EP3765686A1

EP3765686A1 - Mobile concrete pump and method for stabilization-relevant control of a mobile concrete pump

Info

Publication number: EP3765686A1
Application number: EP19712723.6A
Authority: EP
Inventors: Ansgar MÜLLER
Original assignee: Putzmeister Engineering GmbH
Current assignee: Putzmeister Engineering GmbH
Priority date: 2018-03-16
Filing date: 2019-03-15
Publication date: 2021-01-20
Also published as: CN112004977B; DE102018204079A1; US20210010281A1; JP7371870B2; WO2019175400A1; JP2021515858A; CN112004977A; KR20200131824A; KR102640120B1

Abstract

The invention relates to a mobile concrete pump (10) having a chassis (12) which has extendable supporting legs (14), and a concrete distributor mast (18), which is arranged on a slewing mechanism (16) of the chassis (12) such that the concrete distributor mast can be slewed and the inclination thereof can be adjusted by means of an actuating cylinder (22), and which comprises multiple pivotable mast arms (20), and a computing unit for carrying out a stabilization calculation by using the vertical and/or horizontal forces on at least two supporting legs (14), and having a control device which is configured, depending on the stability check, to delimit a slewing movement on the slewing mechanism (16) and/or a pivoting movement of at least one mast arm (20.1, 20.2, 20.3) and/or the initiation of a pumping operation.

Description

Truck-mounted concrete pump and method for stability-relevant

Control of a truck-mounted concrete pump

Technical area

The present invention relates to a car concrete pump and a method for stability-relevant control of a truck-mounted concrete pump.

Description of the Prior Art

EP 2 733 281 A1 discloses a stability rele vant control based on a calculation of the static

Center of gravity of the substructure (metacenter). Further, by taking the center of gravity of the entire vehicle and a limit of safe operation from the concrete support configuration, a safety coefficient is determined. The safety coefficient is the ratio between the distance between the center of gravity and the center of gravity and the distance from the center of gravity to the safety boundary. A safety coefficient greater than one indicates safe operation.

From EP 2 555 067 Al a Stabilitysteue tion for concrete trucks is known in which the center of gravity of each component is determined to calculate the overall center of gravity of the vehicle. This is compared to a given equilibrium range (balance range), which takes into account the support arms in horizontal projection. If the equilibrium range is exceeded, an alarm is issued. EP 2 038 493 A1 discloses a truck-mounted concrete pump with support arms and a control device for the Mastarmbewegung. The known control device comprises a software on a selected support configuration of Stützausle responsive software routine that limits the pivot angle of a first articulated arm about its bending axis and an associated rotation angle range of the turret about the vertical axis in accordance with the selected support configuration. This is accompanied by a shortening of the reach of the boom, while increasing the radial possible working area for a given support configuration.

From DE 10 2014 215 019 Al is a car concrete pump with one of several pivotable mast arms fabric th, on a slewing on a chassis rotatably angeord Neten concrete boom and a tilt sensor for Erfas solution an inclination of the truck-mounted concrete pump, in which a with the inclination sensor coupled safety device is provided for limiting the working range of the concrete distributor mast in response to the inclination. The Si cherheitseinrichtung is configured to limit the rotational movement of the slewing and / or the pivoting movement of at least one mast arm in response to an inclination of the driving tool.

DE 102 42 270 Al discloses a Hubbühnenfahr convincing, in which for safe operation on uneven terrain, a range limitation of the lifting platform takes into account the AufStellneigung. For this purpose, with an inclination sensor Aufstell inclination of the aerial work platform for the operation he summarizes and made a target-actual comparison for allowable ranges at different inclinations in such a way that the largest range achieved. Summary of the invention

Based on this, according to the invention a car concrete pump with the features of claim 1 and a procedural Ren proposed for stability-related control of a truck-mounted concrete pump with the features of claim 6.

The invention is based on the finding that a stability-relevant control of a truck concrete pump in real time effectively by calculating the load torque in the boom arm and the vertical and / or horizontal forces in at least two support legs of the truck-mounted concrete pump is possible. For this purpose, the vertical or horizontal forces are either directly to measure, for example. In the context of a 3D force measurement with suitable sensors, or there will be at least the pressure in the actuator cylinder of the boom, the slewing angle of Mastarmanlenkung, the support points of the support legs and the inclination of the concrete pump penunterbaus (ie the chassis) detected by sensors in order to determine on this basis, the vertical or horizontal forces acting in at least two support legs.

