OPERATION MONITORING FOR A THICK MATTER CONVEYING SYSTEM

Abstract

Disclosed is, inter alia, a thick matter distributor mast (18) for distributing a thick matter to be conveyed by means of a thick matter pump (16), having a slewing gear (19) which can be rotated around a vertical axis at a maximum rotating speed; a mast assembly (40) having at least a first mast arm (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 assembly (40), and wherein the mast arms (41, 42) each have a maximum operating range; a conveying line (17) which extends across the mast assembly (40) and comprises a proximal end, which is connectable to an outlet (28) of a thick matter pump, and a distal end, wherein the distal end of the conveying line (17) transitions to an end hose (45) at a distal end of the mast assembly (40); a receiver unit (11) for receiving at least one item of operational information; a processing unit (12) for determining a currently permissible operating range of the first mast arm (41) and the second mast arm (42) respectively and/or for determining a currently permissible slewing gear speed, each depending on the at least one received item of operational information; and a control unit (13) for limiting the operating range of the corresponding mast arm (41, 42) to the respective currently permissible operating range if one of the determined currently permissible operating ranges of the first mast arm (41) and the second mast arm (42) is smaller than or equal to the respective maximum operating range, and/or to limit the rotating speed of the slewing gear (19) if the determined currently permissible rotating speed is less than or equal to the maximum rotating speed.

Claims

1. A thick matter distributor mast (18) for distributing a thick matter to be conveyed by means of a thick matter pump, having a slewing gear (19) which is rotatable about a vertical axis at a maximum rotating speed, a mast assembly (40) having at least a first mast arm (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 assembly (40), and wherein the mast arms (41, 42) each have a maximum operating range; a conveying line (17) which extends across the mast assembly (40) and comprises a proximal end, which is connectable to an outlet (28) of a thick matter pump, and a distal end, wherein the distal end of the conveying line (17) transitions to an end hose (45) at a distal end of the mast assembly (40); a receiver unit (11) for receiving at least one item of operational information; a processing unit (12) for determining a currently permissible operating range of the first mast arm (41) and the second mast arm (42) respectively and/or for determining a currently permissible slewing gear speed, each depending on the at least one received item of operational information; and a control unit (13) for limiting the operating range of the corresponding mast arm (41, 42) to the respective currently permissible operating range if one of the determined currently permissible operating ranges of the first mast arm (41) and the second mast arm (42) is smaller than the respective maximum operating range, and/or to limit the rotating speed of the slewing gear (19) if the determined currently permissible rotating speed is less than the maximum rotating speed.

2. The thick matter distributor mast (18) of claim 1, wherein the mast assembly (40) comprises a further mast arm (43, 44), or two further mast arms.

3. The thick matter distributor mast (18) of claim 2, wherein the processing unit (12) is furthermore configured to determine a currently permissible operating range for each further mast arm (43, 44) depending on the at least one received item of operational information, and wherein the control unit (13) is furthermore configured to limit the operating range of each further mast arm to the respective currently permissible operating range if one of the determined currently permissible operating ranges of the further mast arms (43, 44) is smaller than the respective maximum operating range of the corresponding mast arm (43, 44).

4. The thick matter distributor mast (18) of claim 1, wherein both the slewing gear (19) and a first mast arm (41) of the mast assembly (40) as well as two of the mast arms (41, 42, 43, 44) are each connected to one other by way of an articulated joint, and wherein the processing unit (12) is furthermore configured to determine the currently permissible operating range of a mast arm (41, 42, 43, 44) based on establishing a currently permissible opening angle of the articulated joint at a proximal end of the mast arm (41, 42, 43, 44).

5. The thick matter distributor mast (18) of claim 4, wherein the control unit (13) is further configured to limit the operating range by restricting pivoting of the mast arm (41, 42, 43, 44) to the currently permissible opening angle.

