EP4314443B1 - Standsicherheitsüberwachung für ein dickstofffördersystem - Google Patents

Standsicherheitsüberwachung für ein dickstofffördersystem Download PDF

Info

Publication number
EP4314443B1
EP4314443B1 EP22715094.3A EP22715094A EP4314443B1 EP 4314443 B1 EP4314443 B1 EP 4314443B1 EP 22715094 A EP22715094 A EP 22715094A EP 4314443 B1 EP4314443 B1 EP 4314443B1
Authority
EP
European Patent Office
Prior art keywords
thick
conveying system
matter
operating information
time
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.)
Active
Application number
EP22715094.3A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP4314443A1 (de
Inventor
Ansgar MÜLLER
Christiane Klein
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 EP4314443A1 publication Critical patent/EP4314443A1/de
Application granted granted Critical
Publication of EP4314443B1 publication Critical patent/EP4314443B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B1/00—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders
    • F04B1/02—Multi-cylinder machines or pumps characterised by number or arrangement of cylinders having two cylinders
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B7/00—Piston machines or pumps characterised by having positively-driven valving
    • F04B7/0019—Piston machines or pumps characterised by having positively-driven valving a common distribution member forming a single discharge distributor for a plurality of pumping chambers
    • F04B7/0026—Piston machines or pumps characterised by having positively-driven valving a common distribution member forming a single discharge distributor for a plurality of pumping chambers and having an oscillating movement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B7/00—Piston machines or pumps characterised by having positively-driven valving
    • F04B7/0042—Piston machines or pumps characterised by having positively-driven valving with specific kinematics of the distribution member
    • F04B7/0049—Piston machines or pumps characterised by having positively-driven valving with specific kinematics of the distribution member for oscillating distribution members