The invention allows taking into account the current support configuration and the machine inclination a statement about the actual stability reserve of Autobe sound pump and a so-called pump statement, i. a statement about whether in the current machine setup (Mast Stel ment, under construction) a pumping process can be initiated (taking into account the knowledge that by filling the delivery pipes with concrete another Gewichtsverän change occurs that lead out the machine from the area of stability Stability Reserve can).

[0010] The present description also covers a computer program with program code suitable for use execute inventive method when the Computerpro program on a computer or a corresponding Rechenein unit, in particular a computing unit of a truck-mounted concrete pump, runs. Both the computer program itself and the computer program (computer program product) stored on a computer-readable medium are claimed.

Further advantages and embodiments of the invention will become apparent from the description and the accompanying undersigned statement.

It is understood that the features mentioned above and those yet to be explained not only in the combination specified, but also in other combinations or alone, without departing from the scope of the present invention.

The invention is illustrated schematically with reference to an embodiment in the drawing and will be described below in detail with reference to the drawings.

Brief description of the drawing

Figure 1 shows a highly schematic side view of a truck-mounted concrete pump on an inclined surface with swung-out boom arms.

Figure 2 shows the truck-mounted concrete pump of Figure 1 in plan view with extended support legs and side twisted concrete distribution boom.

Figure 3 shows an enlarged schematic Dar position an illustration of the force effects on a support leg with support on an inclined surface in seitli cher sectional view along the section line III-III of the figure

Second Figure 4 shows an enlarged schematic Dar position an illustration of the force effects on the support leg of Figure 3 in plan view.

Figure 5 shows an exemplary schematic Dar position of the permissible mast torque at extreme Schrägstel ment and full support of a truck-mounted concrete pump in the longitudinal direction.

Figure 6 shows an exemplary schematic Dar position of the permissible mast torque at extreme Schrägstel development and partial support of a truck-mounted concrete pump in the longitudinal direction.

Figure 7 shows an exemplary schematic Dar position of the permissible mast torque at extreme Schrägstel development and partial support of a truck-mounted concrete pump in inclination in the transverse direction.

FIG. 8 shows an exemplary schematic representation of an operating display.

Detailed description

1 shows a side highly schematic representation of an inventive truck concrete pump 10 with a chassis (substructure) 12 and a 16 applied via a slewing gear 16 on the chassis 12 Betonverteilermast 18, the pivotable mast arms 20 (in the illustrated Ausführungsbei play three mast arms 20.1, 20.2, 20.3). The first mast arm (A-arm) 20.1 of the concrete distributor mast 18 is by means of an adjusting cylinder 22 tilt adjustable on the slewing gear 16 is directed. The following mast arms 20.2, 20.3 are correspondingly pivotable relative to one another by means of actuating cylinders (not shown). For support during operation, the truck-mounted concrete pump 10 in a conventional manner four extendable (and possibly adjustable) and on a substrate U with Abstütztel learning 15 supportable support legs 14 (see Figure 2). On the chassis or substructure 12 is also a Betonaufnah metrichter 24 is provided.

The truck-mounted concrete pump 10 includes, for example, support sensors SB in the support legs 14 for detecting support points P of the support legs 14, inclination sensors SN for detecting an inclination of the chassis 12, a rotation angle sensor SD for detecting a rotation angle d of the slewing gear 16 and a sensor SZ for detecting a pressure in the adjusting cylinder 22 (cylinder pressure sensor or cylinder force sensor) as arranged in the mast arms 20 mast angle sensors SM (the opening angle of the first mast arm 20.1 is referred to as f). The detection of the inclination of the chassis 12, that is, the inclination angle of the substrate U, is preferably measured along two axes; for the sake of simplified illustration, only one pitch angle is shown in Figure 1 (in the sectional plane of a longitudinal extension L of the car concrete pump 10). In a plane perpendicular to the longitudinal extent L of the truck-mounted concrete pump 10 may, for example, an inclination to a

Bank angle ß are present (see also the fol lowing description of Figures 3 and 4).

