WO2022200275A2

WO2022200275A2 - Operation monitoring for a thick matter conveying system

Info

Publication number: WO2022200275A2
Application number: PCT/EP2022/057353
Authority: WO
Inventors: Ansgar MÜLLER
Original assignee: Putzmeister Engineering Gmbh
Priority date: 2021-03-23
Filing date: 2022-03-21
Publication date: 2022-09-29
Also published as: WO2022200275A3; JP2024511946A; EP4314444A2; KR20230159433A; CN117321276A; DE102021107139A1

Abstract

The invention relates inter alia to a thick matter distributing boom (18) for distributing a thick matter to be conveyed by means of a thick matter pump (16), comprising: a slewing gear (19) which is rotatable about a vertical axis with a maximum rotational speed; a boom assembly (40) comprising at least one first boom arm (41) and a second boom arm (42), the first boom arm (41) being connected to the slewing gear (19) at a proximal end of the boom assembly (40), and the boom arms (41, 42) each having a maximum working range; a conveying conduit (17) which extends over the boom assembly (40) and comprises a proximal end, which can be connected to an outlet (28) of a thick matter pump, and a distal end, the distal end of the conveying conduit (17) transitioning into an end hose (45) at a distal end of the boom assembly (40); a receiving unit (11) for receiving at least one item of operating information; a processing unit (12) for determining a currently permissible working range for each of the first boom arm (41) and the second boom arm (42) and/or for determining a currently permissible slewing speed, in each case depending on the at least one received item of information; and a control unit (13) for delimiting the working range of the corresponding boom arm (41, 42) to the particular currently permissible working range, if one of the specific currently permissible working ranges of the first boom arm (41) and the second boom arm (42) is smaller than or equal to the relevant maximum working range, and/or for delimiting the rotational speed of the slewing gear (19), if the specific currently permissible rotational speed is less than or equal to the maximum rotational speed.

Description

Operational monitoring for a viscous conveyor system

The present invention relates to a sludge distributor mast, a sludge pump and a sludge delivery system.

Generic Dickstoffvertei lermasten, thick matter pumps and thick matter conveyor systems are known from the prior art. These are typically designed for conveying a specific type of thick matter, for example with a certain density, so that when heavier, i.e. denser, thick matter is conveyed with thick matter distributor booms, pumps and thick matter conveyor systems that are not designed for this, overloading and damage to components of the thick matter distributor boom and threaten the sludge pump. This can be the case, for example, if a working range provided for the boom arms of the sludge distributor boom is exceeded. When used with a base, as in the case of a truck-mounted concrete pump, there is also a risk of it tipping over and the associated considerable damage to the entire system. Likewise, when conveying heavier thick materials, high rotational speeds during the rotation of a slewing gear typically connected to the mast arrangement of a thick material distributor mast can lead to overloading, in particular of components of the thick material distributor mast. The same applies to high pumping and switching speeds of core pump and S-tube as usual components of a sludge pump.

Changing external conditions, such as the influence of wind, can also lead to the design limits of components of the thick-material distributor boom and the thick-material pump being exceeded during the promotion of a high-viscosity material. To take this into account, generous, conservative tolerance ranges are usually provided for in the design, so that when used under typical conditions, the operation of the components is unnecessarily restricted.

A flexible and situation-adapted use of a sludge distributor boom and a sludge pump for sludge of different weights - even heavier than the design corresponds to - is therefore not readily possible. Buckets that are lifted by crane are therefore regularly used to convey such particularly heavy thick materials. Alternatively, the sludge distributor boom can be mechanically modified to suit the application and fitted with a shorter sludge arrangement, which is expensive and permanently restricts the maximum working range of the sludge distributor boom.

Likewise, the operation of thick matter distributor booms and thick matter pumps is problematic when conveying particularly heavy thick matter or under changing external conditions, in which the stability of the entire thick matter conveying system reaches its limits. This limit is usually not automatically taken into account by the thick matter conveying system, but can at best be recognized by the user, which in turn depends on his experience. When conveying a thick material that is heavier than the material intended for conveying by the thick material conveying system, the stability during operation of the thick material conveying system is fundamentally not reliably guaranteed. As a rule, therefore, such a promotion of overly heavy thick matter is prohibited.

It is therefore an object of the present invention, against the background of the problems mentioned above, to provide an improved thick matter distributor boom, an improved thick matter pump and an improved thick matter conveying system. The solution according to the invention lies in the features of the independent claims. Advantageous developments are the subject of the dependent claims.

According to the invention, a thick matter distributor boom for distributing a thick matter to be conveyed by means of a thick matter pump is disclosed, with a slewing gear that can be rotated about a vertical axis at a maximum rotational speed, a boom arrangement with at least a first boom arm and a second boom arm, with the first boom arm on a proximal end of the mast arrangement is connected to the slewing gear, and wherein the mast arms each have a maximum working range, a delivery line extending over the mast arrangement, which comprises a proximal end that can be connected to an outlet of a sludge pump and a distal end, the distal end of the conveying line at a distal end of the mast arrangement merges into an end hose, a receiving unit for receiving at least one item of operating information, a processing unit for determining a currently permissible working range of each of the first mast arm and the second ma arm and/or B determining a currently permissible slewing gear speed, in each case dependent on the at least one piece of operational information received, and a control unit for limiting the working area of the corresponding boom arm to the respective currently permissible working area if one of the determined currently permissible working areas of the first boom arm and the second boom arm is smaller than the respective maximum working area is, and / or to limit the rotational speed of the slewing gear if the specific momentarily permissible rotational speed is less than the maximum speed Drehge.

According to the invention, a thick matter pump for conveying a thick matter through a delivery line of a thick matter distribution boom is also disclosed, with a core pump in a double-piston design. type that has a maximum pumping speed, an S-tube that can be switched over at a maximum switching speed, which has an end that is arranged at an outlet of the sludge pump and that can be connected to a delivery line, a receiving unit for receiving at least one item of operating information, a processing unit for determining a currently permissible pumping speed and/or for determining a currently permissible switching speed, each depending on the at least one piece of operating information received, and a control unit for limiting the pumping speed to the currently permissible pumping speed if the determined currently permissible pumping speed is less than the maximum pumping speed, and/or for limiting the switching speed if the determined currently permissible switching speed is less than the maximum switching speed. A pump frequency can also be considered instead of the pump speed, and a switching frequency can be considered instead of the switching speed. The values of pump frequency and switching frequency are then typically the same.

According to the invention, a thick matter conveying system is also disclosed, with a thick matter distributor mast for distributing thick matter to be conveyed, a thick matter pump for conveying the thick matter through a delivery line of the thick matter distributor mast, and a substructure on which the thick matter distributor mast and the thick matter pump are arranged, the substructure comprising: a supporting structure for supporting the substructure, the supporting structure having a stability area with a first threshold and with an upper limit defined by a maximum stability parameter, a receiving unit for receiving at least one item of operating information, a processing unit for determining a current stability parameter, depending on the at least one received operating information, and for determining a stability parameter to be expected in the future, depending on the at least one item of operating information received and at least one piece of prognosis information that is characteristic of a predicted change in the stability parameter after proper operation of at least one component of the thick matter distributor boom and/or the thick matter pump, and a control unit for controlling an operating parameter of at least one component of the thick matter distributor boom and/or or the sludge pump, wherein the control unit is set up to control the operating parameter in such a way that, if the specific current stability parameter is above the first threshold and the specific future stability parameter to be expected is closer to the maximum stability parameter than the specific current stability parameter, the component is operated at a reduced speed.

The sludge distributor boom according to the invention and the sludge pump according to the invention can be arranged on a stationary or mobile substructure. The substructure of the inventive thick matter conveying system can also be mobile or stationary. The sludge distributor boom according to the invention, the sludge pump according to the invention and the sludge conveyor system according to the invention are designed, for example, as a truck-mounted concrete pump.

