Method for monitoring a load, which load acts on a discharge arm of a construction machine for conveying construction and / or thick material, and construction machine for conveying construction and / or thick material

Abstract

The invention relates to a method for monitoring a load, which load acts on a discharge arm (1) of a construction machine (10) for conveying construction and / or thick material, the method comprising the steps of: a) detecting a current angle value of a joint angle (α) of a joint device (4) of an arm unit (2) of the discharge arm (1) related to a joint axis (J); b) detecting a current pressure value of a hydraulic pressure (p) of the arm unit (2) applied to a hydraulic device (5) of the arm unit (2) and / or a current force value dependent on the pressure value; and c) forming a current value pair of the arm unit (2), in which value pair the current angle value resulting from step a) and the current pressure value or force value resulting from step b) are related to one another in order to monitor the load acting on the discharge arm (2) using the current value pair (2).

Description

[0001] METHOD FOR MONITORING A LOAD ON A DISCHARGE ARM OF A CONSTRUCTION MACHINE FOR CONSTRUCTION AND / OR HIGH-POUND PRODUCTION, AND CONSTRUCTION MACHINE FOR CONSTRUCTION AND / OR HIGH-POUND PRODUCTION

[0002] FIELD OF APPLICATION AND STATE OF THE ART

[0003] The invention relates to a method for monitoring a load acting on a discharge arm of a construction machine for conveying construction materials and / or high-density solids. The invention also relates to such a construction machine for conveying construction materials and / or high-density solids.

[0004] TASK AND SOLUTION

[0005] It is an object of the present invention to provide a method for monitoring a load acting on a discharge arm of a construction machine for conveying construction materials and / or high-density materials, as well as such a construction machine for conveying construction materials and / or high-density materials, which has improved properties. In particular, the monitoring of a load acting on the discharge arm should be enabled based on sensors that the construction machine already has, in particular for controlling its discharge arm.

[0006] This problem is solved by the subject matter of the independent patent claims. Preferred embodiments are the subject matter of the dependent patent claims.

[0007] A method according to the invention serves to monitor a load, wherein the load acts on a discharge arm of a construction machine for conveying construction and / or high-density material. The load can depend on a dead weight and / or external weight statically applied to the discharge arm. The load can depend on a collision of the discharge arm with an object in its surroundings. The load can depend on an inertial force when adjusting the discharge arm and / or on a pulsation of a conveying flow of construction and / or high-density material, which is guided in particular along the discharge arm. The discharge arm can be a distribution boom of the construction machine for distributing construction and / or high-density material. The discharge arm has at least one arm unit. The arm unit has an arm member and an articulated device that pivotally mounts the arm member relative to a machine base of the construction machine or relative to another arm member of the construction machine about an articulated axis of the arm unit.The arm link can be synonymously referred to as an arm segment. The arm unit can be synonymously referred to as an arm package. The arm unit also has a hydraulic device for pivoting the arm link relative to the machine base or to the further arm link about the joint axis. The hydraulic device can comprise at least one, in particular double-acting, hydraulic cylinder. The method according to the invention comprises the steps explained below. According to step a) of the method, a current angular value of a joint angle of the joint device related to the joint axis is recorded. A peak of the joint angle can lie on the joint axis. The angular value can be related to at least one variable on which the joint angle depends. The angular value can specify the joint angle directly or, for example, be an adjustable length dimension of the hydraulic device.According to a further step b) of the method, a current pressure value of a hydraulic pressure of the arm unit, with which the hydraulic device of the arm unit is acted upon, is recorded. Alternatively or additionally, according to step b), a current force value dependent on the pressure value can be recorded. According to a further step c) of the method, a current value pair of the arm unit is formed. In the value pair, the current angle value resulting from step a) and the current pressure value or force value resulting from step b) are related to one another. Based on the current value pair, the load acting on the discharge arm can be monitored. The method can be computer-implemented, in particular step c).