Definitions

  • the present invention relates, inter alia, to a thick matter conveying system with a thick matter pump, a thick matter distribution boom, a substructure, a sensor unit and a processing unit, as well as a method for operating a thick matter conveying system.
  • the thick matter conveying system can be controlled in a predetermined manner in response and proper operation of the thick matter conveying system is typically stopped.
  • the operating parameters taken into account for this purpose such as load moment, position of the overall center of gravity, cylinder force of the boom arms or leg forces of support legs, are influenced by the operation of the thick matter pump of the thick matter conveying system.
  • the operation of the thick matter pump causes periodic fluctuations in the operating parameters.
  • An object of the present invention is therefore to provide an improved thick matter conveying system and an improved method for operating a thick matter conveying system against the background of the problems mentioned above.
  • a thick matter conveying system with a thick matter pump for conveying a thick matter, comprising a core pump in double piston design, which has a pumping frequency, and an S-pipe that can be switched with the pumping frequency, a thick matter distribution boom for distributing the thick matter to be conveyed, wherein the thick matter distribution boom has at least two boom arms, a substructure on which the thick matter distribution boom and the thick matter pump are arranged, wherein the substructure comprises a support structure for supporting the substructure with at least one horizontally and/or vertically movable support leg, a sensor unit for sequentially recording at least one piece of operating information at at least a first and a second point in time, and a processing unit, set up to determine a stability parameter of the thick matter conveying system, depending on the at least one piece of operating information recorded at the first point in time, the at least one piece of operating information recorded at the second point in time and the pumping frequency.
  • 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 thick matter conveying system in which, in order to determine the stability based on a stability parameter, not only operating information recorded by a sensor unit is taken into account, but also specific operating parameters of the thick matter pump. This makes it possible to determine the influence of the recorded operating information by the operation of the thick matter pump.
  • a stability parameter of the slurry conveying system can be determined largely independently of the operation of the slurry pump.
  • the invention has recognized that taking into account the pumping frequency of the core pump, which corresponds to the switching frequency of the S-pipe, is particularly suitable for this purpose.
  • a pumping period is the period of time after which a pumping process is repeated. It corresponds to the reciprocal of the pumping frequency.
  • This predeterminable operating parameter of the thick matter pump which is preferably also recorded by the sensor unit like the operating information to be taken into account, allows the influence of the respective operating information by the operation of the thick matter pump to be determined particularly reliably and precisely.
  • Complex and time-consuming filtering can be dispensed with. This enables a reliable determination of the stability with a particularly short time delay and thus particularly efficiently. Better smoothing is also offered compared to filter algorithms that do not take the pumping frequency into account. This makes it possible to avoid switching off the thick matter conveying system in a way that does not endanger the stability, so that a controlled operation of the thick matter conveying system can take place in peripheral locations.
  • Thick matter is a generic term for media that are difficult to convey.
  • Thick matter can be, for example, a material with coarse-grained components, a material with aggressive components or similar.
  • Thick matter can also be a bulk material.
  • thick matter 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 therefore difficult to convey.
  • 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 thick matter pump can comprise a core pump with two, for example exactly two, delivery cylinders. It then switches alternately from the first to the second delivery cylinder and from the second to the first delivery cylinder.
  • An S-pipe can be switched cyclically between the delivery cylinders.
  • an additional cylinder can be set up in such a way that it bridges each of the transitions.
  • the S-pipe is a movable pipe section with which the delivery cylinders are alternately connected to the outlet of the thick matter pump.
  • the pipe section and the additional cylinder can be elements of a structural unit that is detachably connected to the thick matter pump. This can make maintenance and cleaning of the thick matter pump easier.
  • the thick material distribution boom comprises at least two boom arms, but can also comprise three, four or five boom arms.
  • the boom arrangement typically comprises three to seven boom arms.
  • a boom arm can be connected at its proximal end to a rotating mechanism of the thick material distribution boom and at its distal end to the proximal end of an adjacent boom arm.
  • the other boom arm(s) are lined up one after the other and each connected at its proximal end to a distal end of the adjacent boom arm.
  • the distal end of the last boom arm in the row which also has no further connection at its distal end, defines a 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, in one dimension, at least independently of the other mast arms.
  • Each mast arm is assigned the mast joint at its proximal end.
  • connection of one mast arm to the rotating mechanism can be designed in such a way that when the rotating mechanism rotates about an axis, this mast arm or all mast arms are also rotated about this axis.
  • the mast arm is attached to the rotating mechanism in such a way that it can be moved, for example exclusively, in the vertical direction independently of the rotating mechanism and can be rotated, for example, via its mast joint.
  • a mast arm has a telescopic functionality and can be extended or shortened telescopically and continuously along its longitudinal axis.
  • a mast arm is, for example, adjustable 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 directions).
  • a mast arm can be rotatable about its longitudinal axis.