With the inven tion described in detail in the following a stability monitoring a truck-mounted concrete pump 10 is allowed to incorrect operation during operation of the concrete pump (from support the truck-mounted concrete pump 10 esp. In inclined installation, turning / extension of the concrete distributor boom 18, pumping operation in border areas) avoid, which could lead to tipping over of the machine 10 or overloading of steel components of the machine th. According to the invention can also (at least in a limited area) with an increased inclination work that exceeds the usual 3 ° inclination.

For this purpose, the following parameters are measured by suitable sensors detected: the joint cylinder pressures in the actuating cylinder (or the adjusting cylinders) of the distributor mast 18 (or more precisely the first mast arm 20.1), the rotation angle d, the support points of the support legs and the inclination of Be sound pump substructure (around two axes) and the opening angle of the A-joint.

As further variables, the total weight, the substructure weight and the Unterbauschwerpunkt are needed, which are included due to their variability as estimates in the calculation.

With the cutting forces and the cutting moments between rule mast 18 and substructure 12 and the mass (mast plus sub-construction) and the center of gravity of the substructure 12 can now be calculated on a simplified theoretical calculation, the supporting forces in al len three dimensions in real time. With this calculation, the following checks can be made.

It can be checked how large the proportion of vertical forces that are only about two support points P abgelei tet. If a limit value (for example 95%) is exceeded, the machine is at risk of tilting and all actions must be avoided which increase the load torque.

Furthermore, the lateral force on the jacking legs 14 can be tested, esp. At strongly inclined machine setup (> 3 °). For all support legs 14 it is checked whether an allowable comparative load (combination of Horizon talkraft and vertical force on the support leg 14) exceeded becomes. If this is the case, the machine may no longer be so ver procedure that increases the critical load (such as the load torque and / or the lateral force on a support leg at extre mer inclination or the like.). This is shown by way of example in FIGS. 3 and 4: FIG. 3 shows an enlarged section around a support point P of a support leg 14 on an inclined ground U according to section line III-III of FIG. 2. The inclination of the ground U along the plane through the Support leg 14 is designated g. The forces ratios at the support point P are shown by means of a force parallelogram which is familiar to the person skilled in the art.

An angrei Fende at the support point P of the support leg 14 gravitational force (ie, the proportion of the total gravitati onskraft the truck-mounted concrete pump on this support leg 14) is lot right down facing with F _G. This force can be in the illustrated sectional plane by the support leg 14 in a perpendicular to the subsurface U extending vertical force component F _s , u and a parallel to the underground U duri fende parallel force component F _P disassemble. The parallel force component F _P represents the downhill force acting on the support device at the angle of inclination g.

Figure 4 shows an example and schematically a further division of this slope force F _P in a compo nent parallel to the total background inclination (defined by the angle g and) and a component perpendicular to the

Support leg 14 in plan view. A parallel to the overall inclination of the ground (ie, taking into account the Längsnei supply angle and the angle of inclination in Stützbeinrichtung g) extending and acting on the support point P Kraftkompo component is denoted by Fu. This is composed of the parallel force component F _P and a perpendicular to the support leg 14 extending component F _s , i4. These components F _P and F _s , i4 are actually at the support point P attacking forces in the direction of the support leg and across the support leg.

Finally, the torque can be tested on the gearbox Drehwerksge, also esp. At greatly inclined Ma machine setup (> 3 °). Now, the mast 18 can not be rotated in the fully extended position with maximum load torque, without overloading the slewing 16. It calculates the torque required for mast turning; if this is greater than the boom torque, no movement may be performed that increases the torque.

The invention also enables a so-called pump prediction, i. an indication of whether pumping could be done at the given mast setting. For this purpose, the theoretical maximum load torque at the current mast position and sub-mount slope is calculated in parallel by determining the load torque at the maximum transport line weight with the known angle and the masses known from the machine specification. It must be made safe assumptions about the level in the hopper 24 and in the water tank.

Based on this, safety factors for the critical systems (for example stability, leg overloading and torque on the slewing gear) can be calculated for the current situation (mast setting, operating loads and inclination) (safety-critical part of the control system).

