auf den Wagen (V) durch den Gelenkarm (B) aufgebracht ist,
    wobei das System dazu eingerichtet ist,
    - seine Zustimmung zum Maschinenbetrieb nur dann zu geben, wenn wenigstens zwei Bedingungen unterhalb der individuell voreingestellten Schwellenwerte liegen, und
    - den Abschluss des Vorgangs im Fall, dass wenigstens zwei Bedingungen die individuell voreingestellten Schwellenwerte überschreiten, zu verhindern, bis zwei Bedingungen neu erfüllt sind, und
    - wobei die Zentraleinheit des Steuerung-und-Überwachung-Systems in der Lage ist, den zulässigen Betriebsbereich der lastwagenmontierten Pumpe und insbesondere des Gelenkarms derselben unabhängig für jede der oben detektierten kritischen Bedingungen zu ermitteln, wodurch es möglich ist, Schwellenparameter oder eine Schwellenfunktion sowie einen maximalen Annäherungsprozentsatz an solche Schwellen zu setzen, jenseits welcher das Steuersystem die Alarmsignale betätigt und gleichzeitig automatische Abläufe zum Stoppen der Maschine und/oder Wegbewegen von den kritischen Bedingungen aktiviert,
    - und wobei die Zentraleinheit bereitgestellt ist mit einem selbstlernenden System zum Speichern einer Sequenz von Armbewegungsvorgängen in einem Selbstlernschritt, welche durch den Bediener manuell gesetzt werden, und zum Wiederholen dieser auf Anforderung, so dass beim Wiederholen der Sequenz das System intelligent arbeitet, wobei es "a priori" vermeidet, dass die Schwelle der kritischen Bedingungen, die beim Selbstlernschritt hätten angetroffen werden können, überschritten wird, wobei folglich eine korrekte Armtrajektorie für den erforderlichen Vorgang vorgeschlagen wird.
  2. Eine Maschine wie in Anspruch 1, wobei die kritischen Bedingungen ebenfalls aufweisen die Kippstabilität des Wagens (V) und die Resonanzschwingung des Gelenkarms (B).
  3. Eine Maschine wie in Anspruch 2, wobei die automatischen Abläufe zum Stoppen der Maschine und/oder Wegbewegen von den kritischen Bedingungen in einer allmählichen Weise unter Verwendung von Proportionalwerten gemäß Rampen zum Abbremsen der sich bewegenden Teile durchgeführt werden.
  4. Eine Maschine wie in Anspruch 1, wobei der Schwellenwert auf 90% eines maximalen Sicherheitsschwellenwerts für jede der kritischen Bedingungen gesetzt ist.
  5. Eine Maschine wie in Anspruch 4, wobei beim automatischen Widerholen der gespeicherten Sequenz die Zentraleinheit einen Weg vorschlägt, bei welchem es automatisch vermieden wird, die Schwellen der kritischen Bedingungen, welche beim Selbstlernschritt überschritten hätten werden können, zu überschreiten.
  6. Eine Maschine wie in irgendeinem der vorhergehenden Ansprüche, wobei die detektierten Daten in einem Datenregister gespeichert sind und zum Planen einer Maschinenwartung verwendet werden.
EP06123187.4A 2006-04-24 2006-10-30 Selbstfahrende Maschine mit Knickmast mit einer verbesserten Vorrichtung zur Überwachung und Kontrolle vom Betrieb dieser Maschine Active EP1849931B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT000818A ITMI20060818A1 (it) 2006-04-24 2006-04-24 Sistema perfezionato per la sorveglianza e il controllo del funzionamento di macchinari semoventi a braccio articolato,quali pompe per calcestruzzo

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EP1849931A2 EP1849931A2 (de) 2007-10-31
EP1849931A3 EP1849931A3 (de) 2011-03-02
EP1849931B1 true EP1849931B1 (de) 2016-11-30