  • a mast arm comprises at least one actuator for its mast joint, such as a hydraulic or pneumatic cylinder or an electromechanical actuator or a combination of several, even different types of actuators, with which it can change its position relative to at least one other mast arm, in particular the mast arm connected at the proximal end.
  • the actuators can, for example, be designed to pivot the mast arm rotationally about a horizontal axis that runs, for example, through its mast arm joint and/or to move it translationally in one, two or all spatial directions.
  • the mast arm can have additional actuators by means of which it can be extended, shortened or rotated, for example in a telescopic manner.
  • the substructure is a basic framework, for example a chassis, on which the thick matter distribution boom and the thick matter pump are arranged.
  • the thick matter distribution boom and/or the thick matter pump are attached to the substructure.
  • the substructure can be stationary, for example as a platform, or mobile (for example as a vehicle).
  • the entire thick matter conveying system can be designed as a particularly compact unit, for example in the form of a truck-mounted concrete pump.
  • the substructure comprises a support structure for supporting the substructure with at least one horizontally and/or vertically movable support leg.
  • a support leg of a thick material conveying system is a component of the support structure that serves to increase the stability of the thick material conveying system. The influence of the support structure on the stability depends in particular on the individual arrangement and positioning of the support legs.
  • the support leg can be supported on a base with a support plate.
  • Four support legs are usually provided for a support structure.
  • the thick material conveying system comprises means for carrying out or controlling the method according to the invention.
  • These means comprise in particular the sensor unit and the processing unit, but can also comprise a control unit of the thick material conveying system, and can be designed as separate hardware and/or software components or as hardware and/or software components combined in various combinations.
  • the means comprise, for example, at least one memory with program instructions of a computer program and at least one processor, designed to execute program instructions from the at least one memory.
  • the sensor unit is designed to record at least one piece of operating information, in particular to record it automatically and independently of user input.
  • the recording of the at least one piece of operating information should be carried out sequentially, i.e. repeated at certain time intervals. It is conceivable that operating information is recorded repeatedly at predetermined time intervals. Furthermore, it is provided that the operating information is recorded at at least a first and a second time. This means that there are at least two pieces of operating information of the same type, which have been recorded one after the other, for example, by the same sensor of the sensor unit.
  • operating information can be recorded by measuring a measurement variable that is characteristic of this operating information.
  • the sensor unit can comprise one or more sensors of the same or different types. Examples of sensors are force and pressure sensors (e.g. for recording 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-based positioning system such as GPS, GLONASS or Galileo), position sensors (e.g. spirit levels or inclination sensors for recording an inclination angle of a mast arm), electrical (e.g. induction sensors), optical (e.g. light barriers, laser sensors or 2D scanners) or acoustic sensors (e.g.
  • ultrasonic sensors as vibration sensors for recording the pump frequency.
  • Operating information can also be recorded by the interaction of several sensors of the sensor unit. For example, by combining the measurements of a vibration sensor and a pressure sensor, the operating information to be recorded can be determined particularly precisely.
  • the sensor unit may also comprise one or more (e.g. wireless) communication means through which operating information (e.g. externally) recorded and provided, for example, by a user on a user terminal via user input can be received at the sensor unit in a manner known to those skilled in the art.
  • operating information e.g. externally
  • the processing unit should be understood as being set up to determine a stability parameter of the thick matter conveying system. This should take place depending on the at least one, in particular all, operating information recorded at the first time, the at least one, in particular all, operating information recorded at the second time and the pumping frequency. 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 include the fact that the stability parameter is calculated using predetermined and assumed constant properties of components of the thick matter conveying system, such as their mass or their spatial extent. For this purpose, the processing unit can also take into account the temporal development of the pumping frequency.
  • the stability of the thick material conveying system is higher the greater the distance between the line of action, which takes into account all forces acting on the thick material conveying system, and the tipping edges of the contact surface.
  • a reliable statement about the stability can already be made on the basis of a line of action which at least the weight force acting on the thick matter conveying system is taken into account. The more of the forces actually acting in the line of action are taken into account, the more precisely this statement can be made. Therefore, the stability of the thick matter conveying system can be characterized particularly advantageously by a stability parameter representing the distance of the line of action from the tipping edges of the contact surface.
  • the stability parameter is within a predetermined or dynamically determinable stability range within which the distance of the line of action from each of the tipping edges is greater than or equal to zero; preferably, a safety reserve is also taken into account.
  • the stability of the thick matter conveying system is given within the stability range.
  • the upper limit of the stability range is defined by a maximum stability parameter. The maximum stability parameter exists when the distance of the line of action from one of the tipping edges is zero. Accordingly, the distance of the line of action from at least one of the tipping edges decreases as the stability parameter increases. Above the upper limit, the distance is less than zero and the stability of the thick matter conveying system is no longer given.