6. A thick matter pump (16) for conveying a thick matter through a conveying line (17) of a thick matter distributor mast (18), having a double-piston core pump (15) which has a maximum pump speed; an S-pipe (24) which is switchable at a maximum switching speed and has an end that is disposed on an outlet (28) of the thick matter pump (16) and is connectable to a conveying line (17); a receiver unit (11) for receiving at least one item of operational information; a processing unit (12) for determining a currently permissible pump speed and/or for determining a currently permissible switching speed, each depending on the at least one received item of operational information; and a control unit (13) for limiting the pump speed to the currently permissible pump speed if the determined currently permissible pump speed is less than the maximum pump speed, and/or for limiting the switching speed if the determined currently permissible switching speed is less than the maximum switching speed.

7. A thick matter conveying system (10), having a thick matter distributor mast for distributing a thick matter to be conveyed; a thick matter pump for conveying the thick matter through a conveying line (17) of the thick matter distributor mast; and a substructure (30) on which the thick matter distributor mast and the thick matter pump are disposed, the substructure (30) comprising: a support structure (31) for supporting the substructure (30), wherein the support structure (31) has a stability range with a first threshold and with an upper limit defined by a maximum stability parameter; a receiver unit (11) for receiving at least one item of operational information; a processing unit (12) for determining a current stability parameter, depending on the at least one received item of operational information, and for determining a future stability parameter to be anticipated, depending on the at least one received item of operational information and at least one item of forecast information, the at least one item of forecast information being characteristic of a predicted change of the stability parameter upon the operation of at least one component of the thick matter distributor mast and/or the thick matter pump; and a control unit (13) for controlling an operating parameter of at least one component of the thick matter distributor mast and/or the thick matter pump; wherein the control unit (13) is configured to control the operating parameter in such a manner that, if the determined current stability parameter is above the first threshold and the determined future stability parameter to be anticipated is closer to the maximum stability parameter than the determined current stability parameter, the at least one component is operated at a reduced speed.

8. The thick matter conveying system (10) of claim 7, wherein the control unit (13) is furthermore configured to control the operating parameter in such a manner that, if the determined current stability parameter is above the first threshold and the determined future stability parameter to be anticipated is more distant from the maximum stability parameter than the determined current stability parameter, the component is operated at an unchanged speed.

9. The thick matter conveying system (10) of claim 7, wherein the stability range of the support structure (31) comprises a second threshold which is closer to the maximum stability parameter than the first threshold, and wherein the control unit (13) is furthermore configured to control the operating parameter in such a manner that, if the determined current stability parameter is above the second threshold, and the determined future stability parameter to be anticipated is closer to the maximum stability parameter than the determined current stability parameter, operation of the component is discontinued.

10. The thick matter conveying system (10) of claim 9, wherein the control unit (13) is furthermore configured to control the operating parameter in such a manner that, if the determined current stability parameter is above the second threshold, and the determined future stability parameter to be anticipated is more distant from the maximum stability parameter than the determined current stability parameter, the component is operated at a reduced speed.

11. The thick matter conveying system (10) of claim 7, wherein an extent of the reduction of the speed is dependent on the operating speed of the component.

12. The thick matter conveying system (10) of claim 7, wherein the operating parameter of at least one component of the thick matter distributor mast and/or the thick matter pump is a rotating speed of a slewing gear of the thick matter distributor mast that can be rotated about a vertical axis; a manipulation speed of a mast arm joint of the thick matter distributor mast; an operating speed of an actuator of a mast arm of the thick matter distributor mast; a pump speed or a pump frequency of a core pump (15) of the thick matter pump, and/or a switching speed or a switching frequency of a switchable S-pipe (24) of the thick matter pump.

13. The thick matter conveying system (10) of claim 7, wherein the processing unit (12) is configured to determine the future stability parameter to be anticipated depending on an item of forecast information which is characteristic for a predicted change in the item of operational information upon the operation of a plurality of, or all, components of the thick matter distributor mast and/or the thick matter pump.

14. The thick matter conveying system (10) of claim 7, wherein an influence of the component that enlarges the stability parameter to the greatest possible extent is assumed to be the predicted change of the stability parameter.

