Operation monitoring of the concentrated substance transport system

Abstract

To safely transport concentrated substances. [Solution] A concentrated substance distribution mast 18 for distributing concentrated substance transported by a concentrated substance pump 16, comprising: a slewing gear 19 rotatable about a vertical axis; a mast assembly 40 having at least a first mast arm 41 and a second mast arm 42; a receiving unit 11 connected to the slewing gear 19, each mast arm having a maximum operating range, and receiving at least one data item of operating information; a processing unit 12 determining the currently permissible operating range of the first mast arm 41 and the second mast arm 42, and / or the currently permissible slewing gear speed; and a control unit 13 that limits the operating range of the corresponding mast arm if the determined currently permissible operating range is less than or equal to the maximum operating range, and limits the rotational speed of the slewing gear 19 if the determined currently permissible rotational speed is less than or equal to the maximum rotational speed.

Description

Technical Field

[0001] The present invention relates to a thick material distribution mast, a thick material pump, and a thick material transport system.

[0002] Known from the prior art are general thick material distribution masts, thick material pumps, and thick material transport systems. These are typically designed to transport a specific type of thick material, for example, one of a certain density, so when using a thick material distribution mast, thick material pump, and thick material transport system not contemplated for this purpose to transport a heavier, i.e., more dense, thick material, there is a risk of overloading and damaging the components of the thick material distribution mast and the thick material pump. This can occur, for example, when exceeding the operating range provided for the mast arm of the thick material distribution mast. Furthermore, when used with a substructure, as in the case of a concrete pump mounted on a truck, there is a risk of tipping over, thus causing considerable damage to the entire system. Similarly, in the transport of heavier thick materials, the high rotational speed during rotation of the slewing gear typically connected to the mast assembly of the thick material distribution mast can particularly result in overloading of the components of the thick material distribution mast. The same can be said about the excessive pump speed and switching speed of the core pump and the S-type pipe, the latter being components of a normal thick material pump.

[0003] Also, variable ambient conditions such as the influence of wind can cause the design limits of the components of the thick material distribution mast and the thick material pump to be exceeded while transporting the thick material. To take this into account, a conservative tolerance is usually given in the basic design, so the operation of the components is unnecessarily restricted during use under typical conditions.

[0004] Therefore, flexible and situational use of concentrated material distribution masts and pumps for concentrated materials of varying weights, including those heavier than those corresponding to the basic design, is not easily possible. For this reason, crane-lifted buckets are commonly used to transport such particularly heavy concentrated materials. Alternatively, concentrated material distribution masts can be mechanically modified to suit the application and fitted with shorter mast assemblies, but this is complex and permanently limits the maximum operating range of the concentrated material distribution mast.

[0005] Similarly, the operation of concentrated material distribution masts and concentrated material pumps presents problems, particularly when transporting heavy concentrated materials or under variable ambient conditions where the stability of the entire concentrated material transport system is at its limit. While this limit is not automatically accounted for by the concentrated material transport system, it can be recognized by the user, and this depends on the user's experience. Therefore, transporting concentrated materials heavier than those intended for transport by the system essentially compromises the system's operational stability. Consequently, as a general rule, the transport of such excessively heavy concentrated materials is prohibited. [Overview of the project]

[0006] Therefore, the object of the present invention is to provide an improved concentrate distribution mast, an improved concentrate pump, and an improved concentrate transport system. The solution according to the present invention is a feature of the independent claim. Advantageous improvements are the subject of the dependent claim.

[0007] According to the present invention, in a concentrated substance distribution mast for distributing concentrated substance conveyed by a concentrated substance pump, the present invention relates to a mast assembly having a slewing gear rotatable around a vertical axis at maximum rotational speed, and at least a first mast arm and a second mast arm, wherein the first mast arm is connected to the slewing gear at the proximal end of the mast assembly, and each mast arm has a maximum operating range; a transport line extending across the mast assembly and having a proximal end and a distal end that can be connected to the outlet of a concentrated substance pump, the distal end of the transport line transitioning to an end hose at the distal end of the mast assembly; and a receiving unit that receives at least one item of operational information. A concentrated material distribution mast is disclosed, comprising: a processing unit that determines the currently permissible operating range of a first mast arm and a second mast arm, and further / or determines the currently permissible slewing gear speed according to at least one received item of operating information; and a control unit that, if one of the determined currently permissible operating ranges of the first mast arm and the second mast arm is smaller than the respective maximum operating range, limits the operating range of the corresponding mast arm to the respective currently permissible operating range, and further / or limits the rotational speed of the slewing gear if the determined currently permissible rotational speed is smaller than the maximum rotational speed.