[0008] The angle value can be conveniently detected using an angle detection device on the construction machine. The pressure value can be conveniently detected using a pressure detection device on the construction machine. The force value can be conveniently detected using a force detection device on the construction machine. Such detection devices can be configured to monitor the discharge arm, so that no additional detection devices are required for the process beyond the sensors already present for monitoring. In particular, sensors already present on a conventional construction machine can be used for the detection devices to carry out the process.

[0009] The term “configured” can be used synonymously with the term “trained”.

[0010] The term “comprises” or “has” can be used synonymously with the term “comprises”.

[0011] In this context, “control” can mean “steer” and / or “regulate”.

[0012] The terms “pivoting”, “swivelling”, “rotating”, “rotatable” and “rotatable” can be understood as synonyms.

[0013] The terms "swivel adjustment" and "rotary adjustment" can be understood synonymously. The terms "momentary" and "current" can be understood synonymously.

[0014] In this context, “current values” can be “actual values”.

[0015] The steps of the method can be performed repeatedly, in particular updated and / or continuously. Steps a) and b) of the method can each be performed using a corresponding detection device of the construction machine.

[0016] The building material is preferably a thick aggregate. The thick aggregate can be a paste-like mixture of different materials. The thick aggregate can be mortar, cement, screed, or concrete, each in a mixable and / or conveyable state. In the mixable and / or conveyable state, the thick aggregate has not yet hardened or set.

[0017] In an embodiment of the invention, step c) comprises calculating a joint torque of the arm unit acting on the arm link with respect to the joint axis based on the instantaneous pair of values. Alternatively or additionally, the method comprises a step according to which a instantaneous torque value of a joint, in particular the joint torque of the arm unit, is compared with a predetermined corresponding value range in order to evaluate the load currently acting on the discharge arm. A load-bearing capacity of the joint device can depend on the currently prevailing joint angle. A load on the joint device can be represented by the torque value of the joint torque. The joint torque can be calculated based on and / or as a function of the instantaneous pair of values.

[0018] In a further embodiment of the invention, the method comprises a step in which the instantaneous hydraulic pressure value or the instantaneous force value is compared with a corresponding value range predetermined for each joint angle value. Alternatively, the instantaneous joint angle value is compared with a corresponding value range predetermined for each hydraulic pressure value or each force value. A lookup table can be used for the comparison.

[0019] In a further embodiment of the invention, the method comprises a step according to which a measure is carried out if at least one of the following conditions is met. Accordingly, the measure can be carried out if the current pressure value of the hydraulic pressure or the current force value is outside a predetermined corresponding value range. Alternatively or additionally, the measure can be carried out if the current angle value of the joint angle is outside a predetermined corresponding value range. Alternatively or additionally, the measure can be carried out if a, in particular the, current torque value of a, in particular the, joint torque of the arm unit is outside a predetermined corresponding value range. Such a predetermined corresponding value range can be a target value range.Such a predetermined corresponding value range can be factory-defined and / or structurally limited and / or defined based on a load limit, particularly of the joint mechanism. The load limit can be different for different joint angle values.

[0020] In a further embodiment of the invention, the measure comprises decelerating and / or stopping the discharge arm, in particular the entire discharge arm, relative to the machine base. In this way, overloading of the discharge arm can be avoided, whereby overloading is assumed when the predetermined corresponding value range is exceeded or has already been exceeded.

[0021] In a further embodiment of the invention, the steps of the method are performed while the arm member of the arm unit is adjusted relative to the machine base. The load can be monitored while the construction machine is operating.

[0022] In a further embodiment of the invention, the discharge arm is designed with multiple joints and has at least two, in particular several, arm units arranged in a row. The discharge arm with at least two arm units arranged in a row or connected to one another can be designed and / or controllable in the manner of a serial robot arm and / or manipulator. The joint device of a first of the arm units connects the arm member of the first arm unit in an articulated manner to the machine base, in particular directly. The joint device of a second of the arm units connects the arm member of this second arm unit in an articulated manner to the first arm unit, in particular directly or indirectly. Further arm units can be provided, the arm members of which are each articulated directly or indirectly to a preceding arm unit by means of the associated joint devices.The procedure steps are performed simultaneously for each arm unit individually. This allows the load prevailing at each joint to be individually monitored, particularly to avoid overloading any joint mechanism.