15. The thick matter conveying system (10) of claim 7, wherein the item of forecast information is calculated by taking into account a control signal to be output by the control unit for the operation of at least one component in a forecast period.

16. The thick matter distributor mast (18), of claim 1, wherein the receiver unit (11) is configured to receive an item of operational information which is indicative of a joint torque of a mast arm (41, 42, 43, 44), of a cylinder force of a mast arm (41, 42, 43, 44), and/or of an opening angle of a mast joint (47).

17. (canceled)

18. (canceled)

19. The thick matter distributor mast (18), of claim 1, wherein the respective receiver unit (11) is configured to receive an item of operational information which is indicative of one of the following properties: a type of the thick matter to be conveyed; a density of the thick matter to be conveyed; a load on the end hose (45); and a type of end hose (45).

20. The thick matter distributor mast (18) of claim 1, wherein the respective receiver unit (11) is configured to receive an item of operational information which is indicative of an anticipated maximum wind speed.

21. (canceled)

22. (canceled)

23. (canceled)

24. The thick matter conveying system (10) of claim 7, the support structure (31) further comprising at least one horizontally and vertically displaceable support leg (32), and wherein the receiver unit (11) is configured to receive an item of operational information which is indicative of one of the following properties: a torque of a slewing gear of the thick matter distributor mast that is rotatable about a vertical axis; a horizontal leg force of the at least one support leg (32); and a vertical leg force of the at least one support leg (32).

25. (canceled)

26. (canceled)

27. (canceled)

28. The thick matter conveying system (10) of claim 7, wherein the substructure (30) is disposed on a vehicle (33).

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0080] The invention will be explained in more detail in an exemplary manner below with reference to the appended drawings and by way of advantageous embodiments. In the figures:

[0081] FIG. 1 shows a schematic illustration of an exemplary embodiment of a thick matter distributor mast according to the invention;

[0082] FIG. 2 shows a schematic illustration of an exemplary embodiment of a thick matter pump according to the invention; and

[0083] FIG. 3 shows a schematic illustration of an embodiment of a thick matter conveying system according to the invention.

DETAILED DESCRIPTION

[0084] Shown in FIG. 1 is a thick matter distributor mast 18 for distributing a thick matter to be conveyed by means of a thick matter pump, having a slewing gear 19, a mast assembly 40 and a conveying line 17.

[0085] The mast assembly 40 comprises a first mast arm 41, a second mast arm 42, as well as a first further mast arm 43, and a second further mast arm 44. Here, the proximal end of the first mast arm 41 corresponds to the proximal end of the mast assembly 40, and the distal end of the second mast arm 42 corresponds to the distal end of the mast assembly 40. The slewing gear 19 is to be rotatable at a maximum rotating speed about a vertical axis, i.e. about an axis in the image plane.

[0086] The first mast arm 41 is connected to the slewing gear 19 by way of a mast arm joint at the proximal end of the first mast arm 41. The connection by way of the mast arm joint here is configured as a fastening by means of an articulated joint. The first further mast arm 43 is connected, at its proximal end, by way of a mast arm joint likewise configured as an articulated joint, to the distal end of the first mast arm 41. Following in an analogous manner is the second further mast arm 44 which is connected in the same way by way of an articulated joint to the first further mast arm 43. The second mast arm 42, by way of an articulated joint at its proximal end, is connected to the distal end of the second further mast arm 44.

[0087] Each of the mast arms 41, 42, 43, 44 of the mast assembly 40 here has an operating range. In the example of FIG. 1, in which the individual mast arms, at their proximal end, are in each case connected by way of an articulated joint to one another or to the slewing gear 19, the maximum operating range of each mast arm is characterized as its minimum or maximum opening angle. Plotted by way of example is the opening angle 47 of the second mast arm 42, which is to 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 the proximal end of the former. The maximum operating range of the second mast arm 42 in this instance corresponds in the present example to an opening angle 47 of 180?. In the same way, a (maximum) opening angle and thus also a (maximum) operating range are defined for each of the other mast arms. In the case of the first mast arm 41, the opening angle is to be understood to mean 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.

