EP2038493B1 - Automatic concrete pump with articulated mast - Google Patents

Abstract

The invention relates to an automatic concrete pump with an articulated mast (14) serving as a support for a supply line and with two forward and two backward support extensions (16′,16″,18′,18″) which can be supported on a base platform (32) and which can be lowered from a driving position into a support position, each with a telescopic support leg (30). According to the invention, each support extension comprises one inner support position near to the chassis, and at least one outer support position away from the chassis, which can be freely selected by forming defined support configurations (V,SL,SR,YL,YR,N) for the four support extensions. Further, a control device for the movement of the mast arm is provided which comprises a software program corresponding to the selected support configuration, which program limits the pivot angle of the first bending arm (1) about its bending axis (A) and an associated range of angular rotation of the rotatable head (24) about the vertical axis (22), according to the specification of the selected support configuration.

Description

The invention relates to a truck-mounted concrete pump with a chassis, arranged on a chassis-mounted base, serving as a support for a conveyor line and having at least four mast arms articulated mast, the first mast arm with its one end to a rotatable by driving a rotary drive about a vertical axis of the chassis rotary head is articulated, wherein the mast arms by controlling associated buckling with respect to the turret and each adjacent mast arm are pivotable about horizontal buckling axes, and arranged with two front and two rear, fixed to the chassis base, optionally partially extendable from a driving position in a support position and extend each with a telescopic support leg on a ground under support of the chassis supportable support arms.

Supported with their support legs on the ground support boom limit with lifted chassis a support quadrilateral with four between the adjacent corners extending tilting edges, which must not be exceeded by the center of gravity of the system during the movement of the mast arm to the outside. In fully extended and supported support arms usually a rotation of the fully extended and horizontally oriented mast arm is possible by 360 ° of its rotary head, without any risk of tipping exists. Next, it is known, especially in narrow construction sites itself, that the support arms are extended and supported only on one side of the chassis, while they are supported on the other side in its retracted position on the ground. In this case results in a limited working area of the mast after the supported by the extended support arm side. In the case of front telescopic support legs and rear pivotal support legs, the angle of rotation range of the boom arm is between the rearward parallel to the chassis and the rearward front pointing position about 130 °. This restriction in the rotation angle range in the case of the narrow support is felt in practice again and again as disadvantageous.

In order to ensure that the maneuvering range of the articulated mast can be improved even in the case of a support position which is restricted in comparison with full support, a truck-mounted concrete pump of the type specified at the outset has already been proposed ( US Pat. No. 6,202,013 B1 ) that each support boom has a chassis-near and at least one chassis remote support position, which are freely selectable to form defined Abstützkonfigurationen for the four support arm, and that a control device is provided for Mastarmbewegung having a responsive to the selected support configuration software routine or limiting circuit. In the known device, load sensors are arranged on the tip of the articulated mast and position sensors on the support arms, so that the pivoting of the boom arm can be made computer-aided and limited by the respective configuration of the support arms.

Proceeding from this, the present invention seeks to improve the truck-mounted concrete pump of the type specified above that without interference-sensitive sensors with simple means a stability monitoring of the truck-mounted concrete pump is possible, which allows a large maneuvering of the buckling mast despite a limited compared to the full support position. To solve this problem, the feature combination specified in claim 1 is proposed. Advantageous embodiments and modifications of the invention will become apparent from the dependent claims.

In contrast to the known truck-mounted concrete pump, only a few angle sensors on the mast block and on individual mast arms are required for operation. The required in the known arrangement load sensor at the top of the buckling mast and position sensors on the Ausstellbeinen whose Noise potential in rough construction site operation is problematic, can be dispensed with.

The solution according to the invention is essentially seen in that a selector switch is provided with a plurality of switch positions corresponding to different support configurations, in that the control device for the Mastarmbewegung responds to the switch positions of the selector switch and that the control device for Mastarmbewegung a responsive to the selected support configuration software routine or limiting circuit has, which limits the pivoting angle range of the first mast arm about its bending axis and an associated rotation angle range of the turret about its vertical axis in accordance with the selected support configuration. For each support configuration only such Mastarmbewegungen are allowed in which the center of gravity of the machine moves without the risk of incorrect operation within the tilting edges of the spanned by the four support arms support quadrilateral.

An extension of the rotation angle range can be achieved in articulated masts with at least four boom arms in that the control device for Mastarmbewegung an appealing to the selected support configuration subroutine or limiting circuit, which limits not only the pivot angle of the first mast arm and the pivot angle of the second mast arm about the bending axis. Accordingly, a further extension of articulated masts with at least five boom arms is possible if the control device for Mastarmbewegung has a responsive to the selected Abstützkonfiguration subroutine or limiting circuit, which also limits the pivoting angle of the third Mastarms about its bending axis. The alternatively provided limiting circuit expediently has at least one limit switch.

