Method and system for controlling overall movement of distribution boom and method for distributing building material and / or high-concentration liquid by means of building material and / or high-concentration liquid pump device having distribution boom

Abstract

The invention relates to a method for controlling the overall movement (GB1) of a distribution boom (1), the distribution boom (1) having a plurality of cantilevers (2a, 2b, 2c, 2d, 2e), the cantilevers (2a-e) being displaceable by means of a plurality of hydraulic drives (3a, 3b, 3c, 3d, 3e, 3f), the hydraulic drives (3a, 3b, 3c, 3d, 3e, 3f) being displaceable by means of the hydraulic drives (3a, 3b, 3c, 3d, 3e, 3f). The method comprises the following steps: a) monitoring at least one of the drives (3a-f) for the overall movement (GB1) whether there is insufficient supply of at least one of the drives (3a-f) by a hydraulic pump device (4) for supplying hydraulic fluid (HF) to the drives (3a-f); and b) in the event of the insufficient supply, controlling: a non-proportional reduction of the supply of the drives (3f) with hydraulic fluid (HF) through the pump device (4) in order to non-proportionally reduce the speed of movement (Bv3f) of the drives (3f); and / or an increase in the supply of these drives (3a-f) with hydraulic fluid (HF) by means of the pump device.

Description

Technical Field

[0001] The present invention relates to a method and a system for, in particular, respectively, controlling the overall movement of a dispensing boom, and a method for dispensing building materials and / or high-concentration liquids by means of a building material and / or high-concentration liquid pump device having a dispensing boom, the method comprising such a method for controlling the overall movement of a dispensing boom. Summary of the invention

[0002] The object on which the present invention is based is to provide a method and a system for, in particular respectively for controlling the overall movement of a dispensing boom, the method and the system having, in particular respectively having improved properties, and to provide a method for dispensing building materials and / or high-concentration liquids with the aid of a building material and / or high-concentration liquid pump device having a dispensing boom, the method having such a method for controlling the overall movement of a dispensing boom.

[0003] The invention achieves this object by providing a method and a system as described in the independent claims. Advantageous embodiments and refinements of the invention are described in the dependent claims.

[0004] The method according to the invention is used to control the overall movement of a distribution boom. The distribution boom has a plurality of booms. The booms can be moved by means of a plurality of hydraulic drives or by means of the hydraulic drives. The method comprises the following steps: a) monitoring whether at least one of the drives, in particular a plurality of drives, is undersupplied, in particular currently undersupplied, for the overall movement or for the overall movement by or by means of a hydraulic pump device for supplying the drives with hydraulic fluid. b) in the case of undersupplied, in particular currently undersupplied or in the case of undersupplied, in particular currently undersupplied, control a non-proportional reduction of the supply of the drives with hydraulic fluid by the pump device, in particular at least one value of the supply, in order to non-proportionally reduce the movement speeds, in particular the respective movement speeds, in particular at least one value of the movement speeds; and / or control an increase of the supply of the drives with hydraulic fluid by the pump device, in particular the value of the supply.

[0005] This makes it possible to reduce the supply of one of the drives and to reduce the supply of the other of the drives to a lesser extent or not at all. This thus makes it possible to avoid a proportional reduction, in particular a linear proportional reduction, of the supply of the drives and thus avoid a proportional or uniform reduction of each movement speed of the drives or a set proportional or uniform reduction of all movement speeds of the drives. Additionally or alternatively, in particular therefore, this makes it possible that the pump device, in particular the dimensions of the pump device, do not need to be designed too large; and / or the available supply of hydraulic fluid can be sufficient, in particular always sufficient. This thus makes it possible to reduce costs. Additionally or alternatively, the increase in the supply of the drives with hydraulic fluid by the pump device makes it possible to reduce or even avoid "starvation" of the individual booms. This thus makes it possible to reduce or even avoid path or position deviations or wrong positions and / or it can be achieved, in particular therefore, that the set overall movement, in particular the actual overall movement, of the distribution boom can correspond to, in particular be equal to, the overall movement, in particular the specified overall movement, in particular the target overall movement of the distribution boom. This therefore makes it possible to increase safety, in particular with regard to critical collision issues, and / or makes it possible, in particular therefore makes it possible to reduce or even avoid potential dangers. This therefore makes it possible to optimize the overall movement and / or compensate for or even end the undersupply in the event of a supply shortage.