[0008] Furthermore, the present invention discloses a concentrated substance pump for transporting concentrated substance through a transport line of a concentrated substance distribution mast, comprising: a double-piston core pump having a maximum pump speed; an S-shaped pipe switchable at a maximum switching speed, with one end positioned at the outlet of the concentrated substance pump and connectable to the transport line; a receiving unit for receiving at least one item of operational information; a processing unit for determining a currently acceptable pump speed and / or a currently acceptable switching speed, each depending on at least one received item of operational information; and a control unit for limiting the pump speed to the currently acceptable pump speed if the determined currently acceptable pump speed is less than the maximum pump speed, and for limiting the switching speed if the determined currently acceptable switching speed is less than the maximum switching speed. Instead of pump speed, pump frequency may also be considered, and instead of switching speed, switching frequency may also be considered. Typically, the values ​​of pump frequency and switching frequency are the same in this example.

[0009] Furthermore, according to the present invention, a concentrated substance transport system comprises a concentrated substance distribution mast for distributing concentrated substance to be transported, a concentrated substance pump for transporting concentrated substance via a transport line of the concentrated substance distribution mast, and a substructure in which the concentrated substance distribution mast and the concentrated substance pump are arranged, the substructure comprising a support structure for supporting the substructure, a receiving unit for receiving at least one item of operation information, a processing unit, and a control unit, the support structure having a stability range having an upper limit defined by a first threshold and a maximum stability parameter, and the processing unit for determining the current stability parameter in accordance with at least one received item of operation information, and further, the at least one received item of operation information and at least one predicted information A concentrated material transport system is disclosed, comprising a processing unit for determining predicted future stability parameters in accordance with two items, the latter characterized by predicted changes in stability parameters in the orderly operation of at least one component of a concentrated material distribution mast and / or concentrated material pump, and a control unit for controlling the operating parameters of at least one component of the concentrated material distribution mast and / or concentrated material pump, the control unit configured to control the operating parameters such that the operation of the component occurs at a slower speed when the determined current stability parameter is greater than a first threshold and the predicted determined future stability parameter is closer to the maximum stability parameter than the determined current stability parameter.

[0010] The concentrated material distribution mast and the concentrated material pump according to the present invention can be arranged on a fixed or movable substructure. The substructure of the concentrated material conveying system according to the present invention may also be mobile or stationary. The concentrated material distribution mast, the concentrated material pump, and the concentrated material conveying system according to the present invention can be configured, for example, as a concrete pump mounted on a truck.

[0011] The present invention provides a particularly advantageous design embodiment for a concentrated material distribution mast, concentrated material pump, and concentrated material transport system by dynamically and contextually determining the acceptable operating parameters of the components involved in real time. In this way, the individual components under consideration can be operated in an orderly manner up to the acceptable operating parameters, so that the concentrated material transport system can be used even in scenarios where it is completely impossible or only possible by complex methods such as assembly work, without the risk of damaging the concentrated material transport system. Here, components of both the concentrated material distribution mast and the concentrated material pump are considered. For example, in this regard, a typical usage scenario is one in which the mast assembly can generate more load torque than the substructure. In such cases, the range of motion of each individual mast arm of the mast assembly can be limited so as to maintain the stability of the entire system. Overloading of individual components can be avoided. This also enables concentrated material transport systems for special applications, for example, where the mast assembly can actually reach a large height but cannot be used in a fully extended state, and a smaller substructure is sufficient for that. As a result, the concentrated material transport system can be configured to be smaller and lighter. The present invention also takes advantage of the fact that as the velocity of a component decreases, the force acting on it decreases. Therefore, by gradually or systematically reducing the velocity by, for example, a predetermined coefficient, according to the remaining stability, it is possible to use the component as efficiently as possible and within the maximum possible range and intensity, even when approaching the upper limit of stability in ambient conditions, i.e., under extreme operating conditions close to maximum stability.

[0012] Thus, according to the present invention, concentrated material transport can be performed even at construction sites where heavy concrete is being transported. In particular, in ambient conditions close to the upper limit of stability, safe operation can be performed with loads exceeding the design load, for example, with correspondingly high end hose loads (e.g., loads exceeding 200 kg). Extra-long end hoses can be used in the same way. At the same time, factors affecting safe operation, such as wind speed or maximum ground load capacity, can be taken into consideration, thereby limiting the operation of one or more components as needed. This opens up new application areas for the use of concentrated material transport systems. Furthermore, it is also easily possible to use a concentrated material transport system with additional loads corresponding to crane functions.

[0013] First, let's explain some of the terms below.

[0014] Concentrated materials are a general term for media that are difficult to transport. Concentrated materials may be, for example, materials with coarse-grained components, materials with aggressive components, etc. Concentrated materials may also be bulk materials. In one embodiment, the concentrated material is fresh concrete. Fresh concrete contains particles of 30 mm or larger, which bind together and can form deposits in the voids, making it difficult to transport for these reasons. In a further embodiment, the concentrated material is 2300 kg / m³ 3 It is a heavy concrete with a density exceeding [a certain value].

[0015] The components of a concentrated material distribution mast or concentrated material pump should be understood to be, in particular, the elements enumerated in the independent claims. Examples include a slewing gear and mast arm for a concentrated material distribution mast, and a core pump and S-pipe for a concentrated material pump. Each component should have operating parameters for operating the respective component. Operating parameters may include, for example, the rotational speed of the slewing gear, the steering speed of the mast arm joint, the operating speed of the mast arm actuator, the pumping speed or pumping frequency of the core pump, or the switching speed or switching frequency of the S-pipe.

