EP4314441A1 - Fonction de surveillance de stabilité à sécurité intégrée pour un système de transport de matières épaisses - Google Patents

Fonction de surveillance de stabilité à sécurité intégrée pour un système de transport de matières épaisses

Info

Publication number
EP4314441A1
EP4314441A1 EP22714874.9A EP22714874A EP4314441A1 EP 4314441 A1 EP4314441 A1 EP 4314441A1 EP 22714874 A EP22714874 A EP 22714874A EP 4314441 A1 EP4314441 A1 EP 4314441A1
Authority
EP
European Patent Office
Prior art keywords
sensor
thick matter
operating information
conveyor system
mast
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.)
Pending
Application number
EP22714874.9A
Other languages
German (de)
English (en)
Inventor
Ansgar MÜLLER
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 Engineering GmbH
Original Assignee
Putzmeister Engineering 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 Engineering GmbH filed Critical Putzmeister Engineering GmbH
Publication of EP4314441A1 publication Critical patent/EP4314441A1/fr
Pending legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0463—Devices for both conveying and distributing with distribution hose with booms with boom control mechanisms, e.g. to automate concrete distribution

Definitions

  • the present invention relates, inter alia, to a thick matter conveying system with a thick matter pump, a thick matter distributor boom, a substructure, a sensor unit and a processing unit, and a method for operating a thick matter conveying system.
  • a sludge delivery system with a sludge pump for delivering a sludge, a Thick matter distributor boom for distributing the thick matter to be conveyed, wherein the thick matter distributor boom has a slewing gear that can be rotated about a vertical axis and a boom arrangement encompassing at least two boom arms, a substructure on which the thick matter distributor boom and the thick matter pump are arranged, the substructure having a support structure for supporting the substructure with at least one horizontally and/or vertically movable support leg, a sensor unit with at least one sensor for detecting operating information, and a processing unit for determining a stability parameter of the thick matter conveyor system, depending on the at least one detected operating information, and for determining proper operation of the sensor of the sensor unit that records the at least one item of operating information, wherein if the processing unit does not determine proper operation of the sensor, the processing unit is set up to state the status to determine safety parameters depending on an extreme value of the operating information to be recorded by the
  • the thick matter conveying system according to the invention is, for example, a truck-mounted concrete pump.
  • the invention is a particularly advantageous embodiment of a sludge conveying system in which, to determine the stability, a stability parameter is also used to determine and thus check whether the operating information to be taken into account also comes from a properly operated sensor. If it is determined that the sensor capturing the operating information is actually not in proper operation, then, for the purpose of conservative estimation, an extreme value of the sensor actually to be obtained from the improperly operated comprehensive operating information instead of the recorded operating information considered in the determination, which represents such a position of a component in which the processing unit would determine the greatest stability parameter and thus the lowest stability.
  • the invention has recognized that by determining whether the sensor capturing the operating information is in proper operation at all, it can be avoided that operating information provided by faulty sensors and thus to be regarded as unreliable is used when determining stability.
  • the dependence of the subsequent determination of the stability parameter on an extreme value of the operating information to be considered as described above, which is required in this case, also allows a meaningful and reliable determination of the stability of the thick matter conveyor system as a whole and thus the most efficient possible further operation of the individual components of the thick matter conveyor system. In this way, fail-safe stability monitoring can be implemented without the need for redundancy of components, in particular complex sensors. An otherwise usual shutdown of the entire thick matter conveyor system for reasons of stability can be avoided.
  • a shutdown is fundamentally un- desirable, since in this case concrete usually has to be pumped back into the line, which is often associated with damage due to the rapid hardening of concrete.
  • access to the site of the concreting work is made more difficult by the switched off concrete pump.
  • the possibility of avoiding a shutdown is also particularly advantageous for concreting work that has to be carried out in one piece, for which an additional concrete pump must typically be available to protect critical concreting work. This enables significantly more efficient operation without unnecessary interruptions.
  • the sensor that cannot be operated properly does not have to be repaired immediately, but can be carried out as part of a normal inspection interval, which significantly increases the possible service life of the thick matter conveyor system.
  • Dickstoff is a generic term for media that are difficult to convey.
  • the thick substance can be, for example, a substance with coarse-grained components, a substance with aggressive components or the like.
  • the thick material can also be a bulk material.
  • the high-density material is fresh concrete.
  • Fresh concrete can contain grains up to a size of more than 30 mm, sets, forms deposits in dead spaces and is difficult to convey for these reasons.
  • Exemplary thick materials are concrete with a density of 800 kg/m 3 to 2300 kg/m 3 or heavy concrete with a density of more than 2300 kg/m 3 .
  • the sludge pump can have a core pump with two, for example exactly two, delivery cylinders. It is then switched from alternately from the first to the second delivery cylinder and from the second to the first delivery cylinder. In between an S-tube can be switched cyclically between the delivery cylinders. Furthermore, an additional cylinder can be set up in such a way that it bridges each of the transitions.
  • the S-pipe is a movable section of pipe that alternately connects the delivery cylinders to the outlet of the sludge pump.
  • the pipe section and the additional cylinder can be elements of a structural unit that is detachably connected to the sludge pump. This makes it easier to maintain and clean the sludge pump.
  • the slewing gear is rotatable, for example 360 degrees, about a vertical axis, for example a central axis of the slewing gear.
  • the slewing gear can include at least one actuator, such as a hydraulic or pneumatic cylinder or an electromechanical actuator or a combination of several actuators, including different types, with which it can change its position relative to the substructure by rotation.
  • the slewing gear includes a hydraulic motor and a pinion with a planetary gear.
  • the mast arrangement comprises at least two mast arms, but can also comprise three, four or five mast arms.
  • the mast assembly includes three to seven mast arms.
  • the first mast arm is connected at its proximal end to the slewing gear and at its distal end to the proximal end of an adjacent mast arm.
  • the one or more other mast arms are lined up next to one another and are each connected at their proximal end to a distal end of the adjacent mast arm.
  • the distal end of the mast arrangement corresponds to the distal end of the last mast arm in the row, which also has no further connection at its distal end. the distal end of the mast arm last in line defines a possible load attachment point.
  • the mast arms are each connected to one another via a mast joint in such a way that they can be moved at least, for example exclusively Lich, in one dimension, at least independently of the other mast arms.
  • Each mast arm is associated with the mast joint at its proximal end.
  • the first mast arm is connected to the slewing gear via its mast joint in such a way that when the slewing gear is rotated about its vertical axis, the first mast arm, and in some embodiments also the entire mast arrangement, is rotated about this axis.