[0023] In a further embodiment of the invention, the arm members are individually pivotally adjusted relative to the machine base and / or relative to one another, in particular to adjust a discharge end of the discharge arm facing away from the machine base relative to the machine base and / or to adjust a position of the discharge arm. A discharge opening can be provided at the discharge end through which building and / or thick material can be discharged.

[0024] In a further embodiment of the invention, the joint axis of the at least one arm unit runs perpendicular to a direction of gravity.

[0025] The joint axes of several, in particular all, joint devices of the discharge arm expediently run axially parallel to one another and / or horizontally, so that the associated arm links are adjustable relative to one another, in particular exclusively, within a vertical mast plane of the construction machine. The discharge arm can, in particular, be longitudinally extended entirely along the mast plane. The mast plane can be rotatably adjustable relative to the machine base about a vertical axis of the construction machine running parallel to the direction of gravity by means of a slewing gear of the construction machine. In particular, the slewing gear is not an articulated device according to the present application.

[0026] A construction machine according to the invention is used for conveying construction materials and / or thick materials. The construction machine is designed to carry out, in particular automatically, a method according to the invention as described above. The advantages of the method according to the invention can therefore be exploited by means of the construction machine according to the invention. The construction machine has an angle detection device for each arm unit for step a) of the method. The angle detection device can be correspondingly designed to detect a current angle value of a joint angle of the respective joint device related to the joint axis. The construction machine also has a pressure detection device and / or a force detection device for each arm unit for step b) of the method. The pressure detection device orThe force detection device can be configured to detect a current pressure value of a hydraulic pressure of the respective arm unit, with which its hydraulic device is acted upon, and / or to detect a current force value dependent on the pressure value. Furthermore, the construction machine has an electronic control device at least for step c) of the method. The electronic control device can be configured to form the current value pair for each arm unit, in which value pair the respective current angle value and the respective current pressure value or force value are related to one another. The detection devices can each have or be a sensor device. The control device can have or be a monitoring device and / or a computing unit. The control device can have a computer for implementing the method.The control device can be connected to the detection devices for data transmission, in particular in order to obtain the current angle value and the current pressure and / or force value per arm unit for further processing.

[0027] In an embodiment of the invention, a conveyor line of the construction machine for conveying construction and / or high-density material runs at least partially along the discharge arm. The conveyor line connects a discharge end of the discharge arm to a construction and / or high-density material pump unit of the construction machine, thereby conveying construction and / or high-density material.

[0028] BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Further advantages and features of the invention will become apparent from the claims and the following description of preferred embodiments of the invention, which are illustrated with reference to the drawings. Like reference numerals refer to like, similar, or functionally identical components.

[0030] It is understood that the features mentioned above and those to be explained below can be used not only in the combination specified in each case, but also in other combinations or on their own, without departing from the scope of the present invention.

[0031] Fig. 1 shows a roughly schematic elevation of an embodiment of a construction machine according to the invention, which is designed to carry out a method according to the invention,

[0032] Fig. 2 schematically shows a joint torque-joint angle diagram for an arm unit of a discharge arm of the construction machine according to Fig. 1,

[0033] Fig. 3 schematically shows an elevation of another embodiment of the construction machine according to the invention, and

[0034] Fig. 4 shows a detail of a discharge arm of another embodiment of the construction machine according to the invention in an elevation view. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] A construction machine 10 according to the invention serves for conveying construction and / or high-density materials. The construction machine 10 is configured to carry out a method according to the invention, which serves to monitor a load acting on a discharge arm 1 of the construction machine 10.

[0036] The discharge arm 1 has at least one arm unit 2. According to Fig. 1, the discharge arm 1 has three arm units 2, 2A, 2B, 2C. For each arm unit 2, 2A, 2B, 2C, the construction machine 10 has an angle detection device 12, 12A, 12B, 12C. The construction machine

[0037] 10 also has a pressure detection device 13, 13A, 13B, 13C for each arm unit 2, 2A, 2B, 2C.