In addition, non-safety-critical safety factors in the current boom position and inclination at maximum operating loads on the arm (such as statements on "Can I also pump in this setup situation or arm position or incline?") Can be calculated are only for information of the operating personnel and are without consequence in the control). It can be easily seen a display for the operator, in each of which only the minimum safety factor for current load and maximum load is displayed. This allows the machine operator to see if he can pump in the aktu ellen position, and it is avoided that the machine rejects this unexpected as Lastmomenterhöhen process.

Figures 5 to 8 show exemplary depicting settings for generating a display for the operating personnel.

Figure 5 shows an exemplary representation of an allowable mast torque at extreme skew in the longitudinal direction L of the truck concrete pump 10 at full support (i.e., at fully extended support legs 14). The representation of Figure 5 illustrates how an optical indication of a total Ge restriction of the radius of movement of the mast assembly 18 of the truck-mounted concrete pump 10 from a consideration of Teileinschränkun gene composed. In a first image Dl .1, the Autobe sound pump 10 is shown very schematically with fully extended support legs 14 in plan view, surrounded by a solid circle Z, which represents the allowable load torque at a level (ie tilt-free) full support (ideal case). The circular line Z thus represents the maximum efficiency circle of the truck-mounted concrete pump. In the first image D1 .1, the limitation of the circle of action due to impermissible support leg longitudinal and transverse forces (see FIGS. 3 and 4) is indicated by the dashed line LI ) drawn at the concrete inclination of the machine. A second image Dl.2 shows with dashed lines LI.2 the restriction of Wirkungskrei ses due to increased rotational torque in the concrete

Inclination of the machine, and a third image Dl .3 shows with dashed line LI.3 the superposition of the restrictions LI .1 and LI.2, and thus the limit of the maximum allowable load torque at current support and inclination. Figure 6 shows in a similar representation a Autobe sound pump 10 in the same inclination in the longitudinal direction, but in partial support. As can be seen from a first image D2.1, due to an obstacle H a support leg 14.1 is only partially extended, while the remaining support legs are fully extended constantly. This results in a modified restriction of the sphere of action (dashed line L2.1) due to impermissible Stützbeinlängs- and -squerkräfte, since the only partially extended support leg 14.1 can take only a ge ringeren crash share, so that in a lower left in the illustration area Extension of the mast arm 18 is severely limited. A second image D2.2 shows again with dashed lines L2.2 analogous to the two th image of Figure 5, the restriction of the sphere due to increased rotational torque in the concrete oblique position and partial support of the machine (as opposed to Figure 5), and a third Figure D2.3 again shows the overlapping of the restrictions L2.1 and L2.2 with dashed line L2.3, and therefore the limit of the maximum permissible load moments for current (partial) support and inclination.

Finally, Figure 7 shows in an analogous manner with reference to three pictures D3.1, D3.2, D3.3 the restriction ratios with partial support according to the situation in Figure 6, but depending on tilt of the truck-mounted concrete pump 10 in the transverse direction (direction transverse to the longitudinal axis L) , Inclination ß). This leads to an unchanged range of action when considering the support leg longitudinal and lateral forces (line L3.1 in Fig. D3.1), but to an altered range of action compared to the representation of FIG. 6 with regard to the restriction due to increased

Engine torques (due to the changed inclination) according to dashed line L3.2 in Fig. D3.2. Correspondingly, there is a somewhat different superposition of the action circles, as shown by the dashed line L3.3 in Figure D3.3. Figure 8 shows the example of Lastmoment Behaves ratios of the third image D3.3 of Figure 7 (ie partial support due to the obstacle H and inclination ß transverse to the longitudinal axis L) a possible display representation for Bedienper sonal with extended boom arm 18, the in the illustration of Figure 8 by approximately 70 ° with respect to its rest position on the car concrete pump 10 is swung. The display also gives the operator an indication of the position of the load torque with current loading of the truck-mounted concrete pump and the delivery hose of the mast arm. In the embodiment of Figure 8, this is a along the reproduction of the mast arm 18 drawn circular display MA, the det within the reproduced by the GE dashed line L3.3 sphere of activity. Thus, the operator is signaled that the Autobe sound pump 10 operates in the uncritical (green) area. Accordingly, the display MA may, for example, be in green. For further information of the operator, a display MZ may additionally be provided, which reproduces the position of the load torque at maximum load to be permissible in this mast position. This display MZ can also be drawn along the reproduction of the mast arm 18. Since this is a limit (maximum permissible load for the concrete Mastarmstellung), this is also within the scope of the line L3.3. The distance between the two indicators MA and MZ indicates to the operator whether and how much concrete can still be pumped into the feed hose of the boom.