The invention is a particularly advantageous embodiment of a sludge distributor boom, a sludge pump and a sludge conveying system, with a dynamic and situation-dependent determination of permissible operating parameters of the components involved in real time. In this way, the individual components considered can each be properly operated up to a permissible operating parameter, so that it is also possible to use thick matter conveying in scenarios in which a safe and efficient use of conventional thick matter conveying systems and without the risk of damage to the high-density matter conveying system is not possible or only possible in a complex manner, for example through assembly work. Both the components of the sludge distributor boom and the sludge pump are taken into account. For example, application scenarios are typical in which the mast arrangement can generate more load moment than the substructure can absorb. In this case, the working area of each individual mast arm of the mast arrangement can be limited in such a way that the stability of the entire system is nevertheless maintained. Overloading of individual components can be avoided. This also makes thick material conveyor systems possible for specialized applications in which, for example, the mast arrangement can reach high but cannot be used fully extended, and for which a smaller substructure is sufficient. As a result, the thick matter conveying system can be made more compact and lighter. The invention also makes use of the fact that the forces acting are lower when the speed of the components is reduced. By systematically reducing the speed, for example by a specified factor, gradually or depending on the remaining stability, as soon as the upper limit of stability is approached in marginal positions, i.e. under extreme operating conditions close to maximum stability, the components can also be these peripheral locations are used as efficiently as possible and with the greatest possible scope and intensity of activities.

Thus, by means of the invention, a thick matter promotion can also be done on construction sites where heavy concrete is to be promoted. Safe operation can also take place, particularly in marginal locations close to the upper limit of stability, with loads exceeding the design load, for example a correspondingly high load on the end hose (eg over 200 kg). A particularly long end hose can also be used. In the same train can ensure safe operation Influencing factors such as wind speed or a maximum ground load capacity are taken into account so that the operation of one or more components is restricted if necessary. This opens up new fields of application for the use of sludge conveying systems. It is also easily possible to use the thick matter conveying system with additional loads, corresponding to a crane function.

A few terms are explained below:

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. In one embodiment, 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. In a further embodiment, the high-density material is heavy concrete with a density of more than 2300 kg/m ³ .

Components of a sludge distributor boom or a sludge pump are to be understood in particular as such elements as are listed in the independent claims. Examples include the slewing gear and mast arm on the sludge distributor mast and the core pump and S-tube on the sludge pump. The components should have operating parameters based on which the respective component should be operated. Operating parameters can be, for example, a rotary speed of the slewing gear, a manipulation speed of a mast arm joint, an operating speed of an actuator of a mast arm, a pumping speed or a pumping frequency of the core pump or a switching speed or a switching frequency of the S-tube. 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, also different types of actuators, with which it can change its position relative to the substructure by rotation. Typically, the slewing gear includes a hydraulic motor and a pinion with a planetary gear.

The mast arrangement comprises at least two, but can also comprise three, four or five mast arms. Typically, 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 other mast arms are lined up next to each other 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, which also has no further connection at its distal end.

Within the mast arrangement, 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. The mast joint is assigned to each mast arm 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. For example, the mast arm is taken to the slewing gear so that it, for example, only, in the vertical Direction moves independently of the slewing gear and can be rotated, for example, on its mast joint. It is also conceivable that 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). Alternatively or additionally, a mast arm can be rotatable about its longitudinal axis. For example, 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, also 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 be set up, for example, to pivot the mast arm rotationally about a horizontal axis that runs, for example, through its star joint and/or to move it translationally in one, in two or in all spatial directions. Alternatively or additionally, the mast arm can have further actuators, by means of which it can be lengthened or shortened or rotated, for example telescopically.

Each mast arm has a maximum working area within which it can move. For a mast arm, an opening angle can be defined between its longitudinal axis and the longitudinal axis of the mast arm attached to the proximal end, this opening angle corresponding to the opening angle of its mast joint. The opening angle can be determined, for example, by comparing the angles of inclination of the respective mast arms. The angle of inclination of a mast arm can be detected by means of an inclination sensor. In the case of the first mast arm, such a maximum or minimum opening angle of its mast joint between its longitudinal axis and a plane perpendicular to the vertical axis of the be provided slewing gear. It is also conceivable that, alternatively or additionally, a maximum horizontal and/or vertical distance is provided between the proximal and distal ends of the mast arms as the maximum working area within which the respective mast arm may be moved. For example, specific maximum working ranges are specified for the individual mast arms of a mast assembly or for the mast assembly as a whole.

The conveying line of the sludge distributor boom can be fastened to the boom. For example, the conveying line is connected to a mast arm at least at the distal end of the mast arrangement. This place of attachment then corresponds to the load attachment point. The transition of the delivery line into an end hose at a distal end of the mast arrangement should be understood to mean that the delivery line extends beyond the mast arrangement and has an area with the end hose that is not attached to the mast arrangement. Accordingly, the end hose can hang freely at the distal end of the mast assembly. The end hose and conveying line can be designed separately or in one piece and in such a way that the thick matter to be conveyed is conveyed from the conveying line into the end hose with as little loss as possible. In addition, the end hose may have an end hose pinch valve to control the flow of sludge.

The sludge distributor boom, the sludge pump and the thick sludge conveying system each comprise means for carrying out or controlling the method according to the invention. These means include in particular the receiving unit, the processing unit and the control unit 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 of a computer program and at least one program processor, designed to execute program instructions from the at least one memory.

The receiving unit of the sludge distributor boom, sludge pump and sludge conveying system is each set up to receive at least one item of operating information. The operational information is indicative of, and representative of, one of a variety of possible properties of the sludge distributor boom, sludge pump and sludge delivery system or components thereof. Operating information should therefore be able to be assigned to a component. Like operating parameters, such a property can, for example, be characterized by a measured variable. It can be a question of properties that come to light before or only after the start of conveying. For example, operating information can be received by measuring a measured variable that is characteristic of this operating information. Likewise, the operating information received by the receiving unit can specify or be the result of an upstream calculation, which for its part, for example, includes one or more measured variables. Such an upstream calculation is conceivable directly on site in an appropriately equipped unit of the sludge distributor boom, the sludge pump and the sludge conveying system, but it can also be carried out externally, for example on a server device, and the operating information calculated in this way can then be used received by the receiving unit.

The processing unit of the sludge distributor boom, sludge pump and sludge conveying system should be understood as being set up for determining currently permissible working areas, currently permissible operating parameters and/or a current stability parameter and a stability parameter to be expected in the future. This should be at least partially dependent on, in particular all, received operating information follow. For this purpose, it can, for example, have access to the information received from the receiving units and a currently permissible working range, a currently permissible operating parameter and/or a current and a future stability parameter to be expected depending on the operating information received, taking into account given properties that are assumed to be constant of components of the sludge distributor boom, the sludge pump and/or the sludge conveyor system, such as their mass or their spatial extent. It is also conceivable that the determination of a currently permissible working area of a mast arm is alternatively or additionally dependent on an already determined working area of a further, for example an adjacent, mast arm of the mast arrangement. For example, the determination of the currently permissible working range of the second boom arm takes place after the determination of the permissible working range of the first boom arm, and is dependent on the working range determined for the first boom arm. In order to determine the stability parameter to be expected in the future, at least the processing unit of the sludge conveyor system is designed to calculate prognosis information that is characteristic of a predicted change in the stability parameter after proper operation of one or more components of the sludge distributor mast and/or the sludge pump. For example, it can be assumed for the calculation of the prognosis information that the operating state of the other components in the prognosis period, for example 1 second, 2 seconds or 3 seconds, remains unchanged. An unchanged operating state is to be understood, for example, in a first approximation, as an operating state that is maintained in the forecast period without receiving a further control signal. Alternatively or additionally, stored default or empirical values can be used to calculate the prognosis information. On the basis of the prognosis information determined in this way, the Processing unit determine a trend for the stability under consideration, which can be taken into account in addition to the current operating information in the control to be carried out by the control unit.