[0016] A slewing gear is rotatable, for example, 360 degrees around a vertical axis, such as the central axis of the slewing gear. The slewing gear may be equipped with at least one actuator, such as a hydraulic or pneumatic cylinder or an electromechanical actuator, or a combination of several actuators of different types, thereby allowing the slewing gear to change its position relative to the substructure by rotation. For this purpose, the slewing gear typically comprises a hydraulic motor and a pinion with a planetary gearbox.

[0017] A mast assembly comprises at least two mast arms, but may also have three, four, or five mast arms. Typically, a mast assembly comprises three to seven mast arms. The first mast arm is connected at its proximal end to a slewing gear and at its distal end to the proximal end of an adjacent mast arm. The other mast arms are continuous and, in each case, connected at their proximal end to the distal end of an adjacent mast arm. The distal end of the mast assembly corresponds to the distal end of the last subsequent mast arm and has no further connections at that distal end.

[0018] Each mast arm within the mast assembly is connected to one another via a mast joint, allowing it to move independently of other mast arms, at least, for example, exclusively, in one dimension. Each mast arm is assigned to a mast joint located at the proximal end of the former.

[0019] The first mast arm is connected to the slewing gear via the former mast joint such that when the slewing gear rotates about its vertical axis, the first mast arm and, in embodiment, the entire mast assembly also rotate about this axis. For example, the mast arm is mounted to the slewing gear such that it is, for example, movable exclusively vertically independently of the slewing gear and rotatable via the mast joint. It is also conceivable that the mast arm has an extension function and is extendable and infinitely extendable along its longitudinal axis. For example, the mast arm is adjustable so that at least its distal end can move in at least one of three spatial directions (x, y, z directions). Alternatively or additionally, the mast arm is rotatable about its longitudinal axis. For example, the mast arm has at least one actuator for its mast joint, such as a hydraulic or pneumatic cylinder or an electromechanical actuator, or a combination of several actuators of different types, so that the mast arm can change its position relative to at least one other mast arm, particularly a mast arm connected at its proximal end. The actuator can be configured, for example, to pivot the mast arm around a horizontal axis, which can run, for example, through the mast arm joint and further / or to move the mast arm translationally in one, two, or all spatial directions. Alternatively or additionally, the mast arm may have further actuators that can extend, retract, or rotate the mast arm, for example, in a telescopic manner.

[0020] Each mast arm has a maximum movable range of motion. In the case of a mast arm, the opening angle can be defined between the longitudinal axis of the mast arm and the longitudinal axis of the mast arm fixed to the proximal end, and this opening angle corresponds to the opening angle of the mast joint of the mast arm. The opening angle can be determined, for example, by comparing the inclination angles of each mast arm. The inclination angles of the mast arms can be recorded by an inclination sensor. In the case of a first mast arm, the maximum or minimum opening angle of its mast joint can be set between its longitudinal axis and a plane perpendicular to the vertical axis of the slewing gear. Alternatively or additionally, the maximum horizontal distance and / or maximum vertical distance between the proximal and distal ends of a mast arm may also be provided as the maximum range of motion that each mast arm can move in each case. For example, each specific maximum range of motion may be defined for individual mast arms of the mast assembly or for the entire mast assembly.

[0021] The transport line of a concentrated material distribution mast can be attached to the mast arm. For example, the transport line is connected to the mast arm at least at the distal end of the mast assembly. The location of the fastening corresponds to the load mounting position. The transition of the transport line to the end hose at the distal end of the mast assembly should be understood as meaning that the transport line extends beyond the mast assembly and has an area via the end hose that is not fixed to the mast assembly in any way. Thus, the end hose can be freely suspended from the distal end of the mast assembly. The end hose and the transport line may be separate or integrated, and may be configured so that the concentrated material to be transported is transferred from the transport line into the end hose with as little loss as possible. Furthermore, the end hose may have an end hose pinch valve for controlling the flow rate of the concentrated material.

[0022] The concentrated material distribution mast, concentrated material pump, and concentrated material transport system each include means for performing or controlling the method according to the present invention. These means include, in particular, a receiving unit, a processing unit, and a control unit, and can be configured as hardware and / or software components that are separated or combined in various ways. These means include, for example, at least one memory having program instructions for a computer program, and at least one processor configured to execute program instructions from at least one memory.

[0023] The receiving units of the concentrated material distribution mast, concentrated material pump, and concentrated material transport system are configured to receive at least one item of operational information in each case. The item of operational information represents and is representative of one of the various possible characteristics of the concentrated material distribution mast, concentrated material pump, and concentrated material transport system or their components. Thus, it should be possible to assign an item of operational information to a component. Such characteristics can be characterized by, for example, measured variables, as well as operational parameters. These may be characteristics that are already apparent before transport begins, or characteristics that are only apparent after transport has begun. For example, the reception of an item of operational information can be done by measuring the measured variables that characterize this item of operational information. Similarly, the item of operational information received from the receiving unit may define or be the result of an upstream calculation that sequentially includes, for example, one or more measured variables. Such an upstream calculation may be performed directly in the field within the corresponding component unit of the concentrated material distribution mast, concentrated material pump, and concentrated material transport system, but may also be performed externally, for example, on a server device, and the item of operational information thus calculated is received by the receiving unit.