  • a stability area is specified or determinable for each operating situation of the thick matter conveying system, for example taking into account constant assumed properties of the components of the thick matter conveying system to be taken into account.
  • a contact area can be specified or determinable for each possible arrangement of the support structure, for example by a certain arrangement of support legs.
  • the distance of the line of action from one of the tipping edges as well as the position of the line of action are each dependent at least on the weight of the thick material conveying system and can be calculated, for example, by the processing unit.
  • the position of the The line of action can have vertical and horizontal directional components and depend on the directions of action and/or magnitudes of several forces. For example, one or more forces to be taken into account can be specified or can be selected by a user (e.g. using a suitable user interface). For example, if only the weight of a thick material conveying 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 corresponds to the position of the plumb line.
  • the position of the line of action is also dependent on a force that has a horizontal component, such as wind force acting laterally on the thick material conveying 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 depends on one or more other forces in such a way that the processing unit can adjust the position step by step, for example by a predetermined amount in a predetermined direction, preferably only when one or more specific conditions occur, for example above a wind strength prevailing during operation of the thick matter conveying system. It is also conceivable that the position of the line of action depends on the directions of action and/or amounts of one or more, preferably all, operating information recorded by the sensor unit and indicative of forces.
  • An operating information is indicative of a property or an operating parameter of a large number of possible properties and operating parameters of the thick matter conveying system or individual components of the thick matter conveying system and is representative of this property or this operating parameter.
  • An operating information should therefore be able to be assigned to a component.
  • Such a property or such Operating parameters can be characterized, for example, by a measured variable. These can be properties and operating parameters that become apparent before or after the start of production.
  • the sensor unit has one or more sensors for detecting the pumping frequency, wherein the processing unit is configured to determine the stability parameter of the thick matter conveying system depending on the detected operating information and the detected pumping frequency.
  • the sensor unit can have one or more optical vibration sensors to record the pump frequency.
  • the processing unit can take into account the currently determined values of the pump frequency. This eliminates the need for a potentially error-prone prediction of the pump frequency. This means that even small deviations from a target value of the pump frequency can be included in the determination of the stability parameter, which significantly increases the accuracy of the determination.
  • the time interval between the first and second points in time is dependent on the pump frequency.
  • the interval can be smaller at a high pump frequency than at a lower pump frequency.
  • the second point in time is preferably half a pump period later than the first point in time.
  • the effects of the operation of the thick matter pump on the recorded operating information can be particularly advantageously reduced.
  • the operational information recorded at the first time is the most recently recorded operational information.
  • the processing unit is configured to determine the stability parameter depending on a result of an averaging, wherein the averaging is performed depending on the acquired operating information.
  • the processing unit is configured to determine the stability parameter as a function of operating information acquired at a plurality of first and a plurality of second points in time, wherein each of the plurality of second points in time lags behind a corresponding point in time of the plurality of first points in time by the duration of half a pumping period.
  • the times of recording two corresponding operating information items are therefore separated by half a pumping period.
  • the operating information recorded at a plurality of first points in time can be the most recently recorded operating information and the operating information recorded sequentially by the same sensor at two previous points in time immediately before the most recent recording.
  • the operating information recorded at a plurality of second points in time can then be the half-pump period recorded by the same sensor before the most recently recorded operating information and two pieces of operating information each recorded half a pump period before the two sequentially recorded, also by the same sensor.
  • a total of six pieces of operating information recorded by the same sensor are used to determine the stability parameter.
  • a first piece of operating information is the most recently recorded operating information
  • a second and a third piece of operating information are each recorded sequentially at different times
  • a fourth piece of operating information is recorded half a pumping period before the most recently recorded operating information
  • a fifth piece of operating information is recorded half a pumping period before the second piece of operating information
  • a sixth piece of operating information is recorded half a pumping period before the third piece of operating information.
  • Such a design of the processing unit enables a particularly simple and fast determination of the stability parameter and thus offers a shorter time delay compared to a time-consuming determination by filtering using complex filter algorithms. This means that tolerance ranges that are generally taken into account and conservatively measured when operating in peripheral locations can be kept small.
  • the processing unit is designed to at least temporarily store a plurality of items of operating information recorded at points in time prior to the first point in time.
  • the processing unit can have a corresponding memory that is designed to store several pieces of operating information and, for example, has a sufficient size. If the processing unit can access previous operating information, it is possible to use extensive statistical tools when determining the stability parameter, which contributes to further increasing the precision of the determination.