In practical application, the invention is seen above all in that the control device for the Mastarmbewegung a blocking device has, which blocks the buckling drive of the first mast arm in its aligned substantially parallel to the vertical axis position. The above-mentioned extensions for at least four- and fünfarmige mast arms are that the control device for the Mastarmbewegung has a blocking device that blocks the buckling drive of the second mast arm and possibly also the third mast arm in their aligned to the first mast arm position. The alternatively provided blocking device expediently has at least one limit switch.

With the measures according to the invention is achieved in particular that by blocking the first boom arm and possibly further mast arms in their direction parallel to chassis vertical axis a reduction of the center of gravity circles upon rotation of the articulated mast around the vertical axis, which also in restricted Abstützkonfigurationen an extended working area in Angle of rotation results, which can be up to 360 ° with appropriate coordination between support configuration and Armblockierung.

A further advantageous embodiment of the invention provides that the control device has a software routine or a limiting circuit, which responds to the inputted Abstützkonfiguration and to the pivot angle of the first mast arm and selects the range of rotation of the turret in accordance with these data. A further improvement in this regard is achieved if the software routine or the limiting circuit additionally responds to the pivoting angle of the second boom arm when the first boom arm is aligned substantially parallel to the vertical axis and for this purpose selects the rotary range of the rotary head. A further improvement results when the software routine or the limiting circuit additionally responds to the pivot angle of the third boom arm when the first and second boom arms are aligned substantially parallel to the vertical axis and for this purpose selects the rotational range of the rotary head. The alternatively provided limiting circuit expediently has at least one limit switch.

A further advantageous embodiment of the invention provides that at least one of the mast arms consists of two displaceable in the arm direction telescopic segments. Suitably, the first and / or the last boom arm is composed of two telescopic segments. The software routine according to the invention or the limiting circuit limits in this case the pivoting range of the first boom arm and / or the telescopic travel of the first and / or last boom arm and an associated rotation angle range of the rotary head about its vertical axis in accordance with the selected support configuration.

Fig. 1a bis c

ein Schema zur Bestimmung des Arbeitsbereichs der Mast- bewegung einer Autobetonpumpe bei drei verschiedenen Abstütz- und Mastarmkonfigurationen;

Fig. 2

ein Wählschalter zur Auswahl verschiedener Abstützkonfigu- rationen einer Autobetonpumpe;

Fig. 3a

ein Flussdiagramm einer Softwareroutine zur Begrenzung des Arbeitsbereichs bei einer einseitigen Schmalabstützung;

Fig. 3b

ein Flussdiagramm einer Softwareroutine zur Festlegung des Arbeitsbereichs bei Abstützung der Stützbeine im fahrge- stellnahen, nicht ausgefahrenen Zustand der Stützausleger.

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

Fig. 1a to c

a scheme for determining the working range of the mast movement of a truck concrete pump in three different support and Mastarmkonfigurationen;

Fig. 2

a selector switch for selecting various Abstützkonfigu- ration a truck-mounted concrete pump;

Fig. 3a

a flowchart of a software routine for limiting the work area in a one-sided narrow-support;

Fig. 3b

a flowchart of a software routine for determining the work area with support of the support legs in the chassis near, not extended state of the support boom.

In the Fig. 1a to c shown truck concrete pump comprises a chassis 10, arranged on a chassis-fixed base 12, as a carrier for a conveyor line serving four-arm articulated mast 14 and two front support arms 16 ', 16 "and two rear support arms 18', 18". The articulated mast 14 has four mast arms 1,2,3,4 in the embodiment shown. The first mast arm 1 is articulated with its one end 20 on a rotatable about a vertical axis 22 of the chassis 10 by driving a rotary drive 10 rotary head 24. In addition, the mast arms are 1,2,3,4 by controlling associated buckling with respect to the turret 24 and opposite to each adjacent mast arm about horizontal buckling axes A, B, C, D pivoted. The last mast arm 4 carries at its free end a connected to the conveyor line not shown end hose 26th

The front support arms 16 ', 16 "are telescopic relative to the chassis-fixed base 12 from a retracted driving position to an extended, obliquely forward support position obliquely rearward supporting position about a chassis fixed axis 28 pivotally. Next, all support arms 16 ', 16 ", 18', 18" on a telescopic support leg 30, with which they can be supported on a substrate 32 by lifting the chassis 10. In the rear region of the chassis 10 is a hydraulically operated slurry pump 34, which promotes the filled via a feed tank 36 liquid concrete on the capacity 38 along the chassis and the articulated mast 14 to the end hose 26.

Depending on the space requirement at the construction site, the support booms can optionally be supported with their support legs on the ground to form various deployment configurations in an inner, chassis-side or an outer chassis-mounted support position.