[0006] In particular, the method, the controlling, the monitoring, the reducing and / or the increasing may be automatic and / or electronic.

[0007] The control can include a control and / or a regulation, in particular can be a control and / or a regulation.

[0008] The overall movement can include, in particular can be, a simultaneous or synchronous or joint movement of a plurality of the arms or a plurality of the drives.

[0009] The distribution boom can be a building material and / or high-concentration liquid distribution boom. Additionally or alternatively, it can be a distribution boom of a building material and / or high-concentration liquid pump device. In particular, the building material and / or high-concentration liquid pump device can be designed to transport building materials and / or high-concentration liquid. In particular, the building material can refer to mortar, cement, mortar, concrete and / or gypsum. Further additionally or alternatively, the high-concentration liquid can refer to mud. In particular, the distribution boom can be a concrete distribution boom. Further additionally or alternatively, the distribution boom can be adjustable.

[0010] The cantilevers can be adjustable or movable, in particular by means of chain links and / or by means of a slewing mechanism. In particular, a plurality of the drives can be chain link drives and / or one of the drives can be a slewing mechanism drive. Additionally or alternatively, the movement speed can be an axis speed.

[0011] The term "suspender element" may be used synonymously with the term "cantilever".

[0012] The term "configured" may be used synonymously with the term "designed".

[0013] The terms "including" or "having" may be used synonymously with the term "having".

[0014] The term "determining" may be used synonymously with the term "monitoring".

[0015] The term "lack of supply" of an ingredient may be used synonymously with the term "insufficient supply" of an ingredient.

[0016] The terms "now" or "currently" may be used synonymously with the term "currently".

[0017] The term "lower" may be used synonymously with the term "reduce".

[0018] The hydraulic fluid may include oil, in particular may be oil.

[0019] The reduction and / or the increase can be carried out in at least one, in particular at least two, in particular at least three levels and / or can be carried out continuously or variably and / or can be carried out according to a proportion or relationship to the undersupply, in particular the degree of undersupply or in a proportion or relationship to the undersupply, in particular the degree of undersupply.

[0020] The control, in particular in terms of time, can firstly be the increase and, in the event that the increase is not sufficient, the control, in particular in terms of time, can secondly be the reduction.

[0021] In the absence of undersupply, this control or step b) is not necessary or may not be performed.

[0022] The control, in particular the reduction and / or the increase, can be carried out continuously over time, in particular until the end or the undersupply ends.

[0023] Step b) can be performed temporally after step a). Additionally or alternatively, the method, in particular step a) and / or step b), can be repeated or performed again temporally, in particular multiple times and / or regularly.

[0024] In an extension of the invention, the pump device is, in particular, only a common pump device, in particular a single common pump device, for supplying, in particular jointly supplying, the drives with hydraulic fluid. In particular, the pump device has only a single hydraulic pump. This can, in particular, on the one hand, reduce costs and / or, in particular, on the other hand, can achieve that a shortage of supply of at least one drive can have an impact on all other drives. In particular, the common pump device can be designed to supply hydraulic fluid to an at least partially common hydraulic circuit for supplying the drives with hydraulic fluid. Additionally or alternatively, the pump device may not have or need not have a plurality of hydraulic pumps for supplying the drives individually or solely with hydraulic fluid.

[0025] In one embodiment of the invention, at least one of the drives has an electrically controllable hydraulic valve or at least one of the drives is assigned an electrically controllable hydraulic valve. The control of the reduction involves the control of the hydraulic valve. This allows electrohydraulic control, in particular and therefore easy and / or simple and / or cost-effective control.

[0026] In a further development of the invention, at least one of the drives is a hydraulic cylinder and / or a hydraulic motor. The hydraulic cylinder can achieve the movement of the chain link and / or the hydraulic motor can achieve the movement of the slewing mechanism. The term "hydraulic linear motor" can be used in particular as a synonym for the term "hydraulic cylinder". Additionally or alternatively, the term "hydraulic motor" can be used as a synonym for the term "hydraulic motor".