[0038] Each arm unit 2, 2A, 2B, 2C comprises an arm link 3, 3A, 3B, 3C and a joint device 4, 4A, 4B, 4C. The arm links 3, 3A, 3B, 3C are pivotally mounted relative to a machine base 11 of the construction machine 10 and / or relative to another arm link 3 of the construction machine 10 by means of the respective joint device 4, 4A, 4B, 4C about a joint axis J, JA, JB, JC of the respective arm unit 2, 2A, 2B, 2C.

[0039] The arm units 2, 2A, 2B, 2C also each have a hydraulic device 5, 5A, 5B, 5C for pivoting the respective arm member 3, 3A, 3B, 3C relative to the machine base

[0040] 11 and / or relative to the further arm member 3 about the associated joint axis J, JA, JB, JC.

[0041] The construction machine 10 in this case has a conveyor line 15. The conveyor line 15 serves to convey construction and / or high-density material. The conveyor line 15 runs at least partially along the discharge arm 1. The discharge arm 1 has a discharge end 6. A discharge opening of the construction machine 10 located at the discharge end 6 is connected to a construction and / or high-density material pump unit 16 of the construction machine 10 by means of the conveyor line 15 in a construction and / or high-density material conducting manner. The discharge end 6 can be spatially adjusted by adjusting the arm units 2 of the discharge arm 1 relative to the machine base 11 in an environment surrounding the construction machine 10 in order to adjust the discharge opening. The construction machine 10 can be a truck-mounted concrete pump or a trailer-mounted concrete pump.

[0042] The construction and / or high-density solids pumping unit 16 can have delivery cylinders with variable-volume delivery chambers. To change the volumes of the delivery chambers, particularly in opposite directions, the delivery cylinders can each have an adjustable delivery piston. The construction and / or high-density solids pumping unit 16 can also comprise an S-shaped S-pipe, which is connected at one end to a pressure port acting as a pump outlet in a manner that carries the construction and / or high-density solids. The S-pipe can be arranged in a storage chamber that can be filled with building material from above for storing construction and / or high-density solids. The S-pipe can be rotatably mounted at one end on the pressure port within the storage chamber. The variable-volume delivery chambers can open into the storage chamber. The S-pipe can be pivotable in the storage chamber relative to the delivery chambers in such a way that it can be alternately connected to one of the delivery chambers in a manner that carries the construction and / or high-density solids.In this way, due to the counteraction of the pivoting of the S-pipe and a change in the volume of the conveying chambers, construction and / or high-density material located in the storage chamber can be alternately sucked in by the conveying chambers and pumped out through the discharge nozzle via the conveying chambers through the S-pipe. An agitator can be arranged in the storage chamber of the construction and / or high-density material pumping unit 16. A flow of construction and / or high-density material generated by the high-density material pumping unit 16 can be subject to pulsation. The pulsation can cause a load, particularly a dynamic load, acting on the discharge arm 1.

[0043] As already indicated, the discharge arm 1 in this case is designed with multiple joints and has a plurality of arm units 2, 2A, 2B, 2C arranged in a row. The joint device 4A of a first of the arm units 2A connects the arm link 3A of the first arm unit 2A in an articulated manner to the machine base 11, for example directly. The joint device 4B of a second of the arm units 2B connects the arm link 3B of this second arm unit 2B in an articulated manner to the first arm unit 2A, for example directly. The discharge arm 1 in this case also has a third arm unit 2C. The joint device 4C of the third arm unit 2C connects the arm link 3C of this third arm unit 2C in an articulated manner to the second arm unit 2A, in this case directly. In this case, the joint device 4C of the third arm unit 2C connects the arm member 3C of the third arm unit 2C to the machine base 11 in an articulated manner by means of the second arm unit 2B, i.e. indirectly.

[0044] The method according to the invention for monitoring the load acting on the discharge arm 1 comprises steps that are performed individually, for example, for each arm unit 2, 2A, 2B, 2C. The construction machine 10 has an electronic control device 14.