According to the embodiment Fig. 2 Six are provided via a selector switch 40 selectable Abstützkonfigurationen, namely a full support V, each a narrow support SL (left) and SR (right), one Y-support YL (left) and YR (right) and a Nahabstützung N.

The full support V is chosen so that the loaded with liquid concrete mast can be rotated in an extended horizontal position about the vehicle vertical axis 22 in a rotation range of 360 ° of the rotary head 24 without the risk of tipping.

In case of narrow supports SL and SR accordingly Fig. 2 the permissible working range for the mast movement to the support side is limited to a defined rotation angle range. The permissible turning range of the articulated mast in the case of an extended kink mast also on the mast arm 1 is for the in Fig. 1a shown support configuration SL between 0 ° and 130 °. This angular range can be extended to 180 ° in the respective support configuration SL, when the first boom arm 1 in his in Fig. 1 shown, to the vertical axis 22 substantially parallel position is blocked.

A further enlargement of the permissible working range is made according to Fig. 1b In this case, the angle of rotation range with the articulated mast extended is also 230 ° on the first boom arm, and it can be extended slightly if in addition, as in FIG Fig. 1a shown, the first mast arm 1 is blocked in its vertical position.

In Fig. 1c is shown in the case of the support configuration N (Nahstellung), in which all four support arms 16 ', 16 ", 18', 18" are supported in a chassis-near inner position with their support legs 30 on the ground 32. In this case, only a stable support is obtained if, in addition to the first boom arm 1, the second boom arm 2 is blocked in its vertical position. The range of rotation in this case is 360 ° with correspondingly reduced working radius.

The truck-mounted concrete pump includes a master arm movement controller responsive to the switch positions of the selector switch 40 for the various support configurations. The control device is computer-aided. The two flowcharts after Fig. 3a and b are intended to illustrate the function of the control device in monitoring the Mastarmbewegung.

The flowchart after Fig. 3a shows the operation of a software routine of the control device in the case of one of the narrow supports SL and SR, which are denoted there by the abbreviation "OSS". If the pump driver of the construction site decides when the support legs are extended according to the local conditions that a narrow support is necessary (OSS necessary?), There is a limited working area compared to the full support work area of 360 °. For this purpose, the relevant arm configuration (here SL or SR) must first be selected via the selector switch 40. As long as the mast arm 1 has a bending angle ≦ 88 ° on the bending axis A, the working range is limited to 130 ° via the control device. A larger working range can be adjusted by bringing the arm 1 into its position substantially parallel to the vertical axis (angle about the bending axis> 88 °). There, the arm 1 can be locked and thereby the work area can be extended to 180 ° (see also Fig. 1a ). The working areas of 130 ° or 180 ° are also to be considered when folding the folding mast.

The flowchart after Fig. 3b illustrates the procedure for the arm configuration N ( Fig. 2 ), So if all support arms are supported in their chassis near inner position on the ground (see also Fig. 1c ).

For supported support legs in the working configuration N and after selection of the selector switch 40 to the position N, the turret is initially locked outside the angular range 5 ° to 355 °. If the first and second boom arms (n-2 = 2) reach the vertical position (> 88 °) with n = 4 boom arms, the two arms 1 and 2 can be locked and the rotation range extended to 360 °. The release of the first or second arm is only possible if the turret is aligned with the articulated mast substantially in the vehicle longitudinal direction in the range 0 ° to 5 ° and 355 ° to 360 °. In this position, then the articulated mast can be folded back into its driving position.

In principle, it is possible that at least one of the mast arms consists of two displaceable in the arm longitudinal telescopic segments. In this case, for example, the first mast arm or the last mast arm may be formed as a telescopic arm. In this case, the software routine or the movement circuit limits the pivoting range of the first mast arm about the bending axis A and / or the telescopic movement of the first and / or last mast arm, and an associated rotation angle range of the turret about its vertical axis in accordance with the selected support configuration.

In summary, the following should be noted: The invention relates to a truck-mounted concrete pump with serving as a support for a conveyor crease mast 14 and two front and two rear, extendable from a driving position in a support position, each with a telescopic support leg 30 on a substrate 32 supportable support arms 16 ', 16 ", 18', 18". In addition, each support arm on an inner, near the chassis and at least one outer, chassis distant support position, which are freely selectable to form defined Abstützkonfigurationen V, SL, SR, YL, YR, N for the four support arm. Furthermore, a control device for the Mastarmbewegung is provided which has a responsive to the selected support configuration software routine, the pivot angle of the first articulated arm 1 about its bending axis A and an associated Rotation angle range of the rotary head 24 about the vertical axis 22 in accordance with the selected support configuration limited. The invention consists in that a selector switch 40 is provided with a plurality of switch positions corresponding to different support configurations V, SL, SR, YL, YR, N, and in that the control device for the boom arm movement responds to the switch positions of the selector switch 40. The master arm movement control means further includes a software routine or limit circuit responsive to the selected support configuration that limits the pivot angle range of the first boom arm 1 about its crease axis A and an associated rotational angle range of the rotary head 24 about its vertical axis 22 in accordance with the selected support configuration.