  • the mast arm is fastened to the slewing gear in such a way that it can be moved, for example exclusively, in the vertical direction independently of the slewing gear and can be rotated, for example, via its mast joint.
  • a mast arm has a telescopic function and can be lengthened or shortened telescopically and steplessly along its longitudinal axis.
  • a mast arm can be adjusted, for example, in such a way that at least the distal end of the mast arm can be moved in at least one of the three spatial directions (x, y and z direction).
  • a mast arm can be rotatable about its longitudinal axis.
  • a mast arm includes at least one actuator for its mast joint, such as a hydraulic or pneumatic cylinder or an electromechanical actuator or a combination of several types of actuators, including different types, with which it adjusts its position relative to at least one other mast arm, in particular the mast arm connected at the proximal end.
  • the actuators can be set up, for example, the mast arm around a horizontal axis, which runs, for example, through its mast arm joint, to pivot in rotation and/or to move in a translatory manner in one, in two or in all spatial directions.
  • the mast arm can have further actuators, by means of which it can be lengthened or shortened or rotated, for example telescopically.
  • the substructure is a basic structure, for example a chassis, on which the sludge distributor boom and the sludge pump are arranged.
  • thick material distributor mast and / or thick material pump are fastened to the substructure.
  • the substructure can be stationary (e.g. as a platform) or mobile (e.g. as a vehicle).
  • the entire sludge conveying system can be designed as a particularly compact unit, and for example in the form of a truck-mounted concrete pump.
  • the substructure comprises a supporting structure for supporting the substructure with at least one support leg that can be moved horizontally and/or vertically.
  • a support leg of a thick matter conveyor system is a component of the supporting structure that serves to increase the stability of the thick matter conveyor system.
  • the influence of the support structure on the stability is particularly dependent on the individual arrangement and positioning of the support legs.
  • the support leg can be supported on a sub-ground with a support plate.
  • Usually four support legs are provided in a support structure.
  • the sludge conveying system includes means for executing or controlling the method according to the invention.
  • These funds include in particular the sensor unit and the processing unit, but can also include a control unit of the thick matter conveyor system, and can be designed as separate hardware and/or software components or combined in various combinations.
  • the means include, for example, at least one memory with program instructions from a computer program and at least one processor designed to execute program instructions from the at least one memory.
  • the sensor unit is set up to record at least one piece of operating information, in particular automatically and independently of a user input. It is conceivable that a piece of operating information is repeatedly recorded at predetermined time intervals. For example, operating information can be detected by measuring a measured variable that is characteristic of this operating information.
  • the sensor unit can comprise one or more sensors of the same or different type. Exemplary sensors are angle measurement sensors (e.g. for detecting a position of the slewing gear), force and pressure sensors (e.g. for detecting a cylinder force of a mast joint, a force acting on an actuator of a mast arm or a leg force of a support leg), position sensors (e.g.
  • sensors of a satellite gear based positioning systems such as GPS, GLONASS or Galileo
  • position sensors e.g. spirit levels or inclination sensors for detecting the angle of inclination of a mast arm
  • electrical e.g. induction sensors
  • optical sensors e.g. light barriers, laser sensors or 2D scanner
  • acoustic sensors e.g. ultrasonic or vibration sensors
  • operating information can also be acquired through the interaction of a number of sensors in the sensor unit.
  • the sensor unit can also include one or more (eg wireless) means of communication, by means of which (eg externally) recorded or specified operating information can be received at the sensor unit.
  • the processing unit is to be understood as being set up to determine a stability parameter of the thick matter conveying system. This should be done depending on the at least one, in particular all, recorded operating information. For this purpose, it can, for example, have access to the information recorded by the sensor unit. Determining the stability parameter should also be understood to mean that the stability parameter is calculated using specified properties of components of the thick matter conveyor system that are assumed to be constant, such as their mass or their spatial extent.
  • Proper operation of a component is understood to mean operation that is fundamentally and technically customary for the component and for which the component is designed under the typically prevailing conditions. For example, when a component is operating properly, a specific energy supply is provided for the component.
  • the processing unit is set up to determine proper operation of a sensor of the sensor unit that detects at least one item of operating information.
  • the processing unit is intended to check whether the sensor is operating properly. Measures to determine proper operation are known to the specialist. For example, the processing unit checks several criteria that ensure proper operation exclude.
  • a sensor can include two measuring systems, the recorded values of which are compared to one another in order to record the operating information.
  • the processing unit can also carry out plausibility checks, in which the processing unit determines whether operating information detected by a sensor is physically meaningful.
  • the processing unit can also check the energy supply of the sensor, for example, and rule out proper operation in the event of unusual deviations. It is also conceivable that a piece of operating information is recorded twice in quick succession, and the processing unit excludes proper operation if a measured value for which the recorded operating information is indicative deviates above a specifiable maximum permissible deviation.
  • the stability of the thick matter conveyor system is higher, the larger the distance of the line of action, which takes into account all forces acting on the thick matter conveyor system, from the tipping edges of the contact area.
  • a reliable statement about the stability can already be made if a line of action is taken as a basis, which at least takes into account the weight acting on the sludge conveyor system. The more of the actually acting forces in the line of action are taken into account, the more precisely this statement can be made. Therefore, the stability of the thick matter conveyor system can be characterized particularly advantageously by a stability parameter representing the distance between the line of action and the tilting edges of the contact area.
  • the stability parameter is within a predetermined or dynamically determinable stability range, within which the distance between the line of action and each of the tilting edges is greater than or equal to zero, and a safety reserve is preferably used taken into account.
  • the stability of the thick matter conveyor system is given within the stability area.
  • the upper limit of the stability range is defined by a maximum stability parameter.
  • the maximum stability parameter is when the distance between the line of action and one of the tipping edges is zero. Accordingly, the distance between the line of action of at least one of the tilting edges decreases as the stability parameter increases. Above the upper limit, the distance is less than zero and the high-viscosity conveyor system is no longer stable.
  • a stability range is specified or determinable for each operating situation of the thick matter conveying system, for example taking into account assumed constant properties of the components of the thick matter conveying system to be taken into account.
  • a contact area can be predetermined or determinable for every possible arrangement of the support structure, for example by a specific arrangement of support legs.