The control unit of the sludge distributor boom, sludge pump and sludge conveyor system each includes appropriate means to limit a working range or an operating parameter of a component to a currently permissible working range or a currently permissible operating parameter. The respective control unit can additionally or alternatively also include means for limiting an operating parameter of a component to a currently permissible operating parameter if a current stability parameter determined by a processing unit is smaller than a maximum stability parameter, for example given. Limiting the operating range of one or more components should be understood to mean that an operating parameter of the respective component is limited and the component is operated in accordance with the limited operating parameter. In this way, the respective operating parameter can be limited to an extent of action that is still permissible, a speed of action that is still permissible, or a frequency of action that is still permissible for the component, depending on the specific operating information or the specific stability parameter. In particular, the operation of the component outside the permissible working range is prevented. The extent of the action, the speed of the action or the frequency of the action after the limitation are smaller than the maximum scope of the action generally provided for the component, the maximum intended maximum intensity of the action and the maximum intended frequency of the action. For example, the control unit can determine a momentarily permissible upper limit for the working area of a boom arm and the operation of the thick matter distributor boom can be effected in such a way that the boom arm in each case is only deflected below the specified upper limit. Accordingly, it can then be prevented, for example, that the opening angle or the actuator force of the mast arm exceeds a correspondingly specific limit. For this purpose, the respective actuator can, for example, receive a correspondingly suitable control signal that is output by the control unit. For example, the control unit can thus limit the deflection of a mast arm by an actuator. As a result, overloading of components of the sludge distributor boom or a loss of stability of the sludge conveyor system and the associated damage can be avoided.

The respective receiving units, processing units and control units of the sludge distributor boom, sludge pump and sludge conveying system can be designed analogously or even identically. These can each be different receiving units, processing units and control units, but it is also conceivable that the receiving units, processing units and control units of the sludge distribution boom, sludge pump and sludge conveyor system are each designed as modules of an overall unit. Such an overall unit can then be spatially combined in a special area of a thick-material conveying system comprising a thick-material distributor boom and a thick-material pump.

The sludge pump can have a core pump with two, for example exactly two, delivery cylinders. It is then alternately switched 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. 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 substructure is a basic structure, for example a chassis, on which a sludge distributor boom and/or a sludge pump can be arranged. For example, thick matter distributor boom and/or thick matter pump are attached to the substructure. The substructure can be stationary (e.g. as a platform) or mobile (e.g. as a vehicle). The substructure may include support structure for support. If a sludge distribution boom and a sludge pump are arranged on such a substructure, the entire sludge conveying system can be supported and its stability improved during operation.

The stability of the supporting structure, and thus of the entire thick matter conveyor system, is higher, the greater the distance between the line of action, which takes into account all the forces acting on the thick matter conveyor system, from the tipping edges of the support surface. However, a reliable statement about the stability can be made based on a line of action that at least takes into account the weight acting on the thick matter conveyor system. 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 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 given one or dynamically determinable stability area, within which the distance between the line of action and each of the tipping edges is greater than or equal to zero, a safety reserve is preferably taken into account. Within the stability area, the stability of the support structure and thus of the high-density material conveying system is given. 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 stability is no longer guaranteed. It is conceivable that a stability range is predetermined 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. For example, 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 stability area also includes a first and optionally also a second threshold. For example, the second threshold can be closer to the maximum stability parameter and thus closer to the upper limit of stability than the first. Correspondingly, during the deflection of a boom arrangement of a high-density matter distributor boom towards peripheral locations, due to the moments acting on the supporting structure, the first threshold is exceeded first, then the second threshold and then the upper limit.

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 The position of the line of action can have vertical and horizontal direction components and depend on the directions of action and/or amounts of multiple forces. For example, one or more forces to be taken into account can be predetermined or can be selected by a user (eg by means of a suitable user interface). If, for example, only the weight of a thick matter 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 resembles the position of the plumb line. If the position of the line of action also depends on a force that 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 changes the position, preferably only, when one or more specific conditions occur, for example above a prevailing wind speed during operation of the thick matter conveyor system , Gradually, for example by a predetermined amount in a predetermined direction Rich, adjust. 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 received by the receiving unit and indicative of forces.

For example, the stability range can be described as a distance reserve that has a minimum value, if exceeded, the stability of the support structure is no longer given. Thus, each movement of a component can result in a decrease, for example in the case of a deflection of a boom arm of a sludge distributor boom in the distal direction, or an increase, in turn, for example in the case of a Deflection of a mast arm in the proximal direction, guide the distance reserve. If the distance reserve is used up, a maximum stability parameter is present and the upper limit of the stability range has been reached. If the component under consideration is operated in such a way that it is to be expected that the distance reserve will increase, then such operation can take place, possibly at a reduced speed.

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 operating speed of the component is provided.

In embodiments of the thick matter distributor boom, thick matter pump and thick matter conveying system, the operating information is indicative of a joint moment of a boom arm, of a cylinder force of a boom arm, and/or of an opening angle of a boom arm.

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 joint moment can be inferred from the joint moment, for example, by measuring a cylinder force acting in an actuator of the respective 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. For example, the joint moment of a mast arm by means a transfer function from a cylinder force and a joint angle of the mast joint of the respective mast arm. The opening angle can be determined, for example, by comparing the angles of inclination of neighboring mast arms.

The processing unit can be set up to calculate a load moment based on recorded operating information indicative of the joint moments of all boom arms, and the currently permissible working range of the first boom arm and the second boom arm, the currently permissible slewing gear speed, the currently permissible pumping speed, to determine the currently permissible switching speed, the current stability parameter and/or the stability parameter to be expected in the future, each depending on the calculated load moment. Taking into account the respective angle of inclination of the mast arms, the processing unit can in this way carry out a particularly precise determination of the stability parameter in real time.

In addition, the processing unit can be set up to calculate the currently permissible working range of the first boom and the second boom arm, the currently permissible slewing gear speed, the currently permissible pumping speed, the currently permissible switching speed, the current stability parameter and/or the stability parameter to be expected in the future to be determined depending on egg ner operating information, which is indicative of a currently permissible theoretically maximum load torque.

In addition, the operational information may be indicative of a type of sludge to be conveyed, a density of the sludge to be conveyed, a load of the end hose, and/or a type of end hose. The operational information can also be indicative of an angle of inclination of the thick matter conveyor system, for example of its substructure, for an angle of inclination of at least one boom arm, an actuator force of an actuator of a boom arm or an operating speed of an actuator of a boom arm. For example, the inclination angle of the sludge conveyor system corresponds to an angle between the axis of rotation of the slewing gear and the vertical direction.

In particular, it is conceivable that the receiving unit is set up to receive operating information that is characteristic of the type of end hose by reading out a corresponding RFID tag on the end hose. The type of thick matter is to be understood, for example, as the material composition or the viscosity of the thick matter to be conveyed. The angle of inclination of a mast arm can be an absolute angle of inclination, i.e. an angle of 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, in particular neighboring, mast arms .

Taking these properties into account when determining operating parameters of the thick matter distributor boom and/or the thick matter pump and/or stability parameters of the thick matter conveying system allows them to be used safely and efficiently when conveying heavier thick matter. If, for example, operating information is received from the receiving unit that is characteristic of a particularly high cylinder force, the processing unit can determine a momentarily permissible working range for this boom arm that is smaller than the maximum working range, thereby overloading the boom arm or the thick matter distributor boom as a whole can be avoided. The same applies to any associated deterioration in stability. This can be the case, for example, This can be the case with a particularly high end hose load due to an overly long end hose, or when pumping heavy concrete.

However, even when the sludge distributor boom, the sludge pump or the sludge conveying system is operated according to their planned design, a momentarily permissible working range that is smaller than the maximum working range can be determined. In this case, stability parameters that are above the first threshold can also be determined. The operating information is therefore advantageously indicative of an expected, in particular maximum, wind speed or a maximum ground load capacity. In this way, for the operation of the sludge distributor boom and sludge pump, an expected change in wind speed or individual ground conditions can be taken into account and the currently permissible operating parameters can be adjusted accordingly. A low expected maximum wind speed or a firm ground can allow the determination of more far-reaching and extensive operating parameters than would be the case with strong wind or a loose ground. If corresponding operating information is received by the receiving unit, the processing unit can determine a working range that is lower than the currently maximum permissible working range for one or more of the boom arms, despite the fact that the thick material that can actually be conveyed with the maximum working areas of the boom arms.