In the following Mögli che calculation types are shown as an exemplary embodiment.

The load torque can be calculated from the cylinder pressures

tast ⁼ A-cylinder ^ ^e ^ ^e ^ opening A joint) The factor "lever" in the latter equation represents a proportionality factor dependent on the joint position (ie, the current joint opening angle cp) of the A joint (ie, the joint of the first mast arm 20.1 (A-arm) to the slewing gear 16) which indicates the relationship between the joint moment M _load and the measured cylinder force F _A-Zyiinder , and can be calculated from the geometry in real time, alternatively, a map or an algebraic equation can be stored in the control Cylinder force can be measured directly.

Then, the maximum possible load torque in the current position can be calculated from the arm position.

If the truck-mounted concrete pump includes a sensor that can determine the Stel ment of the mast, it is also possible to determine how large the load torque would be if the Förderlei device filled with concrete of maximum density.

The focal points and endpoints of the individual arms are tabulated deposited as well as their masses with and without concrete in the line.

If the following calculation is carried out with this load torque, it can be specified whether it is possible to pump in the current boom position. If the sensors of the mast position determination is safety-oriented, this Mo ment can be used so, however, thereby overloading the concrete pump (such as by heavy concrete) are not recognized. Next, machine inherent weight and center of gravity are determined. The arm weight is (as will be recognized below) not in the calculation, but the total weight and the load torque. In order to estimate the total weight of the machine, the calculation should always be conservative with the minimum possible arm weight.

If one calculates with the maximum possible load torque as determined above, this corresponds to the filled conveying line on the distributor boom (otherwise the load torque would be smaller).

If one calculates with the previously determined from the measured Zylinderdrü bridges load torque, the minimum arm weight must be taken into account, which can generate the measured load torque. That that the arm mass at low load moment with the minimum arm mass is only then raised to the moment necessary for the generation of the moment when the fully extended arm could no longer generate the load torque without payload. Of course, it is also always possible to use the minimum arm mass Conservatively (to derive the center of gravity of the boom arm arrangement - the lighter the arm at the same load torque, the further "outside" is the

Main emphasis) .

Furthermore, the total mass of the substructure (or overall vehicle) and the center of gravity of the substructure are important. Both are usually measured "empty" for each machine (once in the factory) and can be entered into the controller.

For the Unterbaumasseneigenschaften the position of the support legs 14 is also important. These positions are by conventional sensors SB, such as. The ESC sensor on the detector, known, so that their focus in the control calculated and the Unterbauschwerpunkt can be corrected accordingly.

In addition, the concrete weight in the hopper 24 of the concrete pump 10 and the water in the water tank can also be taken into account. Depending on the mast position can / should be expected in each case with the worst case (hopper empty when the arm protrudes forward funnel full when pumped backwards). In the case of the water tank, level measurement would also be conceivable, where then, depending on the support, the pumping of the tank would have to be stopped.

Finally, the calculation of the support leg forces. The load moment can now be divided into the coordinate directions (it does not matter which calculation method it comes from).

The forces in the support legs 14 can be approximately calculated according to the laws of static strength theory:

In the usual choice of coordinate system, the position of the rotary head or slewing gear 16 lies in the coordinate Jump, so that the mast weight falls out of the equations. Only the total weight of the machine as well as the sub-construction weight with emphasis are included in the equations.

If more than three support legs 14 are in contact with the ground, the system is overdetermined, a clear solution is then not possible. Therefore, spring constants can be assumed for the support to calculate the forces. In addition, it is assumed that the machine 10 is in the (oblique) plane. For each additional support leg (with four support legs there is only one more, but there are also cases with other support legs conceivable) must also be fulfilled the following condition:

[0059] For each support leg:

If this calculation yields a negative value for a force, this is a sign that the relevant support leg is lifting off. This support leg is then removed from the calculation and the equation system is solved with a support leg less.