[0024] The processing units of the concentrated material distribution mast, concentrated material pump, and concentrated material transport system should be understood to be configured to determine, in each case, the currently acceptable operating range, currently acceptable operating parameters and / or current stability parameters and expected future stability parameters. This should depend, at least in part, and in particular, on all items of the operating information received. For this purpose, the processing unit can, for example, access the information received by the receiving unit and, depending on the items of the operating information received, may have the currently acceptable operating range, currently acceptable operating parameters and / or current stability parameters and expected future stability parameters, taking into account the characteristics of the components of the concentrated material distribution mast, concentrated material pump, and / or concentrated material transport system that are defined and assumed to be constant, such as their mass or their spatial expansion. The determination of the currently acceptable operating range of a mast arm may also, alternatively or additionally, depend on the already determined operating range of other adjacent mast arms of the mast assembly, for example. For example, the determination of the currently acceptable operating range of a second mast arm is performed after the acceptable operating range of the first mast arm has been determined and depends on the operating range determined for the first mast arm. To determine predicted future stability parameters, at least the processing unit of the concentrated material transport system is configured to perform calculations of predictive information items, which are characteristics of the predicted changes in stability parameters, during the orderly operation of one or more components of the concentrated material distribution mast and / or concentrated material pump. For example, when calculating predictive information items, the operating states of the remaining components can be assumed to remain unchanged during the prediction period, for example, for 1 second, 2 seconds, 3 seconds, etc. Unchanging operating states are understood, for example, in the initial approximation, to mean operating states that are maintained during the prediction period without receiving any other control signals. Alternatively or additionally, the predictive information items can be calculated using stored default values ​​or empirical values.Using the predictive information items determined in this way, the processing unit can determine the stability trend under consideration, which can be taken into account in addition to the current items of the operational information in the control performed by the control unit.

[0025] The control units for the concentrated material distribution mast, concentrated material pump, and concentrated material transport system each include appropriate means for restricting the operating range or operating parameters of the components to currently acceptable operating ranges or currently acceptable operating parameters. Each control unit may additionally or alternatively include means for restricting the operating parameters of the components to currently acceptable operating parameters if the current stability parameters determined by the processing unit are, for example, smaller than a specified maximum stability parameter. Restricting the operating range of one or more components should be understood as meaning that the operating parameters of each component are restricted and the component operates according to those restricted operating parameters. This means that each operating parameter can be restricted to a still acceptable operating range, a still acceptable operating speed, or a still acceptable operating frequency of the component, depending on the determined operating information item or the determined stability parameter. In particular, the component is prevented from operating outside the acceptable operating range. The operating range, operating speed, or restricted operating frequency is smaller than the maximum operating range, maximum operating intensity, and maximum operating frequency that are essentially given to the component in each case. For example, the control unit can determine the upper limit of the currently acceptable operating range of the mast arm and ensure that the concentrated material distribution mast operates only within that upper limit. Thus, it is possible to prevent the opening angle of the mast arm or the actuator force from exceeding, for example, a correspondingly determined limit. To this end, each actuator can receive, for example, an appropriate control signal output by the control unit. For example, the control unit can limit the deflection of the mast arm by the actuator. This prevents overloading of the components of the concentrated material distribution mast or loss of stability in the concentrated material conveying system, and the associated damage to each component.

[0026] The receiving units, processing units, and control units of the thick material distribution mast, thick material pump, and thick material conveying system may each have a similar or identical configuration. These can be different receiving units, processing units, and control units respectively, but it is also conceivable to configure the receiving units, processing units, and control units of the thick material distribution mast, thick material pump, and thick material conveying system as modules of the entire unit. Then, such an overall unit can be arranged to be spatially coupled within a special area of the thick material conveying system including the thick material distribution mast and the thick material pump.

[0027] The thick material pump can be provided with a core pump having two, for example exactly two, conveying cylinders. In this case, switching from the first conveying cylinder to the second conveying cylinder and switching from the second conveying cylinder to the first conveying cylinder are alternately performed. The S-shaped pipe can be periodically switched between the conveying cylinders. Further, the auxiliary cylinder can be configured to bridge each transition.

[0028] The S-shaped pipe is the movable section of the pipe, through which the supply cylinder is alternately connected to the outlet of the thick material pump. The pipe section and the auxiliary cylinder can be elements of an assembly that is releasably connected to the thick material pump. This can facilitate the maintenance and cleaning of the thick material pump.

[0029] The lower structure is a basic frame, for example, a chassis, on which the thick material distribution mast and / or the thick material pump can be arranged. For example, the thick material distribution mast and / or the thick material pump are fastened to the lower structure. The lower structure can be a stationary configuration (for example, a platform) or a movable configuration (for example, a vehicle). The lower structure can include a support structure for support. Equipping such a lower structure with a thick material distribution mast and a thick material pump can support the entire thick material conveying system and improve the stability during operation.