  • processing unit can be configured to store recorded operating information that was recorded at a point in time that is at most the duration of a pumping period after the first point in time.
  • the sensor unit is configured to detect the operating information to be detected sequentially from the same sensor at at least a first and a second point in time.
  • the operating information to be recorded is recorded by different sensors of the same type, for example in order to be able to detect faulty readings by a sensor for technical reasons.
  • the greatest possible signal fidelity and correspondingly high accuracy in determining the stability parameter can only be achieved if the same sensor is used.
  • the sensor unit is configured to sequentially record operating information that is indicative of a joint moment of a boom arm of the thick material conveying system, an inclination angle of at least one boom arm, an actuator force of at least one actuator of a boom arm, an operating speed of at least one actuator of a boom arm, a load weight at a load attachment point of the thick material conveying system, a rotational speed of a slewing gear, an inclination angle of the thick material conveying system and/or a horizontal or vertical leg force of at least one support leg of the thick material conveying system.
  • 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 arrangement, wind loads, the weight of a thick material that is currently being conveyed or also on a weight acting on the distal end of the first mast arm of the mast arrangement, corresponding to a mast tip load.
  • the joint moment can be determined, for example, by measuring a cylinder force acting in the actuator of the mast arm or a cylinder pressure acting in the actuator of the mast arm in conjunction with one or more other measurements, such as a measurement of the respective joint angle.
  • the joint moment of a mast arm can be determined using a Transfer function can be calculated from a cylinder force and a joint angle of the mast joint of the respective mast arm.
  • the angle of inclination of a mast arm can be an absolute angle of inclination, i.e. an angle that determines the position of the mast arm in relation to the vertical direction, or a relative angle of inclination, i.e. a difference angle between the angles of inclination of two, particularly adjacent, mast arms. In the latter case, the difference angle corresponds to the opening angle of the distal mast arm.
  • the load weight then corresponds to the weight force acting on the load attachment point.
  • the angle of inclination of the thick material conveying system should be an angle of the thick material conveying system, for example of its substructure, in relation to the vertical direction.
  • the angle of inclination of the thick material conveying system corresponds to an angle between the axis of rotation of the slewing gear and the vertical direction.
  • a horizontal or vertical leg force is understood to be a horizontal or vertical force acting on a support leg.
  • Further exemplary operating information is indicative of weights of all mast arms with filled and/or unfilled conveyor line, positions of the centres of gravity of all mast arms, weights of additional loads, positions of additional weight attachment points, wind forces acting on the mast arms, positions of the wind surface centres of gravity of all mast arms, a weight of the substructure, a position of the centre of gravity of the substructure and positions of the support surfaces of the support legs in the retracted and/or extended state.
  • the stability parameter of the thick matter conveying system can be reliably determined. This in turn makes it possible to make a reliable statement about the stability of the thick matter conveying system.
  • the processing unit can be configured to calculate a load moment based on recorded operating information indicative of the joint moments of all boom arms and to determine the stability parameter depending on the calculated load moment.
  • the processing unit can, for example, make a precise determination of the stability parameter in real time, taking into account the cylinder pressure and the inclination angle of the respective mast arms.
  • the sensor unit must then be set up accordingly to record indicative operating information for the cylinder force and the inclination angles of all mast arms and, for example, comprise a plurality of suitable sensors for this purpose.
  • the processing unit is designed to calculate a current position of the overall center of gravity of the thick material conveying system from a plurality of recorded operating information, in particular of different types, and to determine the stability parameter depending on the calculated current position of the overall center of gravity.
  • the processing unit can be designed to calculate the respective distance of a line of action of at least one force acting on the thick material conveying system from the tipping edges of the contact surface and to determine the stability parameter depending on the calculated distance, wherein the at least one force acting on the thick material conveying system comprises a weight force of the thick material conveying system acting on the current position of the overall center of gravity of the thick material conveying system.
  • the sensor unit is then set up to provide operating information indicative of a position of the slewing gear, operating information indicative of a position of at least one of the boom arms, operating information indicative of a position of the Operating information indicative of the support leg, operating information indicative of the angle of inclination of the thick material conveying system and operating information indicative of the excavation of the thick material conveying system.
  • the processing unit does indeed need access to a large number of properties of the thick material conveying system, such as the mass and center of gravity of one, several or all components. Nevertheless, this method can be used to determine the stability parameter particularly reliably.
  • the thick material conveying system preferably comprises a control unit for outputting a first control signal if the specific stability parameter of the thick material conveying system is greater than a maximum stability parameter of the thick material conveying system, and for outputting a second control signal if the specific stability parameter of the thick material conveying system is less than or equal to the maximum stability parameter of the thick material conveying system.