The stiffnesses of the support legs depend in general my case on the extension length and the design of the substructure; Here, either a constant, a characteristic field or an approximation formula can be selected, which are determined either in the mechanical interpretation rule or experimentally. An alternative formulation that provides support forces in all spatial directions would be the determination of the support forces with a simplified finite element model (FEM). This consists in the simplest case of four beam elements, which are acted upon with forces and moments that have been previously converted to the Drehwerksmit telpunkt. In these forces and moments all loads from own weight, mast, operating loads, etc. are summarized.

Now, the permissible limits are checked for all relevant components of the concrete pump. As an example, who presented here the tests for some components.

In the stability calculation or stability audit is checked how large the proportion of vertical forces that are derived only over two support points. If a limit value (eg 95%) is exceeded, the machine is at risk of tipping, and all actions must be avoided that increase the load torque (such as, in particular, and to move the mast joints in unfavorable positions, the slewing in a less favorable position drive, forward pumps with the core pump, etc.).

When testing the load on the support legs 14, it is assumed that when the machine is installed straight, the lateral forces in the x and z directions correspond to a proportion of wind factor at the contact forces. Assumptions are from 1% to 5%. When the machine is at an angle, the lateral forces increase approximately with the sine of the tilt angle: From the forces, a comparative utilization rate of the support legs 14 is determined by means of constants. The constants can be determined, for example, in the FEM design or experimentally. For example. applies:

If the above inequality for all support legs 14 is satisfied, then the current angle is allowed.

It may be useful that the safety factors S _x to S _z in the equation depend on the current position of the respective support leg. The safety factors can be determined during the design in the FE system or experimentally.

A review of the torque at the company Drehwerksge is esp. When installing the machine with a Nei supply made> 3 °. Now, the mast can not be rotated in fully stretched position with maximum load torque in each position, without overloading the slewing and consequently the mast. Therefore, the torque required for mast turning is calculated; If this is higher than the boom torque, no more movement may be performed, which increases the moment.

In the factor S _slewing collateral included, among other things wind forces can be considered here. Theoretically, it would also be possible to determine this factor at runtime (anemometer), but then there would be a susceptibility to changing weather conditions. If the measurement of the arm positions or a Ver use of these measurements is omitted, a stability monitoring is still possible, but without statement about the stability with maximum load.

If the current arm position is determined with safe Senso rik, from these signals, the maximum load torque can be calculated at full load. Thus, it can always be calculated whether the machine can pump in this position, a determination of the current A-joint torque is unnecessary.

If the stability is realized via the measurement of the current tipping safety, the arm angles must also be evaluated for the safety at maximum load. Since this information is non-safety-critical, this can be done with non-safety-oriented mast sensor, and the indication of whether the machine in the position can still pump, is displayed purely informative.

According to the invention, the stability calculation can thus either from the measurement of the actuating cylinder pressure (A-cylinder), the opening angle of the A-arm, the rotational angle d and a measurement of the positions of the support legs (plus a center of gravity calculation from the (uncertain) joint angle measurement for Calculation of the maximum A-joint torque and the support leg positions) from the measurement of the support forces (plus a gravity calculation from the (uncertain) joint angle measurement for the calculation of the maximum A-joint torque and the support leg positions) from a measurement of the cylinder force or a bolt force (to avoid measurement problems in the end) associated with the calculation of the maximum A-joint torque (from the measurement of the joint angle and the turning angle d).

According to the invention, an unnecessary restriction of the working range of a truck-mounted concrete pump is avoided even with a strong ge inclined installation. It is also possible to work outside the current, safe working area with a shorter range. There may be a pump forecast in the control display. Furthermore, it is possible to increase the allowable inclination angle (e.g., 10 °) of the machine;

if necessary, the range limits the control.

Claims

claims

1. Truck-mounted concrete pump (10) with

a chassis (12) having extendable support legs (14), and

a rotatable and by means of an actuating cylinder (22) nei adjustable in size on a slewing gear (16) of the chassis (12) arranged concrete placing boom (18) comprising a plurality of pivotable mast arms (20),

and a computing unit for carrying out a stability calculation on the basis of vertical and / or horizontal forces on at least two support legs (14), and with

a control device which is adapted, starting from the stability test to limit a rotational movement on the slewing gear (16) and / or a pivoting movement of at least one boom arm (20.1, 20.2, 20.3) and / or the initiation of a pumping operation.