[0030] The greater the distance between the lines of action considering all the forces acting on the dense material conveying system from the inclined edge of the contact surface, the higher the stability of the support structure, and thus the stability of the entire dense material conveying system. However, a reliable statement regarding stability has already been made based on the line of action taking into account at least the gravitational force acting on the dense material conveying system. The more forces actually acting on the line of action being considered, the more accurately this statement can be made. Therefore, the stability of the dense material conveying system can be characterized particularly advantageously by a stability parameter representing the distance between the lines of action from the inclined edge of the contact surface. The stability parameter is located within a defined or dynamically determinable stability range, within which the distance between the lines of action from each inclined edge is 0 or more, and in this case, it is preferable that a safety margin is also considered. The stability of the support structure, and thus the dense material conveying system, is ensured within the stability range. The upper limit of the stability range is defined by the maximum stability parameter. The maximum stability parameter exists when the distance between the lines of action from one of the inclined edges is 0. Therefore, as the stability parameter increases, the distance between the lines of action from at least one of the inclined edges decreases. When exceeding the upper limit, the distance becomes less than 0 and stability is not guaranteed. For example, by assuming that the characteristics of the components of the dense material conveying system under consideration are constant and taking these characteristics into account, it is conceivable to define or determine the stability range for each operating situation of the dense material conveying system. For example, for this purpose, the contact surface can be defined or determinable for each possible arrangement of the support structure, for example, by a specific setting of the support legs. The stability range further includes a first threshold value and optionally also a second threshold value. For example, the second threshold value can be closer to the maximum stability parameter than the first threshold value, and thus closer to the upper limit of stability. Therefore, while the mast assembly of the dense material distribution mast deflects towards the surrounding situation, the resulting moment acts on the support structure, first exceeding the first threshold value, then the second threshold value, and then the upper limit.

[0031] The spacing and direction of the lines of action from one of the inclined edges depend, at least, on the gravitational forces of the concentrated material conveying system, and can be calculated, for example, by the processing unit. The direction of the lines of action may have vertical and horizontal components and may depend on the direction of action and / or the values ​​of multiple forces. For example, one or more forces to be considered in this regard can be defined or selected by the user (e.g., by a suitable user interface). For example, if only the gravitational forces of the concentrated material conveying system are considered, the lines of action correspond to a vertical line passing through the entire center of gravity. In this case, the direction of the lines of action is identical to the position of the vertical line. If the direction of the lines of action further depends on a force with a horizontal component, such as wind force acting on the side of the concentrated material conveying system, the direction of the lines of action also includes at least one horizontal component, the direction of which is not identical to the direction of the vertical line. The direction of the lines of action may depend on one or more additional forces, for example, in response to the occurrence of one or more specific conditions above the dominant wind force in the operation of the concentrated material conveying system, so that the processing unit can gradually adapt its position, preferably by a specified amount in each of the specified directions. Furthermore, the direction of the action line may depend on the direction of action and / or the values ​​of one or more, preferably all, items of motion information that indicate force and are received by the receiving unit.

[0032] For example, the stability range can be described as the distance margin at which the minimum value no longer provides stability to the support structure. Therefore, any motion of a component, for example, if the mast arm of a concentrated material distribution mast deflects distally, can decrease the distance margin, and conversely, if the mast arm deflects proximal, can increase the distance margin. When the distance margin is used, a maximum stability parameter exists, reaching the upper limit of the stability range. If the motion of the component under consideration is expected to increase the distance margin, such motion can be optionally performed at a slow speed.

[0033] The orderly operation of components should be understood as meaning the operation of the components as intended by basic and normal industrial practices, and the components are considered under typical general conditions. For example, if a component is operating in an orderly manner, a specific operating speed of that component is given.

[0034] In embodiments of a concentrated material distribution mast, concentrated material pump, and concentrated material transport system, the operational information items include the mast arm joint torque, the mast arm cylinder force, and / or the mast arm opening angle.

[0035] The mast arm joint torque is the moment acting at the mast joint. This represents a moment that depends, in particular, on the total weight of the mast assembly, the wind load, the weight of the concentrated material to be conveyed, or the weight acting on the distal end of the first mast arm of the mast assembly in response to the peak load of the mast. Conclusions regarding the joint torque can be drawn by measuring the cylinder force or cylinder pressure acting on the actuator of each mast arm, in conjunction with one or more other measurements, such as the measurement of the joint angle of each mast arm. For example, the mast arm joint torque can be calculated from the transfer function, i.e., the cylinder force and joint angle of the mast joint of each mast arm. The opening angle can be determined, for example, by comparing the inclination angles of adjacent mast arms.

[0036] The processing unit can be configured to calculate the load torque based on the operational information items indicating the joint torque of all recorded mast arms, and, according to the calculated load torque, determine the currently acceptable operating range, currently acceptable slewing gear speed, currently acceptable pump speed, currently acceptable switching speed, current stability parameters, and / or expected future stability parameters for the first and second mast arms, respectively. Taking into account the inclination angle of each mast arm, the processing unit can thus determine the stability parameters with particular accuracy in real time.