[0045] The method comprises a step a). According to step a), a current angle value of a joint angle a of the joint device 4 relative to the joint axis J is detected. The method also comprises a step b). According to step b), a current pressure value of a hydraulic pressure p of the arm unit 2 is detected. The hydraulic pressure p is applied to the hydraulic device 5 of the respective arm unit 2. Alternatively or additionally, according to step b), a current force value is detected, which depends on the pressure value.

[0046] The method also includes a further step c). According to step c), a momentary value pair of the respective arm unit 2 is formed. In the value pair, the momentary angle value resulting from step a) and the momentary pressure value or force value resulting from step b) are related to each other in pairs in order to monitor the load acting on the discharge arm 1 based on the momentary value pair 2. The control device 14 is configured to carry out at least step c).

[0047] For example, when performing step c), a joint torque M of the respective arm unit 2 is calculated, which acts on the respective arm link 3 with respect to the respective joint axis J. The joint torque M is calculated based on the current value pair.

[0048] The method comprises, for example, a further step according to which a current torque value of the joint torque M of the respective arm unit 2 is compared with a predetermined corresponding value range W. The comparison of the current torque value with the predetermined corresponding value range W is performed, for example, to evaluate the load currently acting on the discharge arm 1. The calculation of the joint torque M can be based on and / or dependent on the current value pair.

[0049] As can be seen in Fig. 2, the load capacity of the respective joint device 4 can vary across the joint angle α. Accordingly, an upper load limit F1 and a lower load limit F2 change depending on the respective joint angle α. An upper range limit L1 and a lower range limit L2 of the corresponding value range W predetermined for the joint torque M can be constant, i.e., independent of the joint angle α. In this way, it can be ensured that the instantaneous torque value is at least mostly within a load range with a sufficient safety margin from the load limits F1, F2, as long as the load range corresponds to the value range W.

[0050] For example, the method comprises a further step. According to this further step, either the instantaneous pressure value of the hydraulic pressure p is compared with a corresponding value range predetermined for each angle value of the joint angle a, or the instantaneous angle value of the joint angle a is compared with a corresponding value range predetermined for each pressure value of the hydraulic pressure p. Alternatively, according to this step, either the instantaneous force value can be compared with a corresponding value range predetermined for each angle value of the joint angle a, or the instantaneous angle value of the joint angle a can be compared with a corresponding value range predetermined for each force value.

[0051] For example, in a further step of the method, a measure is carried out if the current pressure value of the hydraulic pressure p or the current force value is outside a predetermined corresponding value range. Alternatively or additionally, the measure is carried out if the current angle value of the joint angle α is outside a predetermined corresponding value range. Alternatively or additionally, the measure is carried out if the current torque value of the joint torque M of the arm unit 2 is outside a predetermined corresponding value range W. The predetermined corresponding value range can be defined at the factory. Alternatively or additionally, the predetermined corresponding value range can be structurally limited. Alternatively or additionally, the predetermined corresponding value range can be defined based on a load limit, in particular of the joint device 4.

[0052] The load limit can be different for different angular values ​​of the joint angle α, see Fig. 2. It can be seen that the joint device 4 considered in Fig. 2 has a maximum load capacity for positive and negative joint torques M at an angular value of the joint angle α of approximately -100° to -125°. In contrast, the load capacity according to Fig. 2 is minimal at an angular value of approximately -25°. At an angular value of approximately 0° to +50°, the load capacity can be between the maximum and minimum load capacity. The joint angle α can have an angular value of approximately -175° to +50° according to Fig. 2.

[0053] The measure, which can be carried out depending on the conditions stated above, can comprise decelerating and / or stopping the discharge arm 1 relative to the machine base 2. In particular, the discharge arm 1 can be completely decelerated and / or stopped, i.e. all arm units 2 can be decelerated and / or stopped, in particular relative to the machine base 11. The measure can be controlled by means of the control device 14. The steps of the method are carried out, for example, while the arm member 3 of the respective arm unit 2 is adjusted relative to the machine base 11. The steps of the method can therefore be carried out while the discharge end 6 of the discharge arm 1 is moved in the vicinity of the construction machine 10. In particular, the steps of the method can be carried out while construction material and / or thick material is being conveyed by means of the construction machine 10 and distributed by means of the discharge arm 1.