[0027] In an extension of the invention, the monitoring or step a) comprises: determining, in particular detecting, in particular and evaluating data of at least one sensor device, in particular the value of these data. In particular, the undersupply is determined based on these data, in particular the determined, in particular the detected, in particular and the evaluated data. This enables the undersupply to be determined immediately or directly. In particular, the determination, the detection, the evaluation and / or the determination can be automatic. Additionally or alternatively, the term "ascertainment" can be used as a synonym for the term "determination". Further additionally or alternatively, the term "measurement" can be used as a synonym for the term "detection". Further additionally or alternatively, if these data or a parameter based on these data, in particular a physical quantity, reaches or exceeds an upper limit value and / or reaches or falls below a lower limit value, the undersupply can be determined, in particular wherein the lower limit value can be less than the upper limit value. Further additionally or alternatively, these data or a parameter based on these data can be current. Further additionally or alternatively, the sensor device can be electrical.

[0028] In one embodiment of the invention, the data have at least one control parameter of at least one of the drives and / or a pump device, at least one of the drives and / or at least one state parameter of at least one of the booms, in particular such a parameter. The data have in particular a control signal, in particular an electrical control current, a hydraulic fluid volume flow, a hydraulic fluid pressure, in particular a boom pressure, a cylinder pressure and / or a motor pressure, and / or a following error, in particular such a parameter. Such a parameter enables the undersupply to be determined particularly simply and / or well. In particular, the control signal can be pneumatic or by means of air, and / or can be optical or by means of light. Additionally or alternatively, the control signal, in particular the electrical control current, can be a control signal of a hydraulic valve. Further additionally or alternatively, the evaluation can have: evaluating the form and / or change of these data, in particular the control signal, in particular the control of the hydraulic valve, such as checking the slope of these data, in particular the control signal, can be a measure of the undersupply, in particular the current undersupply. Further additionally or alternatively, the control signal can be an output signal. In particular, the output signal (control current or control current) can be monitored and, via at least one individual valve parameter on the boom block of the distribution boom, individual hydraulic fluid quantities and the total hydraulic fluid quantity can be measured / calculated. In particular, this can achieve the advantage that the azimuth regulation and / or damping can be detected at the same time. Further additionally or alternatively, the flow on the boom block and / or the pump device can be detected or measured. Further additionally or alternatively, the term component "volume flow" or "amount" can be used as a synonym for the term component "volume flow". Further additionally or alternatively, the undersupply can be determined when the boom pressure drops below a lower limit value or a control / set value. Further additionally or alternatively, the cylinder pressure can be the cylinder pressure of the hydraulic cylinder. Further additionally or alternatively, the motor pressure can be the motor pressure of the hydraulic motor. Further additionally or alternatively, the following error can refer to a measure of the position deviation during the movement and / or to the difference between the azimuth target value and the azimuth actual value.

[0029] In an extension of the invention, the monitoring or step a) comprises determining, in particular calculating, a supply requirement for the drives, in particular for the drives with hydraulic fluid for the overall movement, in particular a corresponding and / or current supply requirement, in particular the value of the supply requirements. Additionally or alternatively, a supply availability, in particular a current supply availability, in particular the supply availability and / or a value for the supply hydraulic fluid by the pump device is determined, in particular calculated. In particular, if the supply requirements, in particular in total, are greater than the supply availability, the undersupply is determined. This makes it possible to determine the undersupply indirectly or indirectly. In particular, the determination, the calculation and / or the determination can be automatic.

[0030] In one embodiment of the invention, the determination of these supply requirements has the following characteristics: the determination is carried out according to the specification for the overall movement, in particular the current specification, in particular at least one value of the specification and / or the user specification. The method makes it possible to reduce or even avoid path or position deviations or wrong positions, and thus makes it possible that these path or position deviations or wrong positions do not need to be corrected, in particular do not need to be corrected by a corresponding reaction of the user. Therefore, this can achieve simple and / or good ergonomics. In particular, the specification can be a target specification, and / or can have, in particular can be a motion parameter, in particular a vector motion parameter, in particular a target motion parameter, and / or can determine the movement of the boom tip of the distribution boom, in particular the target movement and / or the movement speed, in particular the target movement speed and / or the movement direction, in particular the target movement direction. Additionally or alternatively, the term component "operator" can be used as a synonym for the term component "user". Further additionally or alternatively, the user specification can be specified or specified by means of an input device, in particular a joystick. Furthermore, additionally or alternatively, the method can have the step of determining, in particular automatically determining and / or checking the specification.