  • the distance of the line of action from one of the tipping edges and the position of the line of action are each at least dependent on the weight of the thick matter conveying system and can be calculated, for example, by the processing unit.
  • the position of the line of action can have vertical and horizontal direction components and depend on one or more directions of action and/or magnitudes of other forces.
  • one or more forces to be taken into account can be predefined or can be selected by a user (eg by means of a suitable user interface). For example, if only the weight of a sludge conveyor system is taken into account, then the line of action corresponds to a plumb line running through the overall center of gravity. The position of the line of action then equals the position of the plumb line.
  • the position of the line of action is also dependent on a force, which has a horizontal component, such as a wind force acting laterally on the sludge conveyor system, then the position of the line of action also includes at least one horizontal component, and its position is not equal to the plumb line. It is conceivable that the position of the line of action is dependent on one or more other forces in such a way that the processing unit determines the position, preferably only when one or more specific conditions occur, for example above one during operation of the Dick material conveyor system prevailing wind speed, gradually, for example, by a predetermined amount in a given direction before, adjust. It is also conceivable that the position of the line of action depends on the directions of action and/or magnitudes of one or more, preferably all, operating information recorded by the sensor unit and indicative of forces.
  • Operating information is indicative of a property or an operating parameter of a large number of possible properties and operating parameters of a component of the thick material conveying system and is representative of this property or this operating parameter. Operating information should therefore be able to be assigned to a component.
  • a property or such an operating parameter can be characterized, for example, by a measured variable.
  • an extreme value of the operating information to be recorded by the sensor should be taken into account when determining the stability parameter.
  • Such, in particular hypothetical, operating information should be below this extreme value be understood, which the sensor would detect in a position of a component assigned to it, in which the processing unit determines the greatest stability parameter and thus the lowest stability.
  • the extreme value can be a minimum value or a maximum value.
  • the extreme value of an item of operational information can also be dependent on one or more other items of operational information. For example, several extreme values can be present for a piece of operational information, with the extreme value to be taken into account being dependent in particular on an instantaneous value of further operational information. For example, such an extreme value is stored in the processing unit for each sensor of the sensor unit.
  • the thick matter conveying system comprises a communication interface and/or a first user interface, the communication interface and the user interface each being set up to detect the extreme value or an extreme value range of the operating information to be detected by the sensor.
  • Such a communication interface can include one or more (eg, wireless) means of communication, by means of which extreme values that are recorded externally and entered, for example, by a user on a user terminal, are received by the thick matter conveyor system in a way known to those skilled in the art. Provision can also be made for an extreme value range to be detected.
  • the processing unit can select an extreme value for determining the stability parameter from the recorded extreme value range, for example using predetermined selection rules. For example, if there are several possible extreme values for the facility to be recorded In this way, the processing unit can, in particular, select an extreme value based on one or more other items of operating information.
  • a user interface for detecting the extreme value of the operating information to be detected by the sensor, this can be in the form of at least a button, a keypad, a keyboard, a mouse, a display unit (e.g. a display), a microphone, a touch-sensitive display unit (e.g. a touchscreen), a camera and/or a touch-sensitive surface (e.g. a touchpad).
  • capturing the extreme value is done by capturing user input at the user interface.
  • the thick matter conveyor system can have at least one second user interface for reporting an instantaneous value of the operating information to be recorded by the sensor, wherein the communication interface or the first user interface is set up to record the instantaneous value of the operating information to be recorded by the sensor, and wherein the processing unit is set up to determine the stability parameter as a function of the instantaneous value of the operating information to be detected by the sensor.
  • the instantaneous value is to be understood as such operating information that the sensor would record if it were to be operating properly at the time of the measurement.
  • a such an instantaneous value can, for example, correspond to a currently existing measured value or measured value range for which the user information to be detected by the sensor is indicative.
  • the instantaneous value of the operating information to be detected by the sensor can be announced by means of a second user interface associated with the sensor.
  • the second user interface can be embodied as a display.
  • the thick matter conveyor system has one or more second user interfaces in the form of scales arranged on components, each of which represents an instantaneous value. The user can then read the instantaneous value. The instantaneous value can then be made accessible to the processing unit via the communication interface or the first user interface, for example by a corresponding user input. The processing unit then takes the instantaneous value into account when determining the stability.
  • the stability parameter is determined depending on the instantaneous value instead of the extreme value if the instantaneous value is less than a maximum extreme value or greater than a minimum extreme value is.
  • the sensor unit comprises at least one position sensor for detecting operating information that is indicative of a position of one of the mast arms.
  • This can be an absolute position, ie position and/or location, or a relative position of the mast arm.
  • a position can be detected, for example, in the form of an angle of inclination of the mast arm relative to the perpendicular direction by means of an inclination sensor.
  • a relative position may be characterized by the position of a mast arm in comparison to another mast arm connected to the proximal end of the mast arm.
  • the first boom arm connected to the slewing gear it can be the position relative to the vertical axis of the slewing gear. Since the dimensions of the mast arm and the positions of the mast arm or slewing gear to be set in relation are known, the position of a mast arm can already be clearly determined by detecting the relative position, for example the angle of inclination.
  • both the slewing gear and a first mast arm of the mast assembly and two of the mast arms are connected to one another via an articulated joint, the position of a mast arm being continuously detectable, in particular by determining the opening angle of the mast arm.
  • the opening angle can be determined by comparing the angles of inclination of the mast arms connected via the articulated joint.
  • the control unit can be set up to limit the working range of the mast arrangement by restricting the pivotability of the mast arm to the currently permissible opening angle.
  • all articulated joints have articulation axes that are parallel to one another.
  • the articulated joints can each have a maximum opening angle of 120 degrees, preferably 150 degrees, and particularly preferably 180 degrees.
  • the sensor unit can detect the position of a mast arm in a particularly simple manner by determining the corresponding angle of inclination. The use of complex and extensive sensors to detect the position of the mast arm can be avoided.