In a further embodiment, the operational information is indicative of a position of a load attachment point and/or a load weight. The position of a load attachment point should be understood, for example, as a horizontal distance from the vertical axis of the slewing gear. The load weight is intended to designate the weight force acting on the load attachment point. On the basis of these properties, the operating parameters and the stability parameters can be determined individually and precisely for the thick matter to be conveyed and its properties, for example material-related properties.

Further exemplary operating information is indicative of the weights of all boom arms with a filled conveyor line and/or with an unfilled conveyor line, positions of the centers of gravity of all boom arms, weights of additional loads, positions of additional weight attachment points, wind forces acting on the boom arms, 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, for positions of the footprints of the support legs in the retracted and/or extended state, and/or for leg forces.

In addition, the processing unit for the thick material distributor boom can alternatively or additionally determine a currently permissible slewing gear speed of the slewing gear, which also takes place as a function of the operating information received from the receiving unit. For example, the cylinder force of a mast joint of a mast arm can increase significantly due to the rotation of the slewing gear due to centrifugal force, so that there is a risk of damage to the mast arm. If operating information indicative of such a high cylinder force is now received by the receiving unit, the processing unit can determine the currently permissible slewing gear speed less than the maximum slewing gear speed. In this case, the control unit limits the speed of rotation of the slewing gear to the momentarily permissible speed of rotation determined by the processing unit.

In one embodiment, the mast assembly includes a further mast arm. The total number of mast arms of the mast arrangement then amounts to three. It is also conceivable that two or three further mast arms are provided in the mast arrangement, the mast arrangement then comprising four or five mast arms.

With additional boom arms, the maximum range of action of the thick matter distributor boom can be easily increased. In particular, when implementing articulated joints for connecting the individual mast arms to one another, the design of the mast arrangement can still be particularly compact.

Optionally, the processing unit can be set up to determine a currently permissible working area for the, preferably each, additional boom arm depending on the at least one item of operating information received, with the control unit also being set up to limit the respective currently permissible working area if a of the specific currently permissible working ranges of the further boom arms is smaller than the respective maximum working range of the corresponding boom arm.

In this way, the further arm of the boom can be taken into account when determining the currently permissible working range. Correspondingly, the momentarily permissible working range of the further boom arm can then also be limited by the control unit, if necessary.

Advantageously, 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, with the processing unit also being set up to determine the currently permissible working range of a mast arm based on the determination of a currently permissible one To determine the opening angle of the Knickge joint at a proximal end of the mast arm. In addition, the control unit can be set up to work area based on a restriction of the pivoting of the mast arm to be limited to the currently permissible opening angle. In addition, it is conceivable that all articulated joints have articulation axes that are parallel to one another. Furthermore, the articulated joints can each have a maximum opening angle of 120 degrees, preferably 150 degrees, and particularly preferably 180 degrees. However, opening angles between 180 degrees and 235 degrees, up to 270 degrees or up to 360 degrees are also conceivable.

This represents a particularly easy to implement and functional design of the connection between boom arms or between boom and slewing gear, in which a large scope of action for the thick matter distributor boom is nevertheless maintained and the load attachment point can be positioned in all spatial directions within the scope of action.

In one embodiment of the thick matter conveying system, the control unit is set up to control the operating parameter in such a way that, if the specific current stability parameter is above the first threshold and the specific future stability parameter to be expected is further away from the maximum stability parameter than the specific current stability parameter lies, the Be operation of the component with unchanged speed he follows.

The stability range of the support structure preferably includes a second threshold which is closer to the maximum stability parameter than the first threshold, with the control unit also being set up to control the operating parameter in such a way that if the determined instantaneous stability parameter is above the second threshold and the future expected stability ity parameter is closer to the maximum stability parameter than the specific instantaneous stability parameter, proper operation of the component is set.

In addition, the control unit can also be set up to control the operating parameter in such a way that if the specific current stability parameter is above the second threshold and the specific future stability parameter to be expected is further away from the maximum stability parameter than the specific current stability parameter , the component is operated at a reduced speed.

Although the stability can be jeopardized when operating in the peripheral position, proper operation can still be carried out by taking into account the expected change in the stability parameter with an expected improvement in stability. This can optionally apply at least to the stability area between a first and a second threshold. If the determined momentary stability parameter is above the second threshold, and thus even closer to the upper limit of stability, proper operation cannot be completely stopped if an improvement is to be expected, but the operation of the component can take place at a reduced speed In certain cases, operation can be continued despite acting close to the upper limit of the stability area, so that the thick matter conveyor system can be used even more effectively in marginal locations.

In addition, the control unit can be set up in one embodiment of the thick matter conveying system to bring about a signal output, depending on the specific instantaneous status safety parameter and the determined future stability parameter to be expected.

For example, a first signal can be output if the current stability parameter determined is above the second threshold and the future expected stability parameter is closer to the maximum stability parameter than the current stability parameter determined, and/or a second signal can be output if the certain instantaneous stability parameters are above the first threshold and the certain stability parameters to be expected in the future are further away from the maximum stability parameters than the certain instantaneous stability parameters, and/or a third signal output can be effected if the certain instantaneous stability parameters are above the second threshold and the determined future stability parameter to be expected is further away from the maximum stability parameter than the determined instantaneous stability parameter.

The control unit can thus cause a corresponding signal output at a suitable user interface of the thick matter conveyor system, for example in the form of a display, in particular in the form of the brightness of an illuminated control element of a component of the thick matter conveyor system. A corresponding display with a variable-size lighting field is also possible. It is conceivable that the first signal output has a maximum brightness or magnitude, the second signal output has a reduced brightness or magnitude and/or the third signal output has a minimum brightness or magnitude. However, it can also be provided that a signal is output in the form of an acoustic (eg as a warning tone) or haptic signal (eg a vibration of the operating element). becomes. In this way, the user-friendliness of the sludge conveying system can be further increased.

Advantageously, the extent of the reduction in speed is dependent on the operating speed of the component. It is conceivable that the extent also depends on how large the difference between the stability parameter to be expected in the future and the maximum stability parameter is. For example, it can be specified that the extent of the reduction in speed increases as the distance decreases, for example linearly or quadratically.

In this way, it is possible to react appropriately to a quick or slow change in the stability of the thick matter conveyor system.

The processing unit is preferably set up to determine the stability parameter to be expected in the future depending on prognosis information that is characteristic of a predicted change in the operating information after proper operation of several, preferably all, components of the sludge distributor boom and/or the sludge pump.

When determining the stability parameter to be expected in the future, the predicted effects of operation are taken into account not just for one, but for several components. For example, several partial area parameters to be expected in the future, which for example characterize the distance to one of the tipping edges of the thick matter conveyor system, can also be determined, and the stability parameter to be expected in the future can be selected from the determined partial area parameters. For example, the sub-area parameter that comes closest to the maximum stability parameter can be selected. in particular Other leg forces, a moment acting on the slewing gear or also, preferably all, load moments of the ma forces can be taken into account. This allows an even more meaningful estimate of the stability parameter to be expected and thus an even more effective and safer operation of the thick matter conveyor system in marginal locations.

In one embodiment, an influence of the component that increases the stability parameter as much as possible is assumed as the predicted change in the stability parameter.

This enables a particularly simple, conservative estimation of the prognosis information, in which complex calculations can be dispensed with.

Alternatively or additionally, the prognosis information can be calculated taking into account a control signal to be output by the control unit for proper operation in a prognosis period.