[0031] In one design of the present invention, the determination of supply availability has: according to the pump speed parameter characterizing the pump speed of the pump device, in particular the value of the pump parameter speed and / or the pivot angle parameter characterizing the pivot angle of the pump device with an axial piston pump, in particular the value of the pivot angle parameter, the determination is carried out, and the axial piston pump has a variably adjustable sliding seal. In particular, the pump speed parameter can be the pump speed, and / or the motor speed of a motor, in particular an internal combustion engine, in particular a diesel engine and / or an electric motor for driving the pump device, in particular for rotating the pump device. Additionally or alternatively, "variably adjustable" can be referred to as adjustable or changeable. Further additionally or alternatively, variably adjustable can mean at least three different values ​​or levels and / or continuously adjustable. Further additionally or alternatively, the term "tilted seal" can be used as a synonym for "sliding seal". Further additionally or alternatively, the determination of supply availability can have: according to the parameter of the pump device, in particular the value of the parameter, the determination is carried out. In addition or alternatively, the pump device can have a variable displacement pump, in particular an axial piston pump and / or a constant displacement pump. The pump speed can in particular be a pump speed, in particular a nominal speed, of a constant displacement pump.

[0032] In an extension of the present invention, the increase has: increasing the pump speed of a pump device, in particular the pump speed, in particular the value of the pump speed, and / or increasing the pivot angle of the pump device, in particular the pivot angle, in particular the value of the pivot angle, the pump device has an axial piston pump, in particular the axial piston pump, the axial piston pump has a variably adjustable sliding seal, in particular the variably adjustable sliding seal. Therefore, this makes it possible to compensate for or even end the undersupply. Additionally or alternatively, for the absence of undersupply, this makes it possible to keep the pump speed and / or the pivot angle small. Therefore, this makes it possible to reduce or optimize energy consumption, in particular fuel consumption. In particular, the increase can be: increasing the motor speed, in particular the motor speed, of a motor, in particular an internal combustion engine, in particular a diesel engine and / or an electric motor, for driving the pump device, in particular for rotating the pump device. Additionally or alternatively, "variably adjustable" can be referred to as adjustable or changeable. Further additionally or alternatively, variably adjustable can mean at least three different values ​​or levels and / or continuously adjustable. In addition or alternatively, the term "tilted seal" can be used as a synonym for "sliding seal". In addition or alternatively, the pump device can have a regulating pump, in particular an axial piston pump and / or a constant displacement pump. The pump speed can in particular be a pump speed, in particular a nominal speed, of a constant displacement pump.

[0033] In an extension of the invention, the reduction has the following features: the reduction is carried out by means of a weighting of the supply requirements of the drives, in particular the hydraulic fluid, for the overall movement, in particular these and / or corresponding and / or current supply requirements, in particular these supply requirements. In particular, the supply to the drives with the greatest supply requirements is reduced and / or the supply to the drives with the smallest supply requirements is reduced to a lesser extent or not reduced at all. This makes it possible to optimize the overall movement particularly well and / or to compensate for the shortage particularly well in the event of a shortage. In other words: only the only movement / axis, in particular the slewing mechanism, which usually or typically requires a large part of the hydraulic fluid, is reduced. Additionally or alternatively, the focus of the movement is shifted to the axis which requires a small amount of hydraulic fluid. In particular, the weighting can be automatic and / or by means of weighting factors, in particular corresponding weighting factors. In particular, these weighting factors can depend on the supply requirement, in particular the inverse.

[0034] In an extension of the invention, the method has the following steps: in particular during the control or simultaneously or synchronously or together with the control or step b), output, in particular display, user-perceptible information, in particular the content of the information, about the undersupply, in particular the current undersupply, the control, in particular the current control, and / or about the insufficiency of the control to end the undersupply. This enables a corresponding reaction of the user. In particular, the output, in particular the display, can be automatic and / or electrical and / or by means of an output device. Additionally or alternatively, from a load factor of, for example, 90% (percentage), an alarm information or an alarm message or an alarm signal, for example a yellow icon, can be output, and above 100%, a fault information or a fault message or a fault signal, for example a red icon, can be output.