  • the sensor unit comprises at least one leg position sensor for detecting operational information indicative of a position of the supporting leg.
  • the contact area can be increased particularly easily and the stability area can be increased with regard to at least one tipping edge.
  • the position of the at least one support leg is therefore of particular significance for determining the stability parameter.
  • the horizontal spacing of the steep surface and the direction of the horizontal spacing of the support leg in the respective operating state compared to a zero position in the retracted state are determined.
  • the vertical distance can also be determined and taken into account.
  • the leg position sensor is designed as a GPS sensor.
  • the sensor unit comprises at least one angle sensor for detecting operating information that is indicative of a position of the slewing gear.
  • the sensor unit preferably comprises at least one position sensor for detecting operating information which is indicative of an angle of inclination of the thick matter conveying system.
  • the angle of inclination should be an angle of the thick material conveyor system in relation to the vertical direction.
  • a maximum permissible inclination angle can be specified for the thick matter conveying system. If the thick matter conveyor system is operated on a sloping plane, i.e. inclined, the course of the line of action, which takes into account at least the weight force acting on the thick matter conveyor system, and the distance between the line of action and the tilting edges can change. Therefore, the inclusion of an angle of inclination of the thick material conveyor system when determining the stability parameter is particularly meaningful.
  • the sensor unit includes at least one distance sensor for detecting operating information that is indicative of an excavation of the thick matter conveyor system.
  • An excavation occurs when the sludge handling system is supported by its supporting structure, for example the supporting legs of the supporting structure.
  • the excavation under consideration can be further characterized, for example based on its height. This can be defined, for example, by the size of a vertical distance between the rising surface of the support leg and a zero position that can be specified, for example. Alter natively or in addition to this, a vertical distance of another component of the high-consistency conveyor system, such as the substructure, can also be used. Also can a Excavation can also be determined by exceeding a predetermined threshold of a detected vertical leg strength. If the thick matter conveying system is designed as a truck-mounted concrete pump, the excavation can also be characterized by measuring the suspension travel of the vehicle axles.
  • the sensor unit includes at least one leg strength sensor for detecting operating information that is indicative of a horizontal or vertical leg strength of the supporting leg.
  • the sensor unit can comprise at least one sensor for detecting operating information which is indicative of a load moment of one, several or all mast arms.
  • a horizontal or vertical leg force should be understood as meaning a horizontal or vertical force acting on a supporting leg.
  • a load moment of a mast arm is, for example, its joint moment.
  • the joint moment of a mast arm is the moment acting on its mast joint. This represents a moment that depends, among other things, on the total weight of the mast assembly, on wind loads, on the weight of the thick matter to be conveyed or on the weight acting on the distal end of the first mast arm of the mast assembly, corresponding to a mast tip load.
  • the Ge steering torque can, for example, by measuring in the actuator the cylinder force acting on the boom arm or a cylinder pressure acting in the actuator of the boom arm in conjunction with one or more other measurements, such as a measurement of the respective joint angle, can be used to determine the joint torque.
  • the joint moment of a mast arm can be calculated by means of a transfer function from a cylinder force and a joint angle of the mast joint of the respective mast arm. Based on these properties, the stability parameters of the thick matter conveyor system can be reliably determined. This in turn makes it possible to make a reliable statement about the stability of the thick matter conveyor system.
  • the processing unit can be set up to calculate a load moment based on recorded operating information indicative of the joint moments of all mast arms, and to determine the stability parameter as a function of the calculated load moment.
  • the processing unit can, for example, carry out a particularly precise determination of the stability parameter in real time, taking into account the cylinder pressure and the angle of inclination of the respective mast arms.
  • the sensor unit must then be set up to record indicative operating information for the cylinder force and the angle of inclination of all mast arms and, for example, comprise a number of suitable sensors.
  • the sensor unit can include a cylinder pressure sensor and/or a cylinder force sensor on a bottom side and/or on a rod side of an A-cylinder of the mast arrangement.
  • An A-cylinder is to be understood as meaning an actuator of the first mast arm, its purpose being to extend the cylinder
  • the pressure chamber used is called the bottom side and the pressure chamber used to retract the cylinder is called the rod side.
  • Operating information indicative of a cylinder force of one, several or all mast arms can be recorded particularly easily by means of one or more such sensors. This enables the load moment to be calculated, which can be used to determine the stability parameter in a particularly simple manner.
  • Further exemplary operating information is indicative of the weights of all boom arms with filled and/or unfilled delivery line, for the positions of the centers of gravity of all boom arms, for weights of additional loads, for positions of additional weight attachment points, for wind forces acting on the boom arms, for positions of the centers of wind area of all boom arms, for a weight of the substructure, for a position of the center of gravity of the substructure and for positions of the footprints of the support legs in the retracted and/or in the extended state.
  • the thick matter conveying system comprises a control unit for outputting a first control signal if the certain stability parameter of the thick matter conveying system is greater than a maximum stability parameter of the thick matter conveying system, and for outputting a second control signal if the certain stability parameter of the thick matter conveying system is less than or equal to the maximum stability parameter of the sludge conveying system.
  • the control unit can output further control signals, for example if the distance between the determined stability parameter and the maximum stability parameter falls below a specified minimum.
  • the control unit includes appropriate means to output control signals, such as a wired or wireless signal output. By outputting control signals in the manner described, the control unit can control at least one component of the thick matter conveying system and act on an operating parameter of the component.
  • the outputting of the second control signal causes the correct operation to be continued
  • the outputting of the first control signal causes the correct operation of the thick material conveying system to be stopped.
  • the outputting of the further control signals can cause, for example, that the operation of one or more components of the high-density matter conveying system takes place at a speed that is reduced compared to normal operation.
  • control unit can be set up to limit a working range of the mast arrangement to a currently permissible working range if the determined stability parameter of the thick matter conveyor system is greater than the maximum stability parameter, for which the control unit includes appropriate means.
  • Limiting an operating range of one or more components of the thick matter conveying system is to be understood as meaning that an operating parameter of the respective component is limited and the component is operated in accordance with the limited operating parameter.