[0054] The discharge arm 1 is designed in the form of a serial robot arm. The discharge arm 1 can be designed as a manipulator. The discharge arm 1 can be controllable in the form of a serial robot arm or manipulator. By controlling them, the arm links 3, 3A, 3B, 3C can be individually pivotally adjusted relative to the machine base 11 and / or relative to one another. By individually pivoting the arm links 3, 3A, 3B, 3C, the discharge end 6 of the discharge arm 1 facing away from the machine base 11 can be adjusted relative to the machine base 11. Alternatively or additionally, the pose of the discharge arm 1 can be adjusted by individually pivoting the arm links 3, 3A, 3B, 3C.

[0055] In the method according to the invention, a pressure measurement can be taken in hydraulic cylinders of the hydraulic devices 5 in order to measure a cylinder force of the respective hydraulic cylinders. In addition, the joint angle α can be determined as a relative angle between, in particular adjacent, arm links 3 by the angle detection devices, in particular arm angle sensors. For each joint device 4, permissible cylinder forces, in particular for tension and compression, dependent on the joint angle, can be stored in the control system of the discharge arm 1, i.e., for example, in the monitoring device 14. If said values ​​are exceeded, active adjustment of the discharge arm 1 can be prevented by the control system. In this way, it can be achieved that a design joint torque of the discharge arm 1 or the joint device 4 is avoided as a result of active adjustment of the discharge arm 1.

[0056] Fig. 4 shows an example of the arm unit 2, 2C, in particular its joint device 4, 4C and its hydraulic device 5, 5C. It can be seen that a transmission kinematics can be present in the region of the joint device 4, 4C for coupling the hydraulic device 5, 5C, on the one hand, to the arm link 3, 3C and, on the other hand, to the further arm link 3, 3B of the arm unit 2, 2B. The transmission kinematics can comprise a coupling gear which is designed to translate the cylinder force that can be generated by means of the hydraulic device 5, 5C. It is understood that the other arm units 2 can also have similar or identical transmission kinematics for coupling their hydraulic devices 5. For example, the joint axis J of the at least one arm unit 2 runs perpendicular to a direction of gravity G. In particular, the joint axis J of the at least one arm unit 2 runs horizontally.

[0057] For example, the joint axes J, JA, B, JC of several, in this case all, joint devices 4, 4A, 4B, 4C of the discharge arm 1 run axially parallel to one another and / or horizontally, so that the associated arm links 3, 3A, 3B, 3C are adjustable relative to one another, in this case exclusively, within a vertical mast plane of the construction machine 10. The mast plane, which in particular contains the discharge arm 1, can be rotatably adjustable about a vertical axis of the construction machine 10 running parallel to the direction of gravity G by means of a slewing gear of the construction machine 10 relative to the machine base 11. In particular, the slewing gear is not an articulated device according to the present application.

Claims

Patent claims 1. A method for monitoring a load acting on a discharge arm (1) of a construction machine (10) for conveying construction and / or thick material, wherein at least one arm unit (2) of the discharge arm (1) has: an arm link (3), a joint device (4) which pivotably mounts the arm link (3) relative to a machine base (11) of the construction machine (10) or relative to another arm link (3) of the construction machine (10) about a joint axis (J) of the arm unit (2), and a hydraulic device (5) for pivotally adjusting the arm link (3) relative to the machine base (11) or the another arm link (3) about the joint axis (J); wherein the method comprises the steps of: a) detecting a current angular value of a joint angle (α) of the joint device (4) related to the joint axis (J);b) Detecting a current pressure value of a hydraulic pressure (p) of the arm unit (2) with which its hydraulic device (5) is acted upon, and / or a current force value dependent on the pressure value; c) Forming a current value pair of the arm unit (2), in which value pair the current angle value resulting from step a) and the current pressure value or force value resulting from step b) are related to one another in order to monitor the load acting on the discharge arm (1) based on the current value pair (2).