[0035] In an extension of the invention, the distribution boom, the drives and / or the pump device are movable, in particular mobile. For such a distribution boom, such a drive and / or such a pump device, situations of insufficient supply may be typical. In particular, the building material and / or high-concentration liquid pump device may be movable, in particular mobile, in particular an automotive building material and / or high-concentration liquid pump device, in particular an automotive concrete pump.

[0036] The method according to the invention, in particular the automatic method, is used to distribute building materials and / or high-concentration liquids by means of a building material and / or high-concentration liquid pump device, in particular the building material and / or high-concentration liquid pump device. The building material and / or high-concentration liquid pump device has a distribution boom, in particular the distribution boom. The distribution boom has a delivery line, in particular a movable or adjustable delivery line, for conveying, in particular automatically conveying building materials and / or high-concentration liquids. The method comprises: the method for controlling the overall movement of the distribution boom as described above. The method comprises the following steps: during the control or simultaneously or synchronously or together with the control or step b), in particular by means of the delivery line or through the delivery line, conveying, in particular automatically conveying building materials and / or high-concentration liquids. This enables the distribution. In particular, the delivery line can have a pipe and / or an end hose, in particular a pipe and / or an end hose.

[0037] The system according to the invention is used, in particular, for controlling a distribution boom, in particular an overall movement, in particular the overall movement of the distribution boom. The distribution boom has a plurality of booms, in particular the plurality of booms. The booms can be moved by means of a plurality of hydraulic drives, in particular the plurality of hydraulic drives. The system has a monitoring device and a control device, in particular, and the distribution boom, the drives and / or the hydraulic pump device, in particular the hydraulic pump device. The monitoring device is designed to monitor, in particular, for the monitoring: whether at least one of the drives, in particular the at least one drive, is insufficiently supplied for the overall movement by the hydraulic pump device for supplying the drives with hydraulic fluid, in particular the hydraulic pump device for supplying the hydraulic fluid. In the case of insufficient supply, in particular the insufficient supply, the control device is designed to control, in particular, for the control: a non-proportional reduction, in particular the non-proportional reduction, of the supply of the drives with hydraulic fluid by the pump device, a non-proportional reduction, in particular the non-proportional reduction of the movement speeds of the drives, in particular the non-proportional reduction of the movement speeds; and / or an increase, in particular the increase, of the supply of the drives with hydraulic fluid by the pump device. The system can achieve the same advantages as one or more of the above-mentioned methods. In particular, the system, in particular the monitoring device and / or the control device, can be designed to execute, in particular automatically execute the above method, in particular the above method / methods. In particular, the monitoring device and / or the control device can have: a computing unit, in particular a processor; and / or a storage unit. Further additionally or alternatively, the system can have the building material and / or high-concentration liquid pump device. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Further advantages and aspects of the invention are apparent from the claims and from the description of exemplary embodiments of the invention, which are explained below with reference to the drawings.

[0039] Figure 1 Schematically showing a system according to the invention and a method according to the invention for controlling the overall movement of a dispensing boom of a system, and a method according to the invention for dispensing building materials and / or high-concentration liquids by means of a building material and / or high-concentration liquid pump device of the system having the dispensing boom, the method having the method for controlling the overall movement of the dispensing boom;

[0040] Figure 2 Schematically shows Figure 1 A block diagram of the system; and

[0041] Figure 3 Schematically shows the Figure 1 System execution Figure 1 Flowchart of the method. DETAILED DESCRIPTION

[0042] Figures 1 to 3 The system 100 according to the invention and the method according to the invention are shown for controlling the overall movement GB 1 of a distribution boom 1. The distribution boom 1 has a plurality of booms 2a, 2b, 2c, 2d, 2e. These booms 2a-e can be moved by means of a plurality of hydraulic drives 3a, 3b, 3c, 3d, 3e, 3f or can be moved by means of these hydraulic drives.

[0043] The system 100 has a monitoring device 101 and a control device 102, in particular as well as a distribution boom 1, drives 3a-f, a hydraulic pump device 4 and / or a building material and / or high-concentration liquid pump device 10. The monitoring device 101 is designed to monitor, in particular to monitor: whether at least one of the drives 3a-f is undersupplied for the overall movement GB1 by the hydraulic pump device 4 for supplying the drives 3a-f with hydraulic fluid HF. In the event of this undersupply, the control device 102 is designed to control, in particular to control: a non-proportional reduction in the supply of the drives 3f with hydraulic fluid HF by the pump device 4, in order to non-proportionally reduce the movement speed Bv3f of the drives 3f; and / or an increase in the supply of the drives 3a-f with hydraulic fluid HF by the pump device.