  • the respective operating parameter can be restricted to an extent of action or an intensity of action of the component that is still permissible, depending on the specific stability parameter.
  • the operation of the component outside the permissible working area is prevented.
  • the scope of the action or the intensity of the action after the limitation is smaller than that for the component in principle, for example in proper operation, the intended maximum scope of action and the generally intended maximum intensity of action.
  • the control unit can determine a currently permissible upper limit for the working range of the mast arrangement and the operation of the thick material conveying system can be effected in such a way that the mast arrangement is only deflected below the determined upper limit. Accordingly, it can then be prevented, for example, that the opening angle or the actuator force of a mast arm of the mast arrangement exceeds a correspondingly defined limit.
  • the respective actuator can receive a suitable control signal, for example, which is output by the control unit.
  • the control unit can thus limit the deflection of a mast arm by an actuator.
  • the limitation of the working range of the mast arrangement should also be understood to mean an additional or alternative limitation of the rotation angle range of the slewing gear.
  • a method for operating a thick matter conveying system, with a thick matter pump for conveying a thick matter, a thick matter distributor boom for distributing the thick matter to be conveyed, the thick matter distributor boom having a slewing gear that can be rotated about a vertical axis and a boom arrangement comprising at least two boom arms has, a substructure on which the thick matter distributor boom and the thick matter pump are arranged, wherein the substructure comprises a supporting structure for supporting the substructure with at least one horizontally and/or vertically movable support leg, as well as with a sensor unit with at least one sensor for detecting a Operating information and with a processing unit, the method comprising the steps of: acquiring at least one piece of operating information; Determination, by the processing unit, of proper operation of the at least at least one sensor of the sensor unit that detects operating information; if proper operation of the sensor is not determined, the processing unit determines a stability parameter of the thick material conveying system as a function of an extreme value of
  • the method further comprises the steps: outputting, by a control unit of the thick matter conveyor system, a first control signal if the determined stability parameter of the thick matter conveyor system is greater than a maximum stability parameter of the thick matter conveyor system; and outputting, by the controller, a second control signal if the determined stability parameter of the thick matter handling system is less than or equal to the maximum stability parameter of the thick matter handling system.
  • the outputting of the first control signal can include: limiting the working range of the mast assembly to a currently permissible working range.
  • the invention also includes a computer program with program instructions to cause a processor to execute and/or control the method according to the invention when the computer program is executed on the processor.
  • the computer program according to the invention is stored, for example, on a computer-readable data carrier.
  • FIG. 1 shows a schematic representation of an exemplary embodiment of a thick material conveying system according to the invention in a side view.
  • FIG. 2 shows a schematic representation of an exemplary embodiment of a thick material conveying system according to the invention in a rear view.
  • FIG. 3 shows a schematic representation of an exemplary embodiment of a thick material conveying system according to the invention in a plan view
  • FIG. 4 shows a schematic flow diagram of an exemplary embodiment of a method according to the invention.
  • FIG. 1 shows a thick matter conveying system 10, which comprises a thick matter pump 16 for conveying a thick matter and a thick matter distributor mast 18 for distributing the thick matter to be conveyed, with the thick matter distributor mast 18 having a rotary mechanism 19 which can be rotated about a vertical axis (shown in dotted lines) and a Mast assembly 40 with mast arms 41 has. Furthermore, a extending over the mast assembly 40 is shown ckende conveying line 17, with a at one Output of the sludge pump 16 arranged end of an S-tube of the sludge pump 16 is connected.
  • the sludge conveyor system 10 includes a substructure 30 on which the sludge distributor boom 18 and sludge pump 16 are arranged.
  • the substructure 30 has a supporting structure 31 with four support legs 32 for supporting the substructure 30 .
  • the chassis 30 is shown as being positioned on a vehicle 33 by way of example.
  • the sensor unit 11 is designed to record operating information with at least one sensor. To do this, it can, for example, access operating information recorded by one or more sensors via wired or wireless signal lines.
  • the processing unit 12 is basically set up to determine a stability parameter of the high-consistency conveying system 10, depending on the at least one recorded piece of operating information. In addition, the processing unit is also set up to determine proper operation of the sensor of the sensor unit 11 that detects the at least one item of operating information. For this purpose, a corresponding configuration of the sensor unit 11 and the processing unit 12 with the necessary hardware and/or software components is provided for the thick material conveyor system 10 .
  • the processing unit 12 can check that the sensors of the sensor unit are sufficiently supplied with energy, or access data stored in a memory, for example by the sensors of the sensor unit 11, which includes information about the correct operation of a sensor. In the present example, the processing unit 12 closes when the power supply is insufficient or unusual statistical deviations in the operating information recorded by the sensor, that the sensor is operating correctly. In addition, the processing unit 12 carries out plausibility checks.
  • the processing unit 12 determines the stability parameter as a function of an extreme value of the operating information to be detected by the sensor instead of the operating information detected.
  • the extreme value corresponds to such operating information that the sensor would detect if the component to which the operating information to be detected is assigned is in a position in which the processing unit 12 determines the greatest stability parameter and thus the lowest stability.
  • extreme values for each sensor of the sensor unit 11 are stored in a memory of the processing unit 12 .
  • the extreme values to be recorded via a communication interface of the thick matter conveyor system 10 from a mobile user device or via a user input on a user interface of the thick matter conveyor system 10 designed as a touchscreen, for example in the form of a user dialog.
  • a user can also, for example using the mobile user terminal, call up extreme values provided externally, for example online, and make them accessible to the processing unit 12 via the communication interface or the user interface.
  • an extreme value range of the operating information to be recorded by the sensor of the sensor unit 11 is recorded by the communication interface or the user interface.
  • the processing unit 12 has predetermined selection rules to select an extreme value for determining the stability parameter from the recorded range of extreme values.
  • first lower and a second higher extreme value for operating information indicative of the cylinder force on the bottom side of the A cylinder of the mast arrangement 40, one of the two extreme values being selected depending on operating information indicative of a wind speed.
  • the first extreme value and below the second extreme value can be selected.
  • the processing unit 12 detects the improper operation of an angle measurement sensor for detecting operating information indicative of the position of the slewing gear (19).
  • an extreme value it can then be specified that for the position of the slewing gear (19) any possible rotation between 0° and 360° is assumed for the determination of the stability parameter.