  • the output of further control signals by the control unit can be provided, for example if a predetermined minimum distance between the specific stability parameter and the maximum stability parameter is not reached.
  • the control unit comprises corresponding means for outputting control signals, such as a wired or wireless signal output.
  • control signals such as a wired or wireless signal output.
  • the control unit can control at least one component of the thick material conveying system and influence an operating parameter of the component. It is conceivable that, while the output of the second control signal causes the proper operation to continue, the output of the first control signal causes the proper operation of the thick material conveying system to be stopped.
  • the output of the further control signals can, for example, cause one or more components of the slurry conveying system to operate at a reduced speed compared to normal operation.
  • control unit can be configured to limit a working range of the thick matter distribution boom to a currently permissible working range if the specific stability parameter of the thick matter conveying system is greater than the maximum stability parameter, for which purpose the control unit comprises corresponding means.
  • Limiting a working range of one or more components of the thick matter conveying system means 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 thus be limited to a scope of action or a still permissible action intensity of the component depending on the specific stability parameter. In particular, operation of the component outside the permissible working range is prevented.
  • the scope of action or the action intensity after limitation is smaller than the maximum scope of action and the maximum action intensity generally intended for the component, for example in normal operation.
  • the control unit can determine a currently permissible upper limit for the working range of the thick matter distribution boom and the operation of the thick matter conveying system can be effected in such a way that the thick matter distribution boom is only deflected below the specific upper limit.
  • the respective actuator can, for example, receive a suitable control signal that is output by the control unit
  • the control unit can limit the deflection of a boom arm using an actuator.
  • limiting the working range of the thick material distribution boom should also be understood as an additional or alternative limitation of the angle of rotation range of a rotating mechanism of the thick material distribution boom.
  • a method for operating a thick matter conveying system, with a thick matter pump for conveying a thick matter, comprising a core pump in double piston design, which has a pumping frequency, and an S-pipe that can be switched with the pumping frequency, a thick matter distribution boom for distributing the thick matter to be conveyed, wherein the thick matter distribution boom has at least two boom arms, a substructure on which the thick matter distribution boom and the thick matter pump are arranged, wherein the substructure comprises a support structure for supporting the substructure with at least one horizontally and/or vertically movable support leg, and with a sensor unit (11) for sequentially recording at least one piece of operating information and with a processing unit (12), the method comprising the steps: sequential recording, by the sensor unit, of at least one piece of operating information at at least a first and a second point in time, and determining, by the processing unit, a stability parameter of the thick matter conveying system, depending on the at least one piece of operating information recorded at the first point in time
  • the method further comprises the steps of: outputting, by a control unit of the thick material conveying system, a first control signal if the determined stability parameter of the thick material conveying system is greater than a maximum stability parameter of the thick material conveying system, and outputting, by the control unit, a second control signal if the determined stability parameter of the thick matter conveying system is less than or equal to the maximum stability parameter of the thick matter conveying system.
  • the output of the first control signal may include: limiting the working range of the thick matter distribution boom to a currently permissible working range.
  • the computer program is stored, for example, on a computer-readable data carrier.
  • a thick matter conveying system 10 which comprises a thick matter pump 16 for conveying a thick matter and a thick matter distribution boom 18 for distributing the thick matter to be conveyed, wherein the thick matter distribution boom 18 has a rotating mechanism 19 that can rotate about a vertical axis and several boom arms 41. Furthermore, a conveying line 17 extending over the boom arms 41 is also shown, which is connected to the thick matter pump 16.
  • the thick matter conveying system 10 comprises a substructure 30 on which the thick matter distribution boom 18 and thick matter pump 16 are arranged.
  • the substructure 30 has a support structure 31 with four support legs 32 for supporting the substructure 30.
  • the substructure 30 is shown as being arranged on a vehicle 33 by way of example.
  • the sensor unit 11 is designed to sequentially record at least one piece of operating information at at least a first and a second point in time. To do this, it can access operating information repeatedly recorded by one or more sensors, for example via wired or wireless signal lines.
  • the sensor unit 11 can also be designed to detect the pumping frequency of the core pump 15 or the S-tube 24 and, for example, have one or more vibration sensors suitable for this purpose.
  • the processing unit 12 is set up to determine a stability parameter of the thick matter conveying system 10, depending on the operating information recorded at the first time, the operating information recorded at the second time and the pumping frequency.
  • the stability parameter characterizes the current stability of the support structure 31 and thus of the thick matter conveying system 10. Accordingly, the processing unit 12 has access both to the operating information recorded sequentially at at least a first and a second time and to the pumping frequency of the core pump 15. For this purpose, a corresponding design of the sensor unit 11 and the processing unit 12 with the necessary hardware and/or software components is provided for the thick matter conveying system 10.