[0044] The method has the following steps:

[0045] a) Monitoring, in particular by means of the monitoring device 101 , whether at least one of the drives 3 a - f is undersupplied for the overall movement GB1 by the hydraulic pump device 4 for supplying the drives 3 a - f with hydraulic fluid HF.

[0046] b) in the case of insufficient supply, in particular with the aid of the control device 102, control: a non-proportional reduction in the supply of hydraulic fluid HF to these drives 3f by the pump device 4, so as to non-proportionally reduce the movement speed Bv3f of these drives 3f; and / or an increase in the supply of hydraulic fluid HF to these drives 3a-f by the pump device.

[0047] also, Figure 1 The method according to the invention for distributing building materials and / or high-concentration liquids BDS by means of a building material and / or high-concentration liquid pump device 10 is shown. The building material and / or high-concentration liquid pump device 10 has a distribution boom 1. The distribution boom 1 has a delivery line 11 for conveying building materials and / or high-concentration liquids BDS. The method has a method as described above for controlling the overall movement GB1 of the distribution boom 1, in particular by means of the system 100. The method has the following steps: in particular by means of the system 100, during this control, the building material and / or high-concentration liquid BDS is conveyed.

[0048] In the embodiment shown, the distribution boom 1 has five cantilevers 2a-e. In alternative embodiments, the distribution boom may have at least three or more than five cantilevers.

[0049] In the embodiment shown, the system 100 also has six drives 3a-f. In alternative embodiments, the system may have at least four or more than six drives.

[0050] Specifically, the pump device 4 is, in particular, only a common pump device 4 ′, in particular a single common pump device, for supplying the drives 3 a - f with hydraulic fluid HF. In particular, the pump device 4 has only a single hydraulic pump 5 .

[0051] Furthermore, at least one of the drives 3a-f has, in the exemplary embodiment shown, respectively an electrically controllable hydraulic valve 6a, 6b, 6c, 6d, 6e, 6f. The reduction is controlled by controlling the hydraulic valves 6a-f.

[0052] Furthermore, at least one of the drives 3a-e, 3f, in the embodiment shown, is a hydraulic cylinder 3a', 3b', 3c', 3d', 3e', respectively, and / or in the embodiment shown, the drive 3f is a hydraulic motor 3f'.

[0053] The monitoring furthermore comprises determining, in particular detecting, in particular and evaluating data D7a, D7b, D7c, D7d, D7e, D7f, D7g of at least one sensor device 7a, 7b, 7c, 7d, 7e, 7f, 7g, in the illustrated embodiment at least seven sensor devices 7a-f, in particular by means of the system 100 and / or by means of the monitoring device 101. In particular, the undersupply is determined based on these data D7a, D7b, D7c, D7d, D7e, D7f, D7g, in particular by means of the monitoring device 101.

[0054] In particular, the data D7a-g have at least one control variable KG of at least one of the drives 3a-f and / or at least one state variable ZG of the pump device 4, at least one of the drives 3a-f and / or at least one of the booms 2a-e, in particular such variables. The data D7a-g have in particular a control signal KS, in particular an electrical control current eKS, a hydraulic fluid volume flow HFVS, a hydraulic fluid pressure HFp, in particular a boom pressure 1p, a cylinder pressure Zp and / or a motor pressure Mp, and / or a following error SAB, in particular such variables.

[0055] The monitoring furthermore comprises determining, in particular calculating, supply requirements VBa, VBb, VBc, VBd, VBe, VBf of the drives 3a-f for the overall movement GB1, in particular by means of the monitoring device 101. Additionally or alternatively, determining, in particular calculating, supply availability VV by the pump device 4, in particular by means of the monitoring device 101. In particular, in particular by means of the monitoring device 101, the supply shortage is determined, in particular if the supply requirements VBa-f are greater than the supply availability VV.

[0056] Specifically, the determination of the supply demand VBa-f comprises: determining it according to the specification VG for the overall movement GB1, in particular the user specification BVG.