  • an extreme value range can also be recorded, for example by means of user input at a suitable user interface, on which the determination of the stability parameter is to be based.
  • the user can enter that, for example, only one extreme value range for possible positions of the slewing gear (19) between 0° and 180° should be taken into account.
  • the thick matter conveyor system 10 has a further user interface in the form of scales arranged on the support legs 32 .
  • These scales are each assigned to a sensor of the sensor unit 11 that detects operating information for the leg strength of a supporting leg 32 and indicate an instantaneous value of the operating information to be detected by the sensor.
  • a user reads an instantaneous value, for example when using the thick material conveying system in peripheral areas, and the processing unit 12 in turn makes it accessible via the first user interface, i.e. the touchscreen.
  • the determination of the stability parameter is carried out by the processing unit 12 as a function of the instantaneous value of the operating information to be detected by the sensor.
  • the processing unit 12 can then access both the extreme value and the instantaneous value when it detects that the sensor is not operating properly and determine the stability parameter, for example depending on a difference between the extreme value and the instantaneous value.
  • processing unit 12 can also access data that includes information about the respective mass and/or about the respective spatial extent of all components of the high-consistency conveyor system 10 .
  • processing unit 12 can determine the stability parameter of thick material conveyor system 10 by calculating the current position of the overall center of gravity of thick material conveyor system 10 .
  • the processing unit 12 can calculate the respective distance of the line of action, which takes into account at least the weight of the thick matter conveyor system acting on the overall center of gravity, from the tilting edges of the contact area, and determine the stability parameter as a function of the calculated distance.
  • FIGS. 2 and 3 each show an illustration of a thick material conveying system 10, once in a rear view (FIG. 2) and once in a plan view (FIG. 3).
  • various exemplary sensors of the sensor unit 11 are also shown therein in exemplary arrangements.
  • the angle sensor 111 is set up to record operating information that is indicative of a position of the slewing mechanism 19 .
  • the position to be detected should be a relative rotation of the slewing gear 19 with respect to the substructure 30 .
  • the position sensors 112 are each a sensor that detects operating information that is representative of a position of a mast arm 41 assigned to it.
  • the sensors 112 determine the positions of the respective mast arm 41 on the basis of its angle of inclination. All of the position sensors 112 acquire operating information representative of a position of a mast arm 41 . Accordingly, this is operating information that is of the same type.
  • the leg position sensors 113 are provided for the respective detection of operating information which is indicative of a position of a support leg 32 . Both the horizontal and the vertical distance of the installation surface of the respective support leg 32 in the current operating state compared to its zero position in the retracted state are determined.
  • One such leg position sensor 113 is shown in FIG. 2 and two such leg position sensors in FIG.
  • the position sensor 114 embodied as an inclination sensor detects operating information which characterizes an inclination angle of the thick material conveying system 10 with respect to the vertical direction.
  • the sensor 115 is in the form of an optical sensor and is set up to record operating information that is indicative of an excavation of the thick matter conveyor system 10 .
  • the excavation is determined, for example, based on the respective vertical distances between the footprint of the support legs 32 and their zero position.
  • the thick material conveying system 10 shown in FIG. 3 has four tilting edges 51, 52, 53, 54.
  • the tilting edges 51, 52, 53, 54 are defined in particular by the positions of the support legs 32 de. The greater the distance between the line of action, which takes into account at least the overall focus of the thick matter conveyor system 10 and takes into account the weight force, from the tipping edges 51, 52, 53, 54 of the contact area, the greater its stability.
  • the area delimited by the tilting edges 51, 52, 53, 54 describes the contact area. If the overall center of gravity approaches the edge of the contact area, i.e.
  • the tipping edges 51, 52, 53, 54 for example in the case of a particularly far-reaching horizontal deflection of the thick matter distributor mast 18 or when conveying a particularly heavy thick matter through the mast arrangement 40 If the conveying line 17 moves, the stability of the thick matter conveying system 10 is reduced. If the line of action no longer runs within the contact area, the distance between the line of action and one of the tilting edges 51, 52, 53, 54 is less than zero and the stability of the thick matter conveying system is no longer given.
  • FIG. 4 shows a flowchart of an exemplary embodiment of a method 100 according to the invention.
  • a sensor of the sensor unit 11 acquires operating information of the high-consistency conveyor system 10.
  • the sensor measures a characteristic measurement variable for the operating information to be acquired, for example the angle of inclination of a boom arm 41 .
  • the sensor is assigned to the mast arm 41 .
  • additional operating information can optionally be recorded by a sensor of the sensor unit 11. For example, in steps 111 and 121 the angles of inclination of two further mast arms 41 are measured.
  • step 102 the processing unit 12 determines whether the sensor of the sensor unit 11 detecting the operating information in step 101 is in proper operation. In the aforementioned example, the correct operation of the sensor that detects the angle of inclination is checked. For this purpose, the processing unit 12 can, for example, check the energy supply of the sensor and determine whether this is sufficient or not. The processing unit 12 can carry out the same in steps 112 and 122 for the respective sensor detected in steps 111 and 121 .
  • step 104 a stability parameter of the thick material conveyor system 10 depending on an extreme value of the operating information to be detected by the sensor instead of the operating information detected .
  • the processing unit 12 then takes into account, for example, hypothetical operating information that is indicative of an angle of inclination of 0 degrees for the associated mast arm 41, i.e. a horizontal position of the mast arm 41, since this hypothetical operating information corresponds to an item of operational information in which the processing unit 12 determines the greatest stability parameter and thus the lowest stability.
  • the processing unit 12 for each the sensor of the sensor unit 11 stores an extreme value in a memory.
  • a corresponding procedure can be followed in step 104 if proper operation of the respective sensors has not been determined in steps 112 and 122 .
  • the processing unit 12 determines in step 103 a stability parameter of the thick material conveyor system 10 depending on the operating information recorded in step 101 and optionally also on the steps 111 and 112. This is done, for example, by calculating a current position of the overall center of gravity of the thick material conveyor system 10 on the basis of the operating information recorded, taking into account the mass and the spatial extent of all mast arms 41.
  • steps 105 and 106 optionally follows here.
  • a control unit of the thick material conveying system 10 outputs a first control signal.
  • the control unit controls at least one component of the thick material conveying system 10 and thus acts on an operating parameter of the component.
  • This can include, for example, a further step 107 in the form of limiting the working area of the thick matter distributor boom 18 to a currently permissible working area.
  • the control unit can output a second control signal.
  • the control unit can control a sludge pump 16 such that the pumping frequency of the core pump 15 and/or the switching frequency of the S-tube 24 is increased or decreased.