2. Method according to the preceding claim, wherein step c) comprises: Calculating a joint torque (M) of the arm unit (2) acting on the arm member (3) with respect to the joint axis (J) based on the instantaneous value pair; and / or wherein the method comprises the step: Comparing an instantaneous torque value of a joint torque (M) of the arm unit (2) with a predetermined corresponding value range (W) in order to evaluate the load currently acting on the discharge arm (1).

3. A method according to any one of the preceding claims, wherein the method comprises the step: Comparing the instantaneous pressure value of the hydraulic pressure (p) or the instantaneous force value with a corresponding value range predetermined for each angle value of the joint angle (a) or comparing the instantaneous angle value of the joint angle (a) with a corresponding value range predetermined for each pressure value of the hydraulic pressure (p) or each force value.

4. A method according to any one of the preceding claims, wherein the method comprises the step: Carrying out a measure if at least one of the following conditions is met: the current pressure value of the hydraulic pressure (p) or the current force value is outside a predetermined corresponding value range; the current angle value of the joint angle (a) is outside a predetermined corresponding value range; a current torque value of a joint torque (M) of the arm unit (2) is outside a predetermined corresponding value range (W).

5. Method according to the preceding claim, wherein the measure comprises decelerating and / or stopping the, in particular complete, discharge arm (1) relative to the machine base (11).

6. Method according to one of the preceding claims, wherein the steps of the method are carried out while the arm member (3) of the arm unit (2) is adjusted relative to the machine base (11).

7. Method according to one of the preceding claims, wherein the discharge arm (1) is designed to be multi-articulated and has at least two, in particular several, arm units (2, 2A, 2B, 2C) arranged in a row, wherein the articulation device (4A) of a first of the arm units (2A) connects the arm member (3A) of the first arm unit (2A) in an articulated manner to the machine base (11), in particular directly, wherein the articulation device (4B, 4C) of a second of the arm units (2B, 2C) connects the arm member (3B, 3C) of this second arm unit (2B, 2C) in an articulated manner to the first arm unit (2A), in particular directly or indirectly, wherein the steps of the method are carried out simultaneously for each arm unit (2, 2A, 2B, 2C) individually.

8. Method according to the two preceding claims, wherein the arm members (3, 3A, 3B, 3C) are individually pivotally adjusted relative to the machine base (11) and / or relative to one another, in particular in order to adjust a discharge end (6) of the discharge arm (1) facing away from the machine base (11) relative to the machine base (11) and / or in order to adapt a pose of the discharge arm (1).

9. Method according to one of the preceding claims, wherein the joint axis (J) of the at least one arm unit (2) runs perpendicular to a direction of gravity (G), in particular wherein the joint axes (J, JA, JB, JC) of several, in particular all, joint devices (4, 4A, 4B, 4C) of the discharge arm (1) run axially parallel to one another and / or horizontally, so that the associated arm members (3, 3A, 3B, 3C) are adjustable relative to one another, in particular only, within a vertical mast plane of the construction machine (10).

10. Construction machine (10) for conveying construction and / or thick material, wherein the construction machine (10) is designed for carrying out, in particular automatically, a method according to one of the preceding claims, wherein the construction machine (10) has for each arm unit (2, 2A, 2B, 2C) a Angle detection device (12, 12A, 12B, 12C) for step a) of the method, wherein the construction machine (10) has for each arm unit (2, 2A, 2B, 2C) a Pressure detection device (13, 13A, 13B, 13C) for step b) of the method, wherein the construction machine (10) has an electronic control device (14) at least for step c) of the method.

11. Construction machine (10) according to the preceding claim, wherein a conveying line (15) of the construction machine (1) for conveying construction and / or thick material runs at least in sections along the discharge arm (1), wherein the conveying line (15) connects a discharge end (6) of the discharge arm (1) to a construction and / or thick material pumping unit (16) of the construction machine (10) in a construction and / or thick material-conducting manner.

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