[0057] Furthermore, the supply availability VV is determined as a function of a pump speed variable nG characterizing a pump speed n4 of the pump device 4 and / or a pivot angle variable SWG characterizing a pivot angle SW of the pump device 4 having an axial piston pump 5 ′ with a variably adjustable sliding seal 8 .

[0058] The increase also has the effect of increasing the pump speed n4 of the pump device 4 and / or the pivot angle SW of the pump device 4 with an axial piston pump 5 ′ having a variably adjustable sliding seal 8 , in particular by means of the control device 102 .

[0059] In the exemplary embodiment shown, the system 100 has an actuator 12, in particular an electrically controllable or adjustable actuator. The actuator 12 is designed to variably set the pivot angle SW, in particular to set the pivot angle.

[0060] Furthermore, the reduction has the following features: in particular, the reduction is carried out by weighting the supply requirements VBa-f of the drives 3a-f for the overall movement GB1 by means of the control device 102. In particular, the supply to the drive 3f with the largest supply requirement VBf is reduced, and / or the supply to the drive 3a-e with the smallest supply requirement VBa-e, or to a plurality of drives 3a-e with a plurality of minimum supply requirements VBa-e, is reduced less or not reduced at all.

[0061] The method further comprises the step of outputting, in particular displaying, user-perceptible information Info about the undersupply, the control and / or about the insufficiency of the control to end the undersupply.

[0062] Furthermore, the distribution boom 1 , the drives 3 a - f and / or the pump device 4 are movable, in particular movable.

[0063] In addition, the monitoring device 101, the control device 102, the drive 3a-f, in particular the drive by means of the hydraulic valve 6a-f, the pump device 4, in particular the pump device by means of the actuator 12, and / or at least one sensor device 7a-g have, in particular respectively have: an effective connection, in particular a signal connection, in particular an electrical signal connection.

[0064] As shown and clearly indicated by the embodiments explained above, the present invention provides an advantageous method and an advantageous system for, in particular, respectively, controlling the overall movement of a dispensing boom, the method and the system having, in particular, respectively, improved properties, and an advantageous method for dispensing building materials and / or high-concentration liquids by means of a building material and / or high-concentration liquid pump device having an adjustable dispensing boom, the method having such a method for controlling the overall movement of the dispensing boom.

Claims

1. A method for controlling the overall movement (GB1) of a distribution boom (1), wherein: The distribution boom (1) has a plurality of booms (2a, 2b, 2c, 2d, 2e), wherein the booms (2a-e) can be moved by means of a plurality of hydraulic drives (3a, 3b, 3c, 3d, 3e, 3f), wherein the method comprises the following steps: a) monitoring whether at least one of the drives (3a-f) is undersupplied with hydraulic fluid (HF) for the overall movement (GB1) by a hydraulic pump device (4) for supplying these drives (3a-f); and b) in the case of insufficient supply, controlling: a non-proportional reduction in the supply of hydraulic fluid (HF) to these drives (3f) by the pump device (4) to non-proportionally reduce the movement speed (Bv3f) of these drives (3f); and / or an increase in the supply of hydraulic fluid (HF) to these drives (3a-f) by the pump device.

2. The method according to the preceding claim, wherein the pump device (4) is, in particular, only a common pump device (4') for supplying the drives (3a-f) with hydraulic fluid (HF), in particular a single common pump device, in particular having only a single hydraulic pump (5).

3. The method according to any one of the preceding claims, - wherein at least one of the drives (3a-f) has an electrically controllable hydraulic valve (6a, 6b, 6c, 6d, 6e, 6f), and -in, Control of the reduction has control of the hydraulic valves (6a-f).

4. The method according to any one of the preceding claims, - wherein at least one of the drives (3a-e, 3f) is a hydraulic cylinder (3a', 3b', 3c', 3d', 3e') and / or a hydraulic motor (3f').

5. The method according to any one of the preceding claims, - wherein the monitoring comprises: - determining, in particular detecting, in particular and evaluating data (D7a, D7b, D7c, D7d, D7e, D7f, D7g) of at least one sensor device (7a, 7b, 7c, 7d, 7e, 7f, 7g), - in particular and based on said data (D7a, D7b, D7c, D7d, D7e, D7f, D7g), said undersupply is determined.