[0037] Furthermore, the processing unit can be configured to determine the currently permissible operating range of the first and second mast arms, the currently permissible slewing gear speed, the currently permissible pump speed, the currently permissible switching speed, the current stability parameters, and / or expected future stability parameters, depending on the operational information item indicating the currently permissible theoretical maximum load torque.

[0038] Furthermore, the operational information items may indicate the type of concentrated material being transported, the density of the concentrated material being transported, the load on the end hoses, and / or the type of end hoses. Similarly, the operational information items may indicate, for example, the inclination angle of the concentrated material transport system, such as its substructure, the inclination angle of at least one mast arm, the actuator force of the mast arm actuator, or the operating speed of the mast arm actuator. For example, the inclination angle of the concentrated material transport system corresponds to the angle between the rotation axis of the slewing gear and the direction of the vertical.

[0039] In particular, the receiving unit is configured to receive items of operational information specific to the type of end hose by scanning the corresponding RFID tag on the end hose. The type of concentrated substance refers, for example, to the material composition and viscosity of the concentrated substance being transported. The inclination angle of the mast arm can be an absolute inclination angle, i.e., the angle that determines the position of the mast arm with respect to the vertical line, or a relative inclination angle, i.e., the difference angle between the inclination angles of two, especially adjacent, mast arms.

[0040] By considering these characteristics and determining the operating parameters of the concentrated material distribution mast and / or concentrated material pump and / or the stability parameters of the concentrated material conveying system, it can be used safely and efficiently when conveying heavier concentrated materials. For example, if the receiving unit receives an item of operating information particularly characterized by high cylinder force, the processing unit can determine that the currently acceptable operating range for this mast arm is smaller than the maximum operating range, thereby avoiding overloading of the mast arm or the entire concentrated material distribution mast. The same applies to the degradation of stability that may be associated with this. This is the case, for example, when the load on the end hose is particularly high due to the end hose being too long, or when conveying heavy concrete.

[0041] However, even if the concentrated material distribution mast, concentrated material pump, and concentrated material conveying system operate as planned, it is possible to determine an operating range smaller than the currently acceptable maximum operating range. In this case, stability parameters exceeding the first threshold can also be determined. Therefore, the operating information items are advantageous as indicators of expected, particularly maximum wind speed or maximum ground load capacity. As a result, expected variable wind force or individual ground characteristics can be taken into consideration for the operation of the concentrated material distribution mast, and the currently acceptable operating parameters can be adapted accordingly. Expected low maximum wind speed or solid ground allows for the determination of a wider range of operating parameters than in the case of strong wind or loose ground in the subsoil. When the corresponding operating information items are received by the receiving unit, the processing unit can determine an operating range lower than the currently acceptable maximum operating range for one or more mast arms, regardless of the concentrated material that can actually be conveyed using the maximum operating range of the mast arms.

[0042] In another embodiment, the operational information item indicates the location of the load mounting point and / or load weight. For example, the horizontal distance from the vertical axis of the slewing gear should be understood as the location of the load mounting point. The load weight should indicate the gravitational force acting on the load mounting point.

[0043] These characteristics allow the operating and stability parameters to be determined individually and accurately for each concentrated substance being transported and its properties, which are, for example, material-related.

[0044] Further exemplary items of operational information include the weight of all mast arms with filled and / or unfilled conveyor lines; the location of the center of gravity of all mast arms; the weight of additional loads; the location of additional weight mounting points; the wind force acting on the mast arms; the location of the wind center of gravity of all mast arms; the weight of the substructure; the location of the center of gravity of the substructure; the location of the contact surfaces of the support legs in the retracted and / or extended state; and / or leg forces.

[0045] Furthermore, the processing unit may alternatively or additionally determine the currently acceptable slewing gear speed for the slewing gear of the concentrated material distribution mast, and this is also done in accordance with items of operational information received by the receiving unit. For example, the cylinder force at the mast joint of the mast arm can increase significantly due to the centrifugal force caused by the rotation of the slewing gear, potentially damaging the mast arm. If the receiving unit receives an item of operational information indicating such a high cylinder force, the processing unit may determine that the currently acceptable slewing gear speed is less than the maximum slewing gear speed. In this case, the control unit limits the rotational speed of the slewing gear to the currently acceptable rotational speed determined by the processing unit.

[0046] In one embodiment, the mast assembly includes additional mast arms. In this case, the total number of mast arms in the mast assembly is three. It is also conceivable that two or three more mast arms may be provided within the mast assembly, resulting in a mast assembly comprising four or five mast arms.

[0047] The addition of mast arms can easily increase the maximum operating range of the concentrated material distribution mast. In particular, the design of the mast assembly remains especially compact when articulated joints are used to connect the individual mast arms to each other.

[0048] Optionally, the processing unit may be configured to determine, in each case, a currently permissible range of motion for each further mast arm, preferably in response to at least one received item of motion information, and the control unit may be further configured to limit the range of motion to each currently permissible range of motion if one of the determined currently permissible ranges of motion for the further mast arm is smaller than the maximum range of motion for each of the corresponding mast arms.