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WO2016016305A1 (de) 2014-07-30 2016-02-04 Putzmeister Engineering Gmbh Autobetonpumpe und verfahren zu deren arbeitsbetrieb
DE102019105871A1 (de) * 2019-03-07 2020-09-10 Liebherr-Mischtechnik Gmbh Gelenkarm-Steuerung einer Betonpumpe
DE102019105817A1 (de) * 2019-03-07 2020-09-10 Liebherr-Mischtechnik Gmbh Gelenkarm-Steuerung einer Betonpumpe
DE102019105814A1 (de) * 2019-03-07 2020-09-10 Liebherr-Mischtechnik Gmbh Gelenkarm-Steuerung einer Betonpumpe
DE102021107142A1 (de) 2021-03-23 2022-09-29 Putzmeister Engineering Gmbh Standsicherheitsüberwachung für ein Dickstofffördersystem
DE102021107139A1 (de) 2021-03-23 2022-09-29 Putzmeister Engineering Gmbh Betriebsüberwachung für ein Dickstofffördersystem
DE102021107141A1 (de) 2021-03-23 2022-09-29 Putzmeister Engineering Gmbh Standsicherheitsüberwachung für ein Dickstofffördersystem
WO2023052113A1 (de) * 2021-09-28 2023-04-06 Putzmeister Engineering Gmbh Nachstützüberwachung für ein dickstofffördersystem
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CN102817479B (zh) * 2012-08-24 2013-11-20 中联重科股份有限公司 布料设备布料控制方法及布料设备
CN102979310B (zh) * 2012-12-24 2015-04-01 中联重科股份有限公司 工程设备及其动力控制方法
CN104675119B (zh) * 2013-11-27 2016-09-07 北汽福田汽车股份有限公司 一种混凝土泵车泵送方法及混凝土泵车泵送控制装置
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CN104790670B (zh) * 2015-04-08 2017-04-26 深圳市富斯遥控模型技术有限公司 一种基于远程遥控控制的自动水泥浇灌系统
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DE102018204079A1 (de) * 2018-03-16 2019-09-19 Putzmeister Engineering Gmbh Autobetonpumpe und Verfahren zur stabilitätsrelevanten Steuerung einer Autobetonpumpe
CN111042535B (zh) * 2019-12-31 2021-07-13 中交第四公路工程局有限公司 一种高层建筑施工用混凝土灌浆输送装置

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DE10110176A1 (de) * 2001-03-02 2002-09-05 Putzmeister Ag Mobiles Arbeitsgerät mit Standsicherheitsüberwachung
DE102004012966A1 (de) * 2004-03-17 2005-10-06 Putzmeister Ag Mobiles Arbeitsgerät mit Stützauslegern sowie Verfahren zur Aufstellung eines solchen Geräts

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016016305A1 (de) 2014-07-30 2016-02-04 Putzmeister Engineering Gmbh Autobetonpumpe und verfahren zu deren arbeitsbetrieb
US10099660B2 (en) 2014-07-30 2018-10-16 Putzmeister Engineering Gmbh Truck-mounted concrete pump and method for operating same
DE102019105871A1 (de) * 2019-03-07 2020-09-10 Liebherr-Mischtechnik Gmbh Gelenkarm-Steuerung einer Betonpumpe
DE102019105817A1 (de) * 2019-03-07 2020-09-10 Liebherr-Mischtechnik Gmbh Gelenkarm-Steuerung einer Betonpumpe
DE102019105814A1 (de) * 2019-03-07 2020-09-10 Liebherr-Mischtechnik Gmbh Gelenkarm-Steuerung einer Betonpumpe
DE102021107142A1 (de) 2021-03-23 2022-09-29 Putzmeister Engineering Gmbh Standsicherheitsüberwachung für ein Dickstofffördersystem
DE102021107139A1 (de) 2021-03-23 2022-09-29 Putzmeister Engineering Gmbh Betriebsüberwachung für ein Dickstofffördersystem
DE102021107141A1 (de) 2021-03-23 2022-09-29 Putzmeister Engineering Gmbh Standsicherheitsüberwachung für ein Dickstofffördersystem
WO2022200275A3 (de) * 2021-03-23 2022-12-01 Putzmeister Engineering Gmbh Betriebsüberwachung für ein dickstofffördersystem
WO2023052113A1 (de) * 2021-09-28 2023-04-06 Putzmeister Engineering Gmbh Nachstützüberwachung für ein dickstofffördersystem
DE102021134513A1 (de) 2021-12-23 2023-06-29 Putzmeister Engineering Gmbh Dickstofffördersystem

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ITMI20060818A1 (it) 2007-10-25
EP1849931A2 (de) 2007-10-31

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