6. The method according to the preceding claim, - wherein the data (D7a-g) include, in particular: at least one control variable (KG) of at least one of the drives (3a-f); and / or at least one state variable (ZG) of the pump device (4), at least one of the drives (3a-f) and / or at least one of the cantilevers (2a-e), - in particular a control signal (KS), in particular an electric control current (eKS), a hydraulic fluid volume flow (HFVS), a hydraulic fluid pressure (HFp), in particular a boom pressure (1p), a cylinder pressure (Zp) and / or a motor pressure (Mp), and / or a following error (SAB).

7. The method according to any one of the preceding claims, - wherein the monitoring comprises: - determining, in particular calculating, the supply requirements (VBa, ​​VBb, VBc, VBd, VBe, VBf) of the drives (3a-f) for the overall movement (GB1); and / or - determining, in particular calculating, the supply availability (VV) by the pump device (4); - In particular, if the supply demand (VBa-f) is greater than the supply availability (VV), then the supply shortage is determined.

8. The method according to the preceding claim, - wherein the determination of the supply requirement (VBa-f) comprises the determination being carried out according to a specification (VG), in particular a user specification (BVG), for the overall movement (GB1).

9. The method according to any one of the preceding claims, -in, The supply availability (VV) is determined by determining it based on a pump speed variable (nG) characterizing a pump speed (n4) of the pump device (4) and / or a pivot angle variable (SWG) characterizing a pivot angle (SW) of the pump device (4) having an axial piston pump (5'), the axial piston pump having a variably adjustable sliding seal (8).

10. The method according to any one of the preceding claims, - wherein the increase comprises: increasing the pump speed (n4) of the pump device (4) and / or the pivot angle (SW) of the pump device (4) with an axial piston pump (5') having a variably adjustable sliding seal (8).

11. The method according to any one of the preceding claims, -Wherein, the reduction comprises: a reduction is carried out by weighting the supply requirements (VBa, ​​VBb, VBc, VBd, VBe, VBf) of these drives (3a-f) for the overall movement (GB1), in particular a reduction in the supply to the drive (3f) with the largest supply requirement (VBf) and / or a smaller reduction or no reduction in the supply to the drive (3a-e) with the smallest supply requirement (VBa-e).

12. The method according to any one of the preceding claims, wherein the method comprises the step of outputting, in particular displaying, user-perceptible information (Info) about the undersupply, the control and / or about the insufficiency of the control to end the undersupply.

13. The method according to any one of the preceding claims, -in, The distribution boom (1), the drives (3a-f) and / or the pump device (4) are movable, in particular movable.

14. A method for dispensing building material and / or high-concentration liquid (BDS) by means of a building material and / or high-concentration liquid pump device (10), wherein: The building material and / or high-concentration liquid pump device (10) has a distribution boom (1), wherein the distribution boom (1) has a delivery pipeline (11) for delivering building materials and / or high-concentration liquid (BDS), - wherein the method comprises a method for controlling the overall movement (GB1) of the distribution boom (1) according to any one of the preceding claims, and - wherein the method comprises the step of conveying building material and / or highly concentrated liquid (BDS) during the controlling.

15. A system (100) for controlling the overall movement (GB1) of a distribution boom (1), wherein: The distribution boom (1) has a plurality of booms (2a, 2b, 2c, 2d, 2e), wherein the booms (2a-e) can be moved by means of a plurality of hydraulic drives (3a, 3b, 3c, 3d, 3e, 3f), in particular for carrying out the method according to any of the preceding claims, wherein the system (100) has: - a monitoring device (101), wherein the monitoring device (101) is designed to monitor whether at least one of the drives (3a-f) is undersupplied with hydraulic fluid (HF) for the overall movement (GB1) by a hydraulic pump device (4) for supplying the drives (3a-f); and - a control device (102), wherein, in the event of insufficient supply, the control device (102) is designed to control: a non-proportional reduction in the supply of the drives (3f) with hydraulic fluid (HF) by the pump device (4) in order to non-proportionally reduce the movement speed (Bv3f) of the drives (3f); and / or an increase in the supply of the drives (3a-f) with hydraulic fluid (HF) by the pump device; - in particular as well as the distribution boom (1), the drives (3a-f) and / or the pump device (4).

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