[0088] Furthermore, a substructure 30 is shown in dashed lines, on which the thick matter distributor mast 18 is disposed. The substructure 30 here, by way of example, is disposed on a vehicle 33 in dotted lines.

[0089] The conveying line 17 has a proximal end which is connected to a thick matter pump (not shown) and extends from the substructure 30, along the slewing gear 19, and from the proximal end of the mast assembly 40 to the distal end of the latter. There, the conveying line 17 transitions to an end hose 45. The location of the transition here specifies a load attachment point 46 at which the mast assembly 40 can additionally have an eyelet, for example.

[0090] In addition, the thick matter distributor mast 18 has a receiver unit 11, a processing unit 12 and a control unit 13.

[0091] The receiver unit 11 comprises a sensor unit with a plurality of sensors which are in each case disposed in the mast joints of the mast arms 41, 42, 43, 44. Accordingly, the receiver unit 11 is configured to receive at least one item of operational information from the sensor unit. In the example of FIG. 1, the sensors are to be understood as being in each case configured to record an item of operational information in the form of the cylinder force of the mast joint of the respective mast arm.

[0092] Depending on this received item of operational information, the processing unit 12 determines a currently permissible operating range for each of the mast arms 41, 42, 43, 44. This respective determined currently permissible operating range is defined as a currently permissible opening angle. The currently permissible opening angle can correspond to an angle less than or equal to the maximum opening angle.

[0093] If the receiver unit 11 receives an item of operational information characteristic of a particularly high cylinder force, the processing unit 12 determines the currently permissible opening angle, and thus the currently permissible operating range, to be smaller than the maximum opening angle. This is done, for example, in order to avoid overloading the second mast arm 42 or also the thick matter distributor mast 18 as a whole. Such a scenario can occur, for example, in the case of a particularly high load bearing on the end hose 45 in the load attachment point 46, which typically occurs when conveying heavy concrete or else when filling high formwork.

[0094] However, even when the thick matter distributor mast 18 is operated according to its planned design, a currently permissible operating range which is smaller than the maximum operating range can be determined. This can be the case, for example, in adverse ambient conditions such as strong wind or unpaved ground. If corresponding items of operational information are received by the receiver unit 11, for example by recording a user input on a user interface of the receiver unit 11, the processing unit 12 can determine an operating range which is lower than the maximum currently permissible operating range despite the thick matter that is actually able to be conveyed with the maximum operating ranges of the mast arms.

[0095] If the processing unit 12 determines a currently permissible operating range of a mast arm that is less than the maximum operating range, the control unit 13 limits the operating range of the corresponding mast arm to the determined currently permissible operating range, and thus in the present example to a currently permissible opening angle that is smaller than the maximum opening angle. In this case, a deflection of the corresponding mast arm is not carried out by the thick matter distributor mast 18, for example by corresponding actuators of the thick matter distributor mast 18, and is precluded in response to a control signal of the control unit 13, for example.

[0096] 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 operating range of the mast arm is not limited and its deflection is not discontinued. This can be the case, for example, when conveying takes place according to the planned design of the thick matter distributor mast 18.

[0097] Moreover, in the present example, the processing unit 12 additionally determines a currently permissible slewing gear speed, which is likewise dependent on the item of operational information received by the receiver unit 11, for example, from the cylinder forces recorded by the sensors of the sensor unit. In this case it may occur that a currently permissible rotating speed of the slewing gear 19 can be lower than the maximum rotating speed used in orderly operation. For example, the cylinder force of the second mast arm 42 in its mast arm joint 47 can increase significantly due to centrifugal force caused by the rotation of the slewing gear 19, so that there is a risk of damage to the second mast arm 42. If such a high cylinder force is now recorded by sensors of the receiver 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 rotating speed of the slewing gear 19 to the currently permissible rotating speed determined by the processing unit 12.