Claims (14)

1. Mobile concrete pump having a chassis (10), an articulated mast (14) disposed on a substructure (12) affixed to the chassis, serving as the carrier for a feed line, and having at least four mast arms (1, 2, 3, 4), the first mast arm (1) of which is articulated onto a rotating head (24) that can be rotated about a vertical axis (22) of the chassis, with its one end (20), by means of controlling a rotary drive, whereby the mast arms (1, 2, 3, 4) can be pivoted relative to the rotating head (24) and relative to an adjacent mast arm, in each instance, about horizontal articulation axes (A, B, C, D), by means of controlling related articulation drives, having two front and two rear support booms (16', 16" , 18', 18"), disposed on the substructure (12) affixed to the chassis, which booms can be moved from a travel position into a support position, if necessary partially, each have a telescoping support leg (30), and can be supported on a substratum (32), raising the chassis (10), whereby each support boom (16', 16", 18', 18") has a support position close to the chassis and at least one support position away from the chassis, which positions can be freely selected for the four support booms, forming defined support configurations (V, SL, SR, YL, YR, N), and having a control device for the mast arm movement that has a software routine or restriction circuit that responds to the support configuration selected, characterized in that a selection switch (40) having multiple switching positions corresponding to different support configurations (V, SL, SR, YL, YR, N) is provided, that the control device for the mast arm movement responds to the switching position of the selection switch, and that the control device for the mast arm movement has a software routine or restriction circuit that responds to the support configuration selected, which restricts the pivot angle range of the first mast arm (1) about its articulation axis (A), and restricts a related rotation angle range of the rotating head (24) about its vertical axis (22), in accordance with the selected support configuration.
2. Mobile concrete pump according to claim 1, whereby the articulated mast (14) has at least four mast arms (1, 2, 3, 4), characterized in that the control device for the mast arm movement has a subroutine or restriction circuit that responds to the support configuration selected, which restricts not only the pivot angle of the first mast arm, but also the pivot angle of the second mast arm about its articulation axis.
3. Mobile concrete pump according to claim 1, whereby the articulated mast (14) has at least five mast arms, characterized in that the control device for the mast arm movement has a subroutine or restriction circuit that responds to the support configuration selected, which also restricts the pivot angle of the third mast arm about its articulation axis.
4. Mobile concrete pump according to one of claims 1 to 3, characterized in that the control device for the mast arm movement has a locking device that locks the articulation drive of the first mast arm (1) in its position oriented essentially parallel to the vertical axis (22).
5. Mobile concrete pump according to one of claims 1 to 4, characterized in that the control device for the mast arm movement has a locking device that locks the articulation drive of the second mast arm (2) in its position aligned with the first mast arm (1).
6. Mobile concrete pump according to claim 5, characterized in that the control device for the mast arm movement has a locking device that locks the articulation drive of the third mast arm (3) in its position aligned with the second mast arm (2).
7. Mobile concrete pump according to one of claims 1 to 6, characterized in that the control device has a software routine or restriction circuit that responds to the support configuration that was input, and to the pivot angle of the first mast arm (1), and selects the rotation range of the rotating head (24) in accordance with these data.
8. Mobile concrete pump according to claim 7, characterized in that the software routine or the restriction circuit additionally responds to the pivot angle of the second mast arm (2) when the first mast arm (1) is oriented essentially parallel to the vertical axis (22), and selects the rotation range of the rotating head (24) for this.
9. Mobile concrete pump according to claim 8, characterized in that the software routine or the restriction circuit additionally responds to the pivot angle of the third mast arm (3) when the first and second mast arm (1, 2) are oriented essentially parallel to the vertical axis (22), and selects the rotation range of the rotating head (24) for this.
10. Mobile concrete pump according to one of claims 1 to 9, characterized in that the restriction circuit and/or the locking device has/have at least one end switch.
11. Mobile concrete pump according to one of claims 1 to 10, characterized in that at least one of the mast arms consists of two telescope segments that can be displaced in the longitudinal direction of the arm.
12. Mobile concrete pump according to claim 10, characterized in that the first mast arm consists of two telescope segments.
13. Mobile concrete pump according to claim 11 or 12, characterized in that the last mast arm consists of two telescope segments.
14. Mobile concrete pump according to one of claims 10 to 13, characterized in that the software routine or the restriction circuit restricts the pivot angle range of the first mast arm (1) and/or the telescoping path of the first and/or last mast arm, as well as a related rotation angle range of the rotating head (24) about its vertical axis, in accordance with the support configuration selected.

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