It is conceivable that it is specified that the control unit will output one or more control signals as part of the proper operation of the thick matter conveying system. For example, this can be done based on a request to the thick matter conveying system for a specific control of the thick matter conveying system, for example one or more actuators of the thick matter conveying system. Such a request can be received, for example, at the reception unit, for example by user input at a suitable user interface (eg by a joystick movement on a handheld controller) of the thick matter handling system. In this way, the output of control signals by the control unit can also be taken into account when determining the stability parameter to be expected in the future. In a further embodiment, the support structure also includes at least one horizontal Support leg that can be moved vertically and horizontally. 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 supporting structure on the stability is particularly dependent on the individual arrangement and positioning of the support legs. For this purpose, the support leg can be supported on a surface with a support plate. Usually four support legs are provided in a supporting structure. Also optionally, the receiving unit is set up to receive operating information that is indicative of a torque of a slewing gear of the thick matter distributor boom that can be rotated about a vertical axis, a horizontal leg force of the at least one support leg, or a vertical leg force of the at least one support leg.

A horizontal or vertical leg force should be understood as meaning a horizontal or vertical force acting on a supporting leg. By considering the properties mentioned when determining the current stability parameter as well as the stability parameter to be expected in the future, conclusions can be drawn particularly reliably about the stability of the supporting structure and also about the static load.

According to one embodiment, the processing unit of the thick matter conveyor system is set up to calculate a current position of the overall center of gravity of the thick matter conveyor system from a plurality of received operating information and to determine the stability parameter depending on the calculated current position of the overall center of gravity. For example, the processing unit can be set up to calculate the respective distance of a line of action of at least one force acting on the thick matter conveyor system from the tipping edges of the contact area, and to determine the stability parameter as a function of the calculated distance. agree, wherein the at least one force acting on the thick-material conveying system includes a force of the thick-material conveying system acting at the current position of the total center of gravity of the thick-material conveying system.

According to one exemplary embodiment, the respective reception unit of the sludge distributor boom, sludge pump or sludge conveyor system includes a sensor unit for acquiring operating information, a communication interface for acquiring operating information, or a user interface for acquiring operating information.

By using a sensor unit, the receiving unit can acquire operating information automatically and independently of a user input. The sensor unit can comprise one or more sensors of the same or different type. Exemplary sensors are force and pressure sensors (e.g. for detecting a cylinder force of a mast joint of a mast arm, a force acting on an actuator of a mast arm or the load of the end hose), 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 detecting the angle of inclination of a boom arm), electrical sensors (e.g. induction sensors), optical sensors (e.g. laser sensors or 2D scanners for detecting the type of thick matter to be conveyed) or acoustic sensors (e.g. ultrasonic sensors for detecting the density of the to be conveyed or vibration sensors). A wind measuring and forecasting device for determining an expected wind speed also represents a suitable sensor. Equally, operating information can also be acquired through the interaction of a number of sensors in the sensor unit. Alternatively or additionally, the respective receiving unit can also include one or more (eg wireless) communication interfaces, through which (eg externally) recorded operating information is received by the receiving unit in a way known to those skilled in the art.

If a user interface is provided for capturing operating information, this can, for example, be at least one button, a keypad, a keyboard, a mouse, a display unit (e.g. a display), a microphone, a touch-sensitive display unit (e.g. a touch screen), a camera and/or a touch-sensitive surface (e.g. a touchpad). For example, the operational information is received by detecting a user input at the user interface.

Furthermore, another thick matter conveying system according to the invention is disclosed, which comprises a thick matter distributor mast according to the invention, a thick matter pump according to the invention and/or a thick matter conveying system according to the invention. For a more detailed explanation, reference is made to the above description. This further thick matter conveying system according to the invention can also be designed, for example, as a car pump.

In addition, a method for operating a thick matter distributor boom according to the invention with a slewing gear that can be rotated about a vertical axis at a maximum rotational speed, a boom arrangement with at least a first boom arm and a second boom arm, with the first boom arm being connected to a proximal end of the boom arrangement is connected to the slewing gear, and wherein the mast arms each have a maximum working range, a delivery line that extends over the mast arrangement and includes a proximal end that can be connected to an outlet of a sludge pump and a distal end, the distal end of the delivery line being connected to a - nem distal end of the mast arrangement merges into an end tube, and with a receiving unit, a processing unit and a control unit, the method comprises the steps: receiving, by the receiving unit, at least one item of operating information; Determining, by the processing unit, a currently permissible working range for each of the first boom arm and the second boom arm and/or determining, by the processing unit, a currently permissible slewing gear speed, each depending on the at least one piece of operating information received; and limiting, by the control unit, the work area of the corresponding mast arm to the respective current allowable work area if one of the determined current allowable work areas of the first mast arm and the second mast arm is as the respective maximum work area; and/or limiting, by the control unit, the speed of rotation of the slewing gear if the determined currently permissible speed of rotation is less than the maximum speed of rotation.

A method for operating a sludge pump with a core pump of double-piston design that has a maximum pump speed, an S-tube that can be switched at a maximum switching speed, that has an end that is arranged at an outlet of the sludge pump that can be connected to a delivery line is disclosed, as well as with a receiving unit, a processing unit and a control unit, the method comprising the steps of: receiving, by the receiving unit, at least one piece of operational information; determining, by the processing unit, a momentarily permissible pump speed and/or determining, by the processing unit, a momentarily permissible switching speed, each depending on the at least one piece of operating information received; and limiting, by the control unit, the pump speed to the currently permitted Significant pumping speed if the determined instantaneously permissible pumping speed is less than the maximum pumping speed, and/or limiting, by the control unit, the switchover speed if the determined instantaneously permissible changeover speed is less than the maximum changeover speed. Instead of the pump speed, a pump frequency and instead of the switching speed, a switching frequency can also be considered.

Furthermore, a method for operating a thick matter conveyor system with a thick matter distributor boom, a thick matter pump, and a substructure on which the thick matter distributor boom and the thick matter pump can be arranged, the substructure comprising a supporting structure for supporting the substructure, and the supporting structure having a Stability range with a first threshold and with an upper limit defined by a maximum stability parameter, and with a receiving unit, a processing unit and a control unit, the method comprising the steps: Receiving, by the receiving unit, at least one item of operational information; determining, by the processing unit, a current stability parameter depending on the at least one received piece of operational information; Determination, by the processing unit, of a stability parameter to be expected in the future, depending on the at least one piece of operating information received and forecast information that is characteristic of a predicted change in the stability parameter after proper operation of at least one component of the thick matter distributor boom and/or the thick matter pump; and controlling, by the control unit, an operating parameter of at least one component of the sludge distributor boom and/or the sludge pump in such a way that if the current stability parameter determined is above the first threshold and the stability parameter to be expected in the future is closer to the maximum Stability parameters than the specific instantaneous stability parameter is, the operation of the component takes place at a reduced speed.

For a more detailed explanation of further advantageous developments of the method, reference is made to the developments of the sludge distributor boom, the sludge pump and the sludge conveying system described above.

Also disclosed is a computer program with program instructions to cause a processor to execute and/or control at least one of the disclosed methods when the computer program is executed on the processor. The disclosed computer program is stored, for example, on a computer-readable data carrier.

The embodiments and configurations described above are to be understood as exemplary only and are not intended to limit the present invention in any way.

The invention is explained in more detail below with reference to the attached drawings based on advantageous embodiments. Show it:

Fig. 1 is a schematic representation of an exemplary embodiment of a sludge distributor mast according to the invention;

Fig. 2 is a schematic representation of a Ausführungsbei game of a sludge pump according to the invention; and

Fig. 3 is a schematic representation of a Ausführungsbei game of a thick matter conveyor system according to the invention. In Fig. 1, a sludge distributor boom 18 is shown for distributing ei nes by means of a sludge pump to be conveyed thick matter ge, with a slewing gear 19, a mast assembly 40 and a delivery line 17.