[0098] FIG. 2 shows a thick matter pump 16 for conveying a thick matter. The thick matter pump 16 comprises a double-piston core pump 15 and a switchable S-pipe 24. In this instance, the core pump 15 has a maximum pump speed, and the S-pipe 24 has a maximum switching speed at which the one end of the S-pipe 24 is switched back and forth between the two pistons of the core pump. At an outlet 28 of the thick matter pump 16, the other end of the S-pipe 24 is connected to a conveying line 17 of a thick matter distributor mast (not shown). Furthermore, the thick matter pump 16 comprises a receiver unit 11, a processing unit 12, and a control unit 13.

[0099] In the present example, the receiver unit 11 comprises a user interface, for example, a touch-sensitive display unit, by means of which an item of operational information in the form of a user input can be recorded. For example, a user can enter the type of thick matter to be conveyed and the receiver 11 can receive a corresponding item of operational information.

[0100] Depending on the item of operational information received by the receiver unit 11, i.e. presently an item of information pertaining to the type of the thick matter to be conducted, the processing unit 12 determines a currently permissible pump speed, for example a (maximum) pump speed provided for conveying thick matter of the present type, as well as a currently permissible (maximum) switching speed which may likewise be provided for conveying thick matter of the present type, for example.

[0101] In particular, the currently permissible pump speed as well as the currently permissible switching speed determined in this way can be less than a maximum pump speed of the core pump 15 and a maximum switching speed of the S-pipe 24. If this is the case with the selected example of the specific type of the thick matter to be conveyed, then the control unit 13 limits the pump speed of the core pump 15 to the determined currently permissible pump speed, and limits the switching speed of the S-pipe 24 to the determined currently permissible switching speed.

[0102] In this way, for example, potential overloads of components of the thick matter pump 16 or a thick matter distributor mast 18 can be taken into account when conveying a thick matter of a certain type. For example, when conveying a particularly highly viscous thick matter, it is conceivable that the core pump 15 may not be operated at the maximum pump speed and the S-pipe 24 may not be operated at the maximum switching speed either, in order to avoid damage to the thick matter pump 16. It is equally conceivable that in the case of a particularly dense and thus heavy thick matter, the core pump 15 may not be operated at the maximum pump speed either and the S-pipe 24 may not be operated at the maximum switching speed either, since the respective load torques of the mast arms otherwise would become so large that there is the risk of overloading the thick matter distributor mast 18 by conveying the thick matter along the conveying line.

[0103] Shown in FIG. 3 is a thick matter conveying system 10 which comprises a substructure 30 on which are disposed a thick matter distributor mast 18 and a thick matter pump 16. The substructure 30 is again shown by way of example as being disposed on a vehicle 33. Furthermore illustrated by way of example as usual components of the thick matter distributor mast 18 are a conveying line 17 and a slewing gear 19.

[0104] The substructure 30 comprises a support structure 31 with support legs 32 for supporting the substructure 30. Defined for the support structure 31 is a stability range which, while by way of example taking into account the positioning of the support legs 32, has a first threshold and a second threshold and an upper limit, wherein the upper limit is defined by a maximum stability parameter. A receiver unit 11, a processing unit 12, and a control unit 13 are also provided in the substructure 30.

[0105] The receiver unit 11 is configured to receive a plurality of items of operational information, each by way of example being representative of a horizontal and a vertical leg force of each of the support legs 32. To this end, the receiver unit 11 has a sensor unit which has corresponding sensors in the support legs 32 for recording the respective leg force.

[0106] Depending on these items of operational information thus received by the receiver unit 11, the processing unit 12 determines a current stability parameter which characterizes the current stability of the support structure as well as its mechanical load capacity. Moreover, the processing unit 12 also determines a future stability parameter to be anticipated, depending on items of forecast information that are in each case characteristic of a predicted change in the stability parameter upon the orderly operation of one or more components of the thick matter distributor mast 18 and the thick matter pump 16. By way of example, the components considered in the context of the determination of the item of forecast information can be mast arms or a slewing gear 19 of the thick matter distributor mast 18, a core pump or an S-pipe of the thick matter pump 16.