2. truck-mounted concrete pump (10) according to claim 1,

with sensors for detecting vertical and / or horizontal forces on at least two support legs (14), wherein the stability calculation is carried out on the basis of a load moment and the measured vertical or horizontal forces, or

With

A support sensor system (SB) for detecting the support points of the support legs (14),

Tilt sensors (SN) for detecting the inclination of the chassis (12) about two axes,

• a sensor (SZ) for detecting a pressure in the actuating cylinder (22) (cylinder pressure sensor), and

A rotation angle sensor (SD) for detecting a rotation angle of the slewing gear (16), wherein the stability calculation using a

Lastmoments and a calculation of the vertical or Hori zontalkräfte on at least two support legs (14).

3. truck-mounted concrete pump (10) according to claim 1 or 2, wherein the arithmetic unit calculates a theoretically maximum load torque at the current mast position and Unterbauneigung.

4. The truck-mounted concrete pump (10) of claim 3, further comprising a user interface via which it follows an indication of whether a pumping operation can be initiated at the given mast position.

5. truck-mounted concrete pump (10) according to one of claims 1 to 4, wherein a load torque is calculated from the cylinder pressure.

6. truck-mounted concrete pump (10) according to one of claims 1 to 5, wherein a calculation of the proportion of the vertical forces, which are derived only on the at least two support legs, he follows.

7. A truck-mounted concrete pump (10) according to any one of claims 1 to 6, wherein a check of the load of the support legs (14) by calculating a degree of comparative utilization based on the transverse forces acting on the support legs takes place.

8. truck-mounted concrete pump (10) according to one of claims 1 to 7, wherein in particular in a list with an inclination of the chassis (12) with more than 3 °, a calculation of the turning of the concrete placing boom (18) necessary torque and its comparison with a Boom torque occurs.

9. A method for stability-related control of a truck-mounted concrete pump (10) with a chassis (12), the extendable bare support legs (14) and on the one of several pivotable mast arms (20) formed concrete distribution mast (18) on a slewing gear (16) rotatable and by means of a Stellzylin leather (22) is arranged tilt-adjustable,

in which a rotational movement on the slewing gear (16) and / or a pivoting movement of at least one boom arm (20) and / or an initiation of a pumping operation depending on a stability calculation on the basis of vertical and / or horizontal forces on at least two support legs (14) is limited ,

10. The method according to claim 9, wherein the stability calculation takes place on the basis of a determined load torque.

11. The method according to claim 9 or 10, wherein a loading calculation of the vertical and / or horizontal forces on at least two support legs (14) from measured values of a support sensor (SB) for detecting the support points of the support legs (14), tilt sensors (SN) for detecting the inclination of the chassis (12) about two axes, a sensor (SZ) for detecting a pressure in the actuating cylinder (22) (cylinder pressure sensor) and / or a rotation angle sensor (SD) for detecting a rotation angle of the rotary unit (16) ,

12. The method of claim 10 or 11, wherein the theo retisch maximum load torque is calculated at the current mast position and Unterbauneigung.

13. The method of claim 12, wherein a user interface via a Benut displayed, if at the given mast setting a pumping operation can be initiated.

14. The method according to any one of claims 10 to 13, wherein the load torque is calculated from the cylinder pressure.

15. The method according to any one of claims 9 to 14, wherein a proportion of the vertical forces, which are derived only via the at least two support legs, is calculated.

16. The method according to any one of claims 9 to 15, wherein for a test of the load of the support legs (14) a Ver equivalent load is calculated based on the lateral forces acting on the support legs.

17. The method according to any one of claims 9 to 16, wherein in particular in a setting with an inclination of the drive frame (12) with more than 3 ° for rotating the concrete distri lermastes (18) necessary torque is calculated and compared with a boom torque.

18. Computer program with program code means to perform all the steps of a method according to one of claims 9 to 17, when the computer program on a computer, a processor or a corresponding processing unit, in particular a computing unit of a truck-mounted concrete pump (10) according to one of claims 1 to 8 , is performed.