Landscapes

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

Abstract

L'invention se rapporte, entre autres, à un système de transport de matières épaisses (10) comprenant une pompe de matière épaisse (16) pour transporter une matière épaisse ; un mât de distribution de matière épaisse (18) pour distribuer la matière épaisse à transporter, ledit mât de distribution de matière épaisse (18) ayant un mécanisme rotatif (19) qui peut tourner autour d'un axe vertical, et un ensemble mât (40) comprenant au moins deux bras de mât (41) ; une sous-structure (30) sur laquelle le mât de distribution de matière épaisse (18) et la pompe de matière épaisse (16) sont agencés, ladite sous-structure (30) comprenant une structure de support (31) pour supporter la sous-structure (30) au moyen d'au moins une branche de support mobile horizontalement et/ou verticalement (32) ; une unité de capteur (11) comprenant au moins un capteur pour détecter un élément d'informations de fonctionnement ; et une unité de traitement (12) pour déterminer un paramètre de stabilité du système de transport de matière épaisse (10) sur la base de la ou des informations de fonctionnement détectées et pour déterminer un fonctionnement prévu du capteur de l'unité de capteur (11), ledit capteur détectant la ou les informations de fonctionnement. Si l'unité de traitement (12) ne détermine pas un fonctionnement prévu du capteur, l'unité de traitement (12) est conçue pour déterminer le paramètre de stabilité sur la base d'une valeur extrême des informations de fonctionnement à détecter par le capteur plutôt que sur la base de l'information de fonctionnement détectée.
EP22714874.9A 2021-03-23 2022-03-21 Fonction de surveillance de stabilité à sécurité intégrée pour un système de transport de matières épaisses Pending EP4314441A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021107140.2A DE102021107140A1 (de) 2021-03-23 2021-03-23 Ausfallsichere Standsicherheitsüberwachung für ein Dickstofffördersystem
PCT/EP2022/057308 WO2022200253A1 (fr) 2021-03-23 2022-03-21 Fonction de surveillance de stabilité à sécurité intégrée pour un système de transport de matières épaisses