[0107] The control unit 13 is configured to control an operating parameter of the considered component of the thick matter distributor mast 18 and/or thick matter pump 16. If the component is a mast arm of the thick matter distributor mast 18, the operating parameter is characteristic of the manipulation speed of the articulated joint of the corresponding mast arm joint, for example. For example, the manipulation speed {dot over (?)} used in orderly operation may correspond to ?2?/s. For example, if the component under consideration is a slewing gear of the thick matter distributor mast 18, the operating parameter can be the rotating speed {dot over (?)}, which is no more than ?6?/s.

[0108] If the case now occurs 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 anticipated is closer to the maximum stability parameter, that is to say that the trend of stability will deteriorate further if the component under consideration is operated in an orderly fashion, the control unit 13 controls the operating parameters of the respective component so that the operation of the component takes place at a reduced speed. In the aforementioned example of the mast arm, the manipulation speed a of the articulated joint and/or the rotating speed {dot over (?)} would accordingly be reduced by the control unit 13 to a reduced manipulation speed {dot over (?)}.sub.red<{dot over (?)}, or rotating speed {dot over (?)}.sub.red<{dot over (?)}, respectively. If the stability range is described as a distance margin, the distance margin is reduced in this case.

[0109] If, however, when the first threshold is exceeded by the current stability parameter determined by the processing unit 12, the equally determined future stability parameter to be anticipated is far removed from the maximum stability parameter, that is to say that the trend of stability will improve in the orderly operation of the component concerned, the control unit 13 can thus control operating parameters of the component in such a way that the operation of the component takes place at an unchanged speed. The manipulation speed {dot over (?)} of the articulated joint and/or the rotating speed ? would not be reduced by the control unit 13 in this case. When describing the stability range as a distance margin, this would result in an increase in the distance margin.

[0110] If the current stability parameter determined by the processing unit 12 is already above the second threshold, thus already closer to an upper limit of stability, and if the determined safety parameter to be anticipated in the future is still closer to the maximum stability parameter, the control unit 13 controls the component in such a way that that the orderly operation of the component is discontinued. In the example described, no further manipulation of the articulated joint and/or rotation of the slewing gear would be performed ({dot over (?)}=0, {dot over (?)}=0), and would for example be precluded in response to a control signal of the control unit 13. A distance margin would not change.

[0111] However, when the second threshold is exceeded by the current stability parameter determined by the processing unit 12 and when the position of the future stability parameter to be anticipated, which is likewise determined by the processing unit 12, is more distant from the maximum stability parameter, the control unit 13 can perform controlling in such a way that the operation of the component under consideration takes place at a reduced speed. Accordingly, manipulation of the articulated joint and/or rotation of the slewing gear could nevertheless take place, despite exceeding the second threshold and thus operating close to critical stability, albeit at a lower speed, {dot over (?)}.sub.red<{dot over (?)}, {dot over (?)}.sub.red<{dot over (?)}. This would result in a slow increase in the distance margin.

[0112] By way of example, a component of the thick matter conveying system 10 is to be operable by way of a control element configured as a three-axis joystick with illuminated displays, each representing one of the six directions of movement of the joystick. Since the operation of components of the thick matter conveying system 10 and thus a change of one or more items of operational information is to be assumed to be the result of the joystick being operated in a direction of movement by a user, the determination of the future stability parameter to be anticipated is also dependent on such operation.

[0113] For example, the brightness of the respective displays in this instance can be reduced for those directions of movement for which the control unit 13 actuates operating parameters of the respective component in such a way that the operation of the component takes place at a reduced speed. In contrast, the brightness of the respective displays for such directions of movement for which the control unit 13 controls operating parameters of the component in such a way that the operation of the component takes place at an unchanged speed can be maximum. Finally, the brightness of those displays for the directions of movement for which the control unit 13 discontinues the operation of the components can be minimal.

[0114] The embodiments of the present invention described in this specification and the optional features and properties listed in this respect are to be understood as also being disclosed in all combinations with one other. In particular, the description of a feature comprised by an embodiment is also presently not to be understood as being indispensable or essential for the functioning of the embodiment-unless explicitly stated to the contrary.