[0049] In this way, additional mast arms can be taken into consideration when determining the currently permissible range of motion. Similarly, the currently permissible range of motion of another mast arm can also be arbitrarily limited by the control unit.

[0050] Advantageously, both the slewing gear of the mast assembly and the first mast arm, and in each case the two mast arms, are connected to each other via articulated joints, and the processing unit is further configured to determine the currently permissible range of motion of the mast arm by establishing the currently permissible opening angle of the articulated joint at the proximal end of the mast arm. Furthermore, the control unit can be configured to limit the range of motion by limiting the slewing capability of the mast arm to the currently permissible opening angle. Furthermore, it is conceivable that all articulated joints have articulated axes parallel to each other. Furthermore, each articulated joint may have a maximum opening angle of 120 degrees, preferably 150 degrees, and particularly preferably 180 degrees. However, opening angles from 180 degrees to 235 degrees, 270 degrees, or up to 360 degrees are also conceivable.

[0051] This is a particularly easy-to-implement and functional embodiment of the connection between mast arms or between mast arms and slewing gears, where a large range of action with respect to the concentrated material distribution mast is still maintained, and the positioning of the load mounting point in all spatial directions can be performed as needed within the range of action.

[0052] In one embodiment of a concentrated substance transport system, the control unit is configured to control the operating parameters so that the components operate at an invariant rate when the determined current stability parameter exceeds a first threshold and the predicted determined future stability parameter is further from the maximum stability parameter than the determined current stability parameter.

[0053] Preferably, the stability range of the support structure includes a second threshold that is closer to the maximum stability parameter than a first threshold, and the control unit is further configured to control the operating parameters such that the orderly operation of the components is interrupted when the determined current stability parameter exceeds the second threshold and the predicted determined future stability parameter is closer to the maximum stability parameter than the determined current stability parameter.

[0054] Additionally, the control unit can be configured to control the operating parameters so that the components operate at a slower speed if the determined current stability parameter exceeds a second threshold and the predicted determined future stability parameter is further from the maximum stability parameter than the determined current stability parameter.

[0055] Stability may be compromised in the surrounding environment, but nevertheless, if stability is expected to improve, orderly operation can be maintained by taking into account the expected changes in stability parameters. This can optionally be applied to a stability range between at least a first threshold and a second threshold. If the determined current stability parameters exceed the second threshold and are therefore closer to the upper limit of stability, then in the case of expected improvement, orderly operation cannot be completely interrupted, but the components can operate at a slower speed. In some cases, operation can continue in this way even when operating near the upper limit of the stability range, allowing the concentrated material transport system to be used more effectively in the surrounding environment.

[0056] In one embodiment of the concentrated substance transport system, the control unit may be further configured to provide a signal output in accordance with the determined current stability parameter and the predicted determined future stability parameter.

[0057] For example, the first signal output may be affected if the determined current stability parameter exceeds the second threshold and the predicted determined future stability parameter is closer to the maximum stability parameter than the determined current stability parameter; further / or, the second signal output may be affected if the determined current stability parameter exceeds the first threshold and the predicted determined future stability parameter is further from the maximum stability parameter than the determined current stability parameter; further / or, the third signal output may be affected if the determined current stability parameter exceeds the second threshold and the predicted determined future stability parameter is further from the maximum stability parameter than the determined current stability parameter.

[0058] In this way, the control unit can output signals corresponding to an appropriate user interface for the concentrated material transport system, for example, in the form of a display, particularly in the form of the brightness of the illuminated operating elements of the components of the concentrated material transport system. A corresponding display with a variable-size illumination area is also possible. A first signal output may cause maximum brightness or size, a second signal output may cause reduced brightness or size, and / or a third signal output may cause minimum brightness or size. However, signals output in acoustic form (e.g., warning tones) or tactile signals (e.g., vibration of operating elements) may also be affected. This can further improve the usability of the concentrated material transport system.

[0059] It is advantageous that the degree of deceleration depends on the operating speed of the components. This degree is further considered to depend on how large the distance from the maximum stability parameter to the expected future stability parameter is. For example, the degree of deceleration can be defined as increasing as the distance decreases, for example, linearly or with the square of the distance.

[0060] In this way, appropriate responses can be provided to rapid or gradual changes in the stability of the concentrated material transport system, depending on the situation.

[0061] Preferably, the processing unit is identified to determine predicted future stability parameters depending on the items of predictive information, the latter being characteristics of predicted changes in items of operational information based on the orderly operation of multiple, preferably all, components of the concentrated material distribution mast and / or concentrated material pump.

[0062] Here, when determining the predicted future stability parameters, the influence of the operation of not just one but multiple components is considered. For example, several predicted future subparameters may be determined for this purpose, each characterizing, for instance, the distance from one of the inclined edges of the concentrated material conveying system, and the predicted future stability parameter can be selected from the determined subparameters. For example, the subparameter closest to the maximum stability parameter can be selected. In particular, leg forces, torques acting on the slewing gear, or preferably load torques on all mast arms can be taken into consideration. This is expected to lead to a more meaningful estimation of the stability parameters and, therefore, to more effective and safer operation of the concentrated material conveying system in the surrounding conditions.