The mast assembly 40 comprises a first mast arm 41, a second mast arm 42, a first additional mast arm 43 and a second additional mast arm 44. The proximal end of the first mast arm 41 corresponds to the proximal end of the mast assembly 40 and the distal end to the second mast arm 42 the distal end of the mast arrangement 40. The slewing gear 19 is intended to be rotatable about a vertical axis, ie about an axis in the plane of the drawing, at a maximum rotational speed.

The first boom arm 41 is connected to the slewing mechanism 19 via a boom arm joint at the proximal end of the first boom arm 41 .

The connection via the mast arm joint is designed as a fastening by means of an articulated joint. The first further mast arm 43 is connected at its proximal end to the distal end of the first mast arm 41 via a mast arm joint which is also designed as an articulated joint. Accordingly, the second further mast arm 44 follows, which is ver in the same way via an articulated joint with the first further mast arm 43 connected. The second mast arm 42 is connected via an articulated joint at its proximal end to the distal end of the second mast arm 44 direct white.

Each of the mast arms 41, 42, 43, 44 of the mast assembly 40 has a working area. In the example of FIG. 1, in which the individual mast arms are each connected to one another or to the slewing gear 19 via an articulated joint at their proximal end, the maximum working range of each mast arm is characterized as its minimum or maximum opening angle. The opening angle 47 of the second mast arm 42 is shown as an example, which should be defined as the angle which is enclosed by the longitudinal axis of the mast arm 42 and the longitudinal axis of the mast arm 44 connected to its proximal end. In the present example, the maximum working range of the second boom arm 42 then corresponds to an opening angle 47 of 180°. In the same way, a (maximum) opening angle and thus also a (maximum) working area are also defined for each of the other mast arms. In the case of the first mast arm 41 , the opening angle should be understood as the angle enclosed by the longitudinal axis of the mast arm 41 and a plane perpendicular to the vertical axis of the slewing gear 19 .

Furthermore, a substructure 30 is shown in dashed lines, on which the thick matter distribution boom 18 is arranged. The substructure 30 is arranged, for example, on a vehicle 33 indicated by dotted lines.

The delivery line 17 has a proximal end which is connected to a sludge pump (not shown) and extends from the base 30, along the slewing mechanism 19, and from the proximal end of the mast assembly 40 to the distal end thereof. There the delivery line 17 merges into an end hose 45 . The location of the transition specifies a load attachment point 46 at which the mast arrangement 40 can also have an eyelet, for example.

In addition, the thick matter distributor boom 18 has a reception unit 11 , a processing unit 12 and a control unit 13 .

In this case, the receiving unit 11 comprises a sensor unit with a plurality of sensors arranged in the mast joints of the mast arms 41, 42, 43, 44 in each case. Correspondingly, the receiving unit 11 is designed to receive at least one item of operating information from the sensor unit. In the example of FIG. 1, the Sensors are understood as each designed to detect operational information in the form of the cylinder force of the mast joint of the respective mast arm.

Depending on this received operating information, the processing unit 12 determines a currently permissible working area for each of the mast arms 41, 42, 43, 44. This currently specific, currently permissible working range is defined as a currently permissible opening angle. The currently permissible opening angle can correspond to an angle smaller than the maximum opening angle.

If the receiving unit 11 receives operating information that is characteristic of a particularly high cylinder force, the processing unit 12 determines the currently permissible opening angle, and thus the currently permissible working range, smaller than the maximum opening angle. This is done, for example, in order to avoid overloading the second boom 42 or the thick matter distributor boom 18 as a whole. Such a scenario can occur, for example, in the case of a particularly high load on the end hose 45 applied at the load attachment point 46, which is regularly the case when heavy concrete is being conveyed or when high formwork is being filled.

However, even when the thick matter distributor boom 18 is operated in accordance with its planned design, a currently permissible working range can be determined which is smaller than the maximum working range. This can be the case, for example, in adverse outdoor conditions such as strong winds or unpaved ground. If corresponding operating information is received by the receiving unit 11, for example by detecting a user input at a user interface of the receiving unit 11, the processing unit 12 can, despite the fact that the mast arms actually have maximum working ranges determine a working range that is lower than the currently maximum permissible working range for the conveyable thick matter.

If the processing unit 12 determines a currently permissible working area of a boom arm that is smaller than the maximum working area, the control unit 13 limits the working area of the corresponding boom arm to the specific currently permissible working area, and in the present example thus to a currently permissible opening angle that is smaller than the maximum opening angle. In this case, the corresponding boom arm is not deflected by the thick matter distributor boom 18, for example by corresponding actuators of the thick matter distributor boom 18, and is prevented, for example, in response to a control signal from the control unit 13.

If the currently permissible opening angle of the corresponding mast arm determined by the processing unit 12 is equal to or greater than its maximum opening angle, the working range of the mast arm is not limited and its deflection is not adjusted. This can be the case, for example, when conveying according to the planned design of the thick matter distribution boom 18 .

In addition, the processing unit 12 in the present example additionally determines a currently permissible slewing gear speed, which also depends on the operating information received from the receiving unit 11, for example the cylinder forces detected by the sensors of the sensor unit. The case can arise in this case that a momentarily permissible rotational speed of the slewing gear 19 is lower than the maximum rotational speed used in proper operation. For example, the cylinder force of the second boom arm 42 in its boom arm joint 47 can increase significantly due to the rotation of the slewing gear 19 due to centrifugal force, so that there is a risk of damage to the second boom arm 42 . If such a high cylinder force is now detected by sensors in the reception unit 11, the processing unit 12 can determine the currently permissible slewing gear speed to be lower than the maximum slewing gear speed. In this case, the control unit 13 limits the rotational speed of the slewing gear 19 to the currently permissible rotational speed determined by the processing unit 12 .

Fig. 2 shows a thick material pump 16 for conveying a thick material. The sludge pump 16 comprises a core pump 15 of double-piston design and a switchable S-tube 24. The core pump 15 has a maximum pumping speed and the S-tube 24 has a maximum switching speed, at which one end of the S-tube 24 switches between the two pistons of the Core pump is switched back and forth on. At an outlet 28 of the thick matter pump 16, the other end of the S-tube 24 is connected to a conveying line 17 of a thick matter distribution boom, not shown. Furthermore, the sludge pump 16 comprises a receiving unit 11, a processing unit 12 and a control unit 13.

In the present example, the receiving unit 11 includes a user interface, for example a touch-sensitive display unit, by means of which operating information can be recorded in the form of a user input. For example, a user can enter the type of thick matter to be conveyed, and the reception side 11 can receive corresponding operating information.

Depending on the operating information received from the receiving unit 11, i.e. in this case information about the type of high-viscosity material being fed, the processing unit 12 determines a pump speed that is currently permitted, for example (maximum) provided for the conveyance of high-viscosity material of the type in question, and a currently permitted switching speed, which can also be provided (maximum) for conveying thick matter of the present type, for example.

In particular, the currently permissible pumping speed determined in this way and the currently permissible switching speed determined in this way can be less than a maximum pumping speed of the core pump 15 and a maximum switching speed of the S-tube 24. If this is the case with the selected example of the specific type of conveying thick matter is the case, then the control unit 13 limits the pumping speed of the core pump 15 to the specific currently permissible pumping speed and the switchover speed of the S-tube 24 to the specific currently permissible switchover speed.

In this way, for example, potential overloading of components of the thick matter pump 16 or of a thick matter distribution boom 18 can be taken into account when conveying a thick matter of a certain type. It is conceivable, for example, that when conveying a particularly highly viscous thick matter, the core pump 15 may not be operated at the maximum pumping speed and the S-tube 24 may not be operated at the maximum switching speed either, in order to avoid damage to the thick matter pump 16. Likewise, it is conceivable that in the case of a particularly dense and therefore heavy thick material, the core pump 15 may not be operated at the maximum pumping speed and the S-pipe 24 may not be operated at the maximum switching speed either, since otherwise the pumping of the thick material along the För derleitung the respective load moments of the boom arms would be so great that there is a risk of overloading the thick matter distributor boom 18. 3 shows a thick matter conveying system 10 which comprises a substructure 30 on which a thick matter distributor boom 18 and a thick matter pump 16 are arranged. The substructure 30 is again shown as being arranged on a vehicle 33 by way of example. A delivery line 17 and a slewing gear 19 are also shown by way of example as standard components of the thick matter distributor mast 18 .