  • the processing unit 12 can access data stored in a memory as needed, which includes information about the respective mass and/or the respective spatial extent of all components of the thick matter conveying system 10 and in particular about the pumping frequency.
  • the operating parameter pump frequency can be predetermined or also detected by the sensor unit 11 and then made accessible to the processing unit 12 and stored, for example, in a corresponding memory.
  • Fig.2 shows a thick matter pump 16 for conveying a thick matter.
  • the thick matter pump 16 comprises a core pump 15 in double piston design and a switchable S-pipe 24.
  • the core pump 15 has a pumping frequency that corresponds to a switching frequency of the S-pipe 24, with which one end of the S-pipe 24 is switched back and forth between the two pistons of the core pump.
  • the other end of the S-pipe 24 is connected to the conveying line 17 of the thick matter distribution boom.
  • Fig.3 which represents a diagram that shows the effects of the operation of a thick matter pump 16 on an operating information to be recorded
  • the values of the operating information 8 under consideration have a component that oscillates with the pumping frequency of the core pump 15.
  • An operating information indicative of the cylinder force of the boom arm 41 connected to the rotating gear 19 can be used as an example of such an operating information 8.
  • recorded values of the operating information S are plotted over time T.
  • the processing unit 12 is set up to store at least the operating information recorded at 26 previous times.
  • T_U marks the times of the switching of the S-tube 24 and thus also provides information about the pumping frequency.
  • the processing unit 12 is set up to determine the stability parameter depending on the operating information recorded at the first time and the operating information recorded at the second time.
  • the second time is half a pumping period later than the first time.
  • the result represents operating information modified by smoothing.
  • the processing unit 12 can be configured to determine the stability parameter depending on operating information acquired at a plurality of first and a plurality of second points in time, wherein each of the plurality of second points in time lags behind a corresponding point in time of the plurality of first points in time by the duration of half a pumping period.
  • an average value S_falt can then also be formed from all modified operating information, which in turn corresponds to a deconvolution of the most recently recorded first operating information:
  • the modified operating information or average values which in turn depend on the pumping frequency, can then be used as a basis for determining the stability parameter.
  • a current position of the overall center of gravity of the thick matter conveying system 10 can be calculated from a plurality of suitable modified operating information of different types, taking into account the masses and spatial dimensions of relevant components of the thick matter system, such as the boom arms. The smaller the distance of the line of action, which takes into account at least the weight force of the thick matter conveying system acting on the overall center of gravity, from the tipping edges of the contact surface, the lower the stability and the higher the stability parameter is determined.
  • an optional control unit 13 of the thick matter conveying system 10 is additionally designed to control one or more components of the thick matter conveying system 10 using control signals, depending on the stability parameter determined by the processing unit 12. Accordingly, the control unit 13 is set up to output a first control signal if the stability parameter determined by the processing unit 12 is greater than a maximum stability parameter of the thick matter conveying system 10. In this case, the control unit 13 then limits a working range of the thick matter distribution boom 18 to a currently permissible working range. Furthermore, the control unit 13 is additionally set up to output a second control signal if the determined stability parameter is less than or equal to the maximum stability parameter.
  • Fig.4 shows a flow chart of an embodiment of a method 100 according to the invention.
  • step 101a the sensor unit 11 records operating information of the thick matter conveying system 10.
  • step 101b the sensor unit 11 then records the operating information again.
  • the time of recording in step 101a is the second time and the time of recording in step 101b is the first time.
  • step 101a is half a pumping period behind step 101b.
  • the operating information recorded in step 101b should be the most recently recorded operating information.
  • steps 102 and 103 the pumping frequency can also have been recorded by the sensor unit 11.
  • a stability parameter of the thick matter conveying system 10 is determined by the processing unit 12 in step 104.
  • an average value is to be formed from the operating information recorded in step 101b and the operating information recorded in step 101a.
  • modified operating information is obtained which has been freed from the effect of the operation of the pump on the recorded operating information.
  • the processing unit 12 determines a stability parameter, for example by calculating a current position of the overall center of gravity of the thick matter conveying system 10, taking into account the mass and the spatial extent of all boom arms 41.
  • steps 105 and 106 follows here.
  • a control unit of the thick matter conveying system 10 outputs a first control signal in step 105.
  • the control unit controls at least one component of the thick matter conveying system 10 and thus influences an operating parameter of the component.
  • This can, for example, include a further step 107 in the form of limiting the working range of the thick matter distribution boom 18 to a currently permissible working range.
  • the control unit can output a second control signal in a step 106.
  • the control unit can control a thick matter pump 16 in this way so that the pumping frequency is increased or reduced.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Conveyors (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Manipulator (AREA)
EP22715094.3A 2021-03-23 2022-03-21 Standsicherheitsüberwachung für ein dickstofffördersystem Active EP4314443B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021107141.0A DE102021107141A1 (de) 2021-03-23 2021-03-23 Standsicherheitsüberwachung für ein Dickstofffördersystem
PCT/EP2022/057307 WO2022200252A1 (de) 2021-03-23 2022-03-21 Standsicherheitsüberwachung für ein dickstofffördersystem