Publications (1)

Publication Number Publication Date
EP4314441A1 true EP4314441A1 (fr) 2024-02-07

Family

ID=81306708

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22714874.9A Pending EP4314441A1 (fr) 2021-03-23 2022-03-21 Fonction de surveillance de stabilité à sécurité intégrée pour un système de transport de matières épaisses

Country Status (6)

Country Link
EP (1) EP4314441A1 (fr)
JP (1) JP2024512017A (fr)
KR (1) KR20230158003A (fr)
CN (1) CN117098902A (fr)
DE (1) DE102021107140A1 (fr)
WO (1) WO2022200253A1 (fr)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10110176A1 (de) * 2001-03-02 2002-09-05 Putzmeister Ag Mobiles Arbeitsgerät mit Standsicherheitsüberwachung
DE102014013737A1 (de) * 2014-05-23 2015-11-26 Schwing Gmbh Großmanipulator
DE102016123160A1 (de) * 2016-11-30 2018-05-30 Schwing Gmbh Großmanipulator mit schnell ein- und ausfaltbarem Knickmast
DE102016125145A1 (de) 2016-12-21 2018-06-21 Schwing Gmbh Großmanipulator mit automatisiertem Mastaufbau
DE102018204079A1 (de) * 2018-03-16 2019-09-19 Putzmeister Engineering Gmbh Autobetonpumpe und Verfahren zur stabilitätsrelevanten Steuerung einer Autobetonpumpe
KR102121781B1 (ko) * 2018-07-26 2020-06-11 (주)케이씨이피중공업 콘크리트펌프카와 제어유닛 및 제어방법
DE102019105817A1 (de) 2019-03-07 2020-09-10 Liebherr-Mischtechnik Gmbh Gelenkarm-Steuerung einer Betonpumpe

Also Published As

Publication number Publication date
JP2024512017A (ja) 2024-03-18
KR20230158003A (ko) 2023-11-17
WO2022200253A1 (fr) 2022-09-29
CN117098902A (zh) 2023-11-21
DE102021107140A1 (de) 2022-09-29

Similar Documents

Publication Publication Date Title
EP3765686A1 (fr) Pompe à béton automotrice et procédé pour la commande pertinente pour la stabilité d'une pompe à béton automotrice
EP1675760B1 (fr) Engin de travail mobile a stabilisateurs
EP1659235B1 (fr) Moyen mobile de travail avec dispositif de surveillance de la stabilité
EP3268538B1 (fr) Procedé de limiter le pression d'un sol d'une machine de travail et machine de travail
EP3470362B1 (fr) Procédé et dispositif pour la surveillance de la stabilité au renversement d'une grue de chargement montée sur un véhicule
EP3128077B1 (fr) Finisseuse de route et méthode de détérmination de configuration des poutres lisseuses
EP1882795A2 (fr) Grand manipulateur pourvu d'un amortisseur de vibrations
DE112009000522T5 (de) Angepasstes Nutzlastüberwachungssystem
DE10000771C2 (de) Vorrichtung und Verfahren zur Lageregelung für Arbeitseinrichtungen mobiler Arbeitsmaschinen
DE102016125450A1 (de) Fahrbarer Großmanipulator
EP3237320A1 (fr) Procédé de surveillance de la sécurité d'une grue et système de surveillance de la sécurité d'une grue
EP2237000A1 (fr) Capteur de force destiné à mesurer les forces d'appui dans un élément d'appui
EP0675069A1 (fr) Machine pour voie ferroviaire avec grue pivotante
EP4314441A1 (fr) Fonction de surveillance de stabilité à sécurité intégrée pour un système de transport de matières épaisses
EP4314444A2 (fr) Surveillance du fonctionnement d'un système de transport de liquides épais
DE102021125042B3 (de) Nachstützüberwachung für ein Dickstofffördersystem
DE102021134513A1 (de) Dickstofffördersystem
DE102021107142A1 (de) Standsicherheitsüberwachung für ein Dickstofffördersystem
EP0321789B1 (fr) Dispositif de commande de la compensation de niveau d'un engin de travail, en particulier d'une échelle de pompier orientable, déployable et mobile
WO2022200252A1 (fr) Fonction de surveillance de stabilité pour un système de convoyage de matières épaisses
DE102015217916B4 (de) Kraftfahrzeug und Verfahren zur Ermittlung einer Radaufstandskraft für jedes Rad eines Kraftfahrzeugs
EP0457973A1 (fr) Méthode de mesurage de l'élévation et/ou de l'affaissement d'une construction ainsi que dispositions de mesurage pour la mise en application de la méthode
DE102018118018A1 (de) Verfahren zum Betreiben eines Flurförderzeugs mit einer Überwachung des Belastungszustands sowie entsprechendes Flurförderzeug
DE102010012888B4 (de) Baumaschine
DE102022116319A1 (de) Verfahren zur Überwachung der Standsicherheit einer Arbeitsmaschine

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20231023

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAJ Information related to disapproval of communication of intention to grant by the applicant or resumption of examination proceedings by the epo deleted

Free format text: ORIGINAL CODE: EPIDOSDIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
INTG Intention to grant announced

Effective date: 20240314