The substructure 30 comprises a support structure 31 with support legs 32 for supporting the substructure 30. For the support structure 31, for example, taking into account the positioning of the support legs 32, a stability area is specified, which has a first threshold and a second threshold and an upper limit, where the upper limit is defined by a maximum stability parameter. A reception unit 11, a processing unit 12 and a control unit 13 are also provided in the substructure 30. FIG.

The receiving unit 11 is set up to receive a plurality of pieces of operational information which, by way of example, are each representative of a horizontal and a vertical leg force of each of the support legs 32 . For this purpose, the receiving unit 11 has a sensor unit that has corresponding sensors in the support legs 32 for detecting the respective leg strength.

Depending on the operating information received in this way from the receiving unit 11, the processing unit 12 determines an instantaneous stability parameter which characterizes the instantaneous stability of the supporting structure and also its mechanical resilience. In addition, the processing unit 12 also determines a stability parameter to be expected in the future as a function of prognosis information that is characteristic of a predicted change in the stability parameter after proper operation of one or more components of the thick matter distributor boom 18 and the sludge pump 16 is. For example, the components considered within the scope of determining the prognosis information can be boom arms or a slewing gear 19 of the thick matter distributor boom 18, a core pump or an S-tube of the thick matter pump 16.

The control unit 13 is set up to control an operating parameter of the component under consideration of the sludge distributor boom 18 and/or sludge pump 16 . If the component is a boom arm of the thick matter distributor boom 18, the operating parameter is, for example, characteristic of the manipulation speed a of the articulated joint of the corresponding boom arm joint. The manipulation speed a used in normal operation can correspond to +2°/s, for example. If the component under consideration is, for example, a slewing gear of the sludge distributor boom 18, the operating parameter can be the rotational speed f, which is a maximum of +6°/s.

If the situation now arises that the current stability parameter determined by the processing unit 12 is above the first threshold within the stability range, and that the determined future stability parameter to be expected is closer to the maximum stability parameter, i.e. that the trend in stability is increasing proper operation of the component under consideration will further deteriorate, the control unit 13 controls operating parameters of the respective component such that the component is operated at a reduced speed. In the mentioned example of the mast arm, the manipulation speed a of the articulated joint and/or the rotational speed f would accordingly be reduced by the control unit 13 to a reduced manipulation speed oc _red <oc or rotational speed <p _red <f. In a description of stability area as a distance reserve, the distance reserve decreases in this case.

If, however, the first threshold is exceeded by the current stability parameter determined by the processing unit 12, the stability parameter to be expected in the future is also further away from the maximum stability parameter, i.e. that the trend in stability will improve if the component under consideration is operated properly, the control unit 13 can control the operating parameters of the component in such a way that the component is operated at an unchanged speed. The manipulation speed a of the articulated joint and/or the rotational speed f would not be reduced by the control unit 13 in this case. In this case, describing the stability area as a distance reserve would lead to an increase in the distance reserve.

If the current stability parameter determined by the processing unit 12 is already above the second threshold, i.e. already closer to an upper limit of stability, and the certain safety parameter to be expected in the future is still closer to the maximum stability parameter, then the control unit 13 controls the component to the extent that the proper operation of the component is discontinued. In the example outlined, further manipulation of the articulated joint and/or rotation of the slewing gear would not be undertaken (a=0, f=0) and would be prevented, for example, in response to a control signal from control unit 13 . A distance reserve would not change.

However, the control unit 13 when the second threshold is exceeded by the current stability parameters determined by the processing unit 12 and at a control the position of the safety parameter to be expected in the future, which is also determined by the processing unit 12 and which is further away from the maximum stability parameter, in such a way that the operation of the component under consideration takes place at a reduced speed. Accordingly, a manipulation of the articulated joint and/or a rotation of the slewing gear could occur despite the second threshold being exceeded and thus operation close to critical stability, although at a lower speed ^a _reci ^a '^ _red ^'. A slow increase in the distance reserve would be the result.

By way of example, a component of the thick matter conveying system 10 should be operable via a control element designed as a three-axis joystick with illuminated displays, each of which represents one of the six directions of movement of the joystick. Since the operation of components of the thick matter conveyor system 10 and thus a change in one or more operating information as a result of the joystick being operated in one direction of movement by a user is to be assumed, the determination of the future stability parameters to be expected is also dependent on such an operation.

For example, the brightness of the respective displays can then be reduced for those directions of movement for which the control unit 13 controls operating parameters of the respective component such that the component is operated at a reduced speed. In contrast to this, the brightness of the respective displays can be maximum for such directions of movement for which the control unit 13 controls operating parameters of the component such that the operation of the component takes place at an unchanged speed. Finally, the brightness of those indicators for the directions of movement for which the control unit 13 stops operating the component can be minimal. The embodiments of the present invention described in this specification and the optional features and properties listed in each case in this regard should also be understood to be disclosed in all combinations with one another. In particular, the description of a feature included in an embodiment—unless explicitly stated otherwise—should not be understood in the present case to mean that the feature is essential or essential for the function of the embodiment.

Claims

patent claims

1. sludge distributor boom (18) for distributing a sludge to be promoted by means of egg ner sludge pump, with

- A slewing gear (19) which can be rotated about a vertical axis with a maximum rotational speed,

- A mast arrangement (40) with at least a first Ma starm (41) and a second mast arm (42), wherein the first mast arm (41) is connected to the slewing gear (19) at a proximal end of the mast (40), and wherein the mast arms (41, 42) each have a maximum working range,

- A delivery line (17) extending over the mast arrangement (40) and comprising a proximal end that can be connected to an outlet (28) of a sludge pump and a distal end, the distal end of the delivery line (17) being connected to a distal end of the Mast arrangement (40) merges into an end hose (45),

- a receiving unit (11) for receiving at least egg ner operating information,

- a processing unit (12) for determining a currently permissible working area for each of the first boom arm (41) and the second boom arm (42) and/or for determining a currently permissible slewing gear speed, each depending on the at least one piece of operating information received, and

- A control unit (13) for limiting the working area of the corresponding mast arm (41, 42) to the respective currently permissible working area, if a ner of the specific currently permissible working ranges of the first mast arm (41) and the second mast arm (42) is less than the respective maximum working area, and/or for limiting the rotational speed of the slewing gear (19) if the specific currently permissible rotational speed is lower than the maximum speed is.

2. Thick matter distribution boom (18) according to claim 1, wherein the Ma stanordnung (40) comprises a further boom arm (43, 44), preferably as two further boom arms.

3. The sludge distributor boom (18) according to claim 2, wherein the processing unit (12) is also set up to determine a currently permissible working area for the, preferably each, further boom arm (43, 44) depending on the at least one piece of operating information received, and wherein the control unit (13) is also set up to limit to the respective currently permissible working area if one of the specific currently permissible working areas of the further boom arms (43, 44) is smaller than the respective maximum working area of the working area of the corresponding boom arm (43 , 44).

4. Thick matter spreading boom (18) according to one of the preceding claims, wherein both the slewing gear (19) and a first Ma starm (41) of the mast assembly (40) and two of the mast arms (41, 42, 43, 44) respectively an articulated joint are connected to each other, and wherein the processing unit (12) is further set up to determine the currently permissible working range of a mast arm (41, 42, 43, 44) based on the definition of a currently permissible opening angle of the articulated joint at a proximal end of the mast arm (41, 42, 43, 44).

5. Thick matter distributor boom (18) according to claim 4, wherein the control unit (13) is further set up to limit the working area by restricting the pivotability of the boom arm (41, 42, 43, 44) to the momentarily permissible opening angle .