Publications (2)

Publication Number Publication Date
EP4314443A1 EP4314443A1 (de) 2024-02-07
EP4314443B1 true EP4314443B1 (de) 2024-06-05

Family

ID=81326503

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22715094.3A Active EP4314443B1 (de) 2021-03-23 2022-03-21 Standsicherheitsüberwachung für ein dickstofffördersystem

Country Status (7)

Country Link
US (1) US20240167292A1 (ko)
EP (1) EP4314443B1 (ko)
JP (1) JP2024513356A (ko)
KR (1) KR20230158529A (ko)
CN (1) CN117355654A (ko)
DE (1) DE102021107141A1 (ko)
WO (1) WO2022200252A1 (ko)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6202013B1 (en) * 1998-01-15 2001-03-13 Schwing America, Inc. Articulated boom monitoring system
DE10349234A1 (de) * 2003-10-20 2005-05-19 Putzmeister Ag Mobiles Arbeitsgerät mit Stützauslegern
ITMI20060818A1 (it) 2006-04-24 2007-10-25 Cifa Spa Sistema perfezionato per la sorveglianza e il controllo del funzionamento di macchinari semoventi a braccio articolato,quali pompe per calcestruzzo
CN102434620B (zh) * 2011-09-13 2014-04-30 中联重科股份有限公司 泵车稳定性控制方法、装置、系统以及具有该系统的泵车
US8827657B1 (en) * 2014-01-15 2014-09-09 Francis Wayne Priddy Concrete pump system and method
DE102015208071A1 (de) 2015-04-30 2016-11-03 Putzmeister Engineering Gmbh Fahrbare Arbeitsmaschine und Verfahren zu deren Betrieb
DE102018204079A1 (de) * 2018-03-16 2019-09-19 Putzmeister Engineering Gmbh Autobetonpumpe und Verfahren zur stabilitätsrelevanten Steuerung einer Autobetonpumpe
DE102019105817A1 (de) 2019-03-07 2020-09-10 Liebherr-Mischtechnik Gmbh Gelenkarm-Steuerung einer Betonpumpe

Also Published As

Publication number Publication date
KR20230158529A (ko) 2023-11-20
US20240167292A1 (en) 2024-05-23
EP4314443A1 (de) 2024-02-07
CN117355654A (zh) 2024-01-05
WO2022200252A1 (de) 2022-09-29
DE102021107141A1 (de) 2022-09-29
JP2024513356A (ja) 2024-03-25

Similar Documents

Publication Publication Date Title
EP1772333B1 (de) Mobiles Arbeitsgerät mit Stützauslegern
DE102018204079A1 (de) Autobetonpumpe und Verfahren zur stabilitätsrelevanten Steuerung einer Autobetonpumpe
EP3128077B1 (de) Strassenfertiger und verfahren zur bestimmung der bohlenkonfiguration
WO2002025036A1 (de) Grossmanipulator mit schwingungsdämpfer
DE10000771C2 (de) Vorrichtung und Verfahren zur Lageregelung für Arbeitseinrichtungen mobiler Arbeitsmaschinen
EP3470362B1 (de) Verfahren und vorrichtung zur standsicherheitsüberwachung eines auf einem fahrzeug montierten ladekrans
DE102015101032A1 (de) Landwirtschaftliche Maschine und Regelungsverfahren
WO2011020561A1 (de) Mobile arbeitsmaschine mit einer regelvorrichtung mit einem arbeitsarm und verfahren zur arbeitspunktregelung eines arbeitsarms einer mobilen arbeitsmaschine
EP3219662A1 (de) Verfahren zum ermitteln der tragfähigkeit eines krans sowie kran
DE102008018048A1 (de) System und Verfahren zur Verfolgung und Kategorisierung der Effizienz einer Maschine
EP3559373A1 (de) FAHRBARER GROßMANIPULATOR
DE19701533A1 (de) Füllstandsmeßsystem
DE2551103A1 (de) Kalibrierung einer kranlastanzeigevorrichtung
EP3417685B1 (de) Verfahren zur bestimmung einer physikalischen grösse eines oberlenkers
EP4314443B1 (de) Standsicherheitsüberwachung für ein dickstofffördersystem
DE69211858T2 (de) Volumetrisches dosiergerät
DE102021101429A1 (de) Fräsmaschine, aufweisend ein auf Fluidströmung basierendes Höhenmesssystem
DE2516803A1 (de) Zugkraftfuehlvorrichtung fuer zugmaschinen
DE102021107139A1 (de) Betriebsüberwachung für ein Dickstofffördersystem
EP4314441B1 (de) Ausfallsichere standsicherheitsüberwachung für ein dickstofffördersystem
DE102021107142A1 (de) Standsicherheitsüberwachung für ein Dickstofffördersystem
DE2910057A1 (de) Lastmomentbegrenzer fuer einen kran
DE69011397T2 (de) Stellungsfühler.
DE102021134513A1 (de) Dickstofffördersystem
EP4384676A1 (de) Nachstützüberwachung für ein dickstofffördersystem

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

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

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

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: F04B 1/02 20060101ALI20240219BHEP

Ipc: F04B 7/00 20060101ALI20240219BHEP

Ipc: E04G 21/04 20060101AFI20240219BHEP

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: 20240315

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

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

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

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

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502022000998

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240605

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20240605

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240605

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240605

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20240906