6. sludge pump (16) for conveying a sludge through a delivery line (17) of a sludge distributor boom (18), with

- a core pump (15) in double-piston design, which has a maximum pumping speed,

- an S-tube (24) which can be switched over at a maximum switching speed and which has an end which is arranged at an outlet (28) of the sludge pump (16) and which can be connected to a delivery line (17),

- a receiving unit (11) for receiving at least egg ner operating information,

- a processing unit (12) for determining a momentarily permissible pumping speed and/or for determining a momentarily permissible changeover speed, in each case depending on the at least one piece of operating information received, and

- a control unit (13) for limiting the pumping speed to the currently permissible pumping speed if the determined currently permissible pumping speed is less than the maximum pumping speed, and/or for limiting the switching speed if the determined currently permissible switching speed is less than the maximum switching speed.

the Substructure (30) comprising: o a supporting structure (31) for supporting the substructure (30), wherein the supporting structure (31) has a stability area with a first threshold and with an upper limit defined by a maximum stability parameter, o a receiving unit (11 ) for receiving at least one piece of operational information, o a processing unit (12) for determining a current stability parameter, depending on the at least one piece of operational information received, and for determining a future stability parameter to be expected, depending on the at least one piece of operational information received and at least one piece of prognosis information, which is characteristic of a predicted change in the stability parameter after proper operation of at least one component of the sludge distributor boom and/or the sludge pump, and o a control unit (13) for controlling an operating parameter of at least one component of the thick matter distributor boom and/or the thick matter pump,

^■ wherein the control unit (13) is set up to control the operating parameter in such a way that, if the determined current stability parameter is above the first threshold and the determined future stability parameter to be expected is closer to the maximum stability parameter than the determined current stability parameter, the The component is operated at a reduced speed.

8. The sludge conveying system (10) according to claim 7, wherein the control unit (13) is further set up to control the operating parameter in such a way that if the specific instantaneous stability parameter is above the first threshold and the specific stability parameter to be expected in the future is more distant from the maximum stability parameter than the determined instantaneous stability parameter, the operation of the component occurs at an unchanged speed.

9. The sludge conveyor system (10) according to any one of claims 7 to 8, wherein the stability area of the support structure (31) comprises a second threshold, which is closer to the maximum stability parameter than the first threshold, and the control unit (13) of the is further set up to control the operating parameter in such a way that, if the specific instantaneous stability parameter is above the second threshold and the specific stability parameter to be expected in the future is closer to the maximum stability parameter than the specific one current stability parameters, correct operation of the component is set.

10. The sludge conveying system (10) according to claim 9, wherein the control unit (13) is further set up to control the operating parameter in such a way that if the specific instantaneous stability parameter is above the second threshold and the specific stability parameter to be expected in the future is more distant from the maximum stability parameter than the determined instantaneous stability parameter, operation of the component occurs at a reduced speed.

11. sludge conveyor system (10) according to any one of claims 7 to

10, where the extent of the speed reduction is dependent on the operating speed of the component.

12. sludge conveyor system (10) according to any one of claims 7 to

11, wherein the operating parameter is at least one component of the sludge distributor boom and/or the sludge pump

- a rotational speed of a slewing gear of the thick matter distributor boom that can be rotated about a vertical axis,

- a manipulation speed of a boom arm joint of the sludge distributor boom,

- an operating speed of an actuator of a boom of the sludge distributor boom,

- A pumping speed or a pumping frequency of a core pump (15) of the sludge pump, and/or - A switching speed or a switching frequency of a switchable S-tube (24) of the sludge pump is involved.

13. sludge conveyor system (10) according to any one of claims 7 to

12, wherein the processing unit (12) is set up to determine the stability parameters to be expected in the future based on prognosis information that is characteristic of a predicted change in the operating information after proper operation of several, preferably all, components of the sludge distributor boom and/or the sludge pump determine.

14. sludge conveyor system (10) according to any one of claims 7 to

13, whereby an influence of the component that increases the stability parameter as much as possible is assumed as the predicted change in the stability parameter.

15. sludge conveyor system (10) according to any one of claims 7 to

14, the prognosis information being calculated taking into account a control signal to be output by the control unit for proper operation in a prognosis period.

16. Thick matter distributor boom (18), thick matter pump (16) or thick matter conveyor system (10) according to one of the preceding claims, wherein the respective receiving unit (11) is set up to receive operating information that is indicative of a joint torque of a boom arm (41, 42 , 43, 44), for a cylinder force of a mast arm (41, 42, 43, 44) and/or for an opening angle of a mast joint (47).

17. thick matter distributor boom (18), thick matter pump (16) or thick matter conveyor system (10) according to claim 16, wherein the proces processing unit (12) is set up, a load torque ba- based on the detected operating information indicative of the joint moments of all boom arms (41), and the currently permissible working range of each of the first boom arm (41) and the second boom arm (42), the currently permissible slewing gear speed, the currently permissible pumping speed, the currently permissible switching speed, the current stability parameter and/or the future stability parameter to be expected depending on the calculated load torque.

18. Thick matter distributor boom (18), thick matter pump (16) or thick matter conveyor system (10) according to claim 17, wherein the proces processing unit (12) is set up, the momentarily permissible working area of each of the first boom arm (41) and the second boom arm (42) , the currently permissible slewing gear speed, the currently permissible pump speed, the currently permissible switching speed, the current stability parameter and/or the stability parameter to be expected in the future, each depending on operating information that is indicative of a currently permissible theoretically maximum load torque.

19. Thick matter distributor boom (18), thick matter pump (16) or thick matter conveyor system (10) according to any one of the preceding claims, wherein the respective receiving unit (11) is set up to receive operating information that is indicative of one of the following properties:

- a type of sludge to be conveyed, a density of the sludge to be conveyed, a load of the end hose (45), and - a type of end hose (45).

20. Thick matter distributor boom (18), thick matter pump (16) or thick matter conveying system (10) according to one of the preceding claims, wherein the respective receiving unit (11) is set up to receive operating information that is indicative of an expected, in particular maximum, wind speed speed.

21. Thick matter distributor boom (18), thick matter pump (16) or thick matter conveying system (10) according to one of the preceding claims, wherein the respective receiving unit (11) is set up to receive operating information that is indicative of a maximum floor load capacity.

22. thick matter distributor boom (18), thick matter pump (16) or thick matter conveyor system (10) according to one of the preceding claims, wherein the respective receiving unit (11) is set up to receive operating information that is indicative of a position of a load attachment point (46) and /or for a load weight.

23. thick matter spreading boom (18) according to one of the preceding claims, which is designed as a concrete spreading boom or thick matter pump (16) according to any one of the preceding claims, which is designed as a concrete pump.

24. The sludge conveyor system (10) according to any one of claims 7 to 22, the supporting structure (31) further comprising at least one horizontally and vertically movable support leg (32), and wherein the receiving unit (11) is set up to receive operating information which is indicative is for one of the following properties: - a torque of a slewing gear of the sludge distributor boom that can be rotated about a vertical axis,

- A horizontal leg strength of the at least one support leg (32), and

- a vertical leg strength of the at least one support leg (32).

25. Thick matter distributor boom (18), thick matter pump (16) or thick matter conveyor system (10) according to one of the preceding claims, wherein the respective receiving unit (11) further comprises:

- a sensor unit for detecting operational information,

- A communication interface for acquiring operational information, or

- A user interface for capturing operational information.

26. Thick matter conveyor system, with

- a substructure (30) on which a sludge distributor boom (18) and a sludge pump (16) can be arranged, such as o a sludge distributor boom (18) according to one of the preceding claims, and/or o a sludge pump (16) according to one of the preceding claims Expectations.

27. thick matter conveyor system (10) according to any one of claims 7 to 25, wherein the thick matter distributor boom (18) is designed according to any one of the preceding claims, and / or wherein the thick matter pump (16) is designed according to any one of the preceding claims.

28. sludge conveyor system (10) according to any one of the preceding claims, wherein the substructure (30) is arranged on a vehicle (33).