[0063] In one embodiment, the predicted change in the stability parameter is assumed to be the maximum possible increasing effect of the components on the stability parameter.

[0064] This allows for particularly simple and conservative estimations of predictive information items, eliminating time-consuming calculations.

[0065] Alternatively or additionally, the predictive information items can be calculated by taking into account the control signals output by the control unit for orderly operation during the predictive period.

[0066] Therefore, it is conceivable that the control unit is configured to output one or more control signals in relation to the orderly operation of the concentrated material transport system. For example, this may be due to requirements imposed on the concentrated material transport system for specific control operations of one or more actuators of the concentrated material transport system. Such requirements can be received, for example, by a receiving unit through user input on a suitable user interface of the concentrated material transport system (e.g., joystick movement on a handheld control device). In this way, the output of control signals by the control unit can also be taken into consideration when determining expected future stability parameters. In a further embodiment, the support structure further comprises at least one horizontally and vertically displaceable support leg. The support leg of the concentrated material transport system represents a component of the support structure that helps increase the stability of the concentrated material transport system. The effect of the support structure on stability depends in particular on the individual arrangement and configuration of the support legs. For this purpose, the support legs may be supported on the ground by support plates. Typically, four support legs are provided for the support structure. Optionally, the receiving unit hereby is configured to receive items of operational information indicating the torque of the slewing gear of a concentrated material distribution mast rotatable around a vertical axis, the horizontal leg force of at least one support leg, or the vertical leg force of at least one support leg.

[0067] Horizontal or vertical leg forces are understood to be horizontal or vertical forces acting on the supporting legs. By considering the above characteristics when determining current stability parameters as well as expected future stability parameters, it is possible to draw particularly reliable conclusions regarding the stability of the support structure, and even more so with respect to static loads.

[0068] According to one embodiment, the processing unit of the concentrated material transport system is configured to calculate the current position of the entire center of gravity of the concentrated material transport system from a plurality of items of operational information received, and to determine stability parameters according to the calculated current position of the entire center of gravity. For example, the processing unit can be configured to calculate the distance of each line of action of at least one force acting on the concentrated material transport system from the inclined edge of the contact surface, and to determine stability parameters according to the calculated distances, where the at least one force acting on the concentrated material transport system includes the gravitational force of the concentrated material transport system acting on the current position of the entire center of gravity of the concentrated material transport system.

[0069] According to one embodiment, each receiving unit of the concentrated substance distribution mast, concentrated substance pump, or concentrated substance transport system includes a sensor unit for recording items of operation information, a communication interface for recording items of operation information, or a user interface for recording items of operation information.

[0070] By using a sensor unit, the receiving unit can automatically acquire items of operational information independently of user input. The sensor unit may comprise one or more sensors of the same or different types. Exemplary sensors include force and pressure sensors (for recording, for example, cylinder forces at the mast joint of the mast arm, forces acting on the actuator of the mast arm, or loads on end hoses), position sensors (e.g., sensors for satellite-based positioning systems such as GPS, GLONASS, or Galileo), position sensors (e.g., mental level or tilt sensors for recording the tilt angle of the mast arm), electrical sensors (e.g., induction sensors), optical sensors (e.g., laser sensors or 2D scanners for recording the type of concentrated material being transported), or acoustic sensors (e.g., ultrasonic sensors or vibration sensors for recording the density of concentrated material being transported). Wind measuring and forecasting devices for determining expected wind speed are also suitable sensors. Similarly, items of operational information can also be acquired by the interaction of multiple sensors in the sensor unit.

[0071] Alternatively or additionally, each receiving unit may be provided with one or more (e.g., wireless) communication interfaces through which items of operational information recorded (e.g., externally) are received by the receiving unit in a manner known to those skilled in the art.

[0072] If a user interface is provided to record items of operational information, this user interface may consist of, for example, at least one button, keypad, keyboard, mouse, display unit (e.g., display), microphone, touch-sensitive display unit (e.g., touchscreen), camera, and / or touch-sensitive surface (e.g., touchpad). For example, items of operational information are received by recording user input on the user interface.

[0073] Further disclosed is a further concentrated material conveying system according to the present invention, comprising a concentrated material distribution mast, a concentrated material pump, and / or a concentrated material conveying system according to the present invention. Refer to the above description for further explanation. The further concentrated material conveying system according to the present invention may also be configured as a truck-mounted pump in one embodiment.

[0074] Further disclosed is a method for operating a thick material distribution mast according to the present invention, comprising: a slewing gear rotatable at a maximum rotational speed about a vertical axis; a mast assembly having at least a first mast arm and a second mast arm, wherein the first mast arm is connected to the slewing gear at the proximal end of the mast assembly and the mast arms each have a maximum operating range; a conveyor line extending across the mast assembly and having a proximal end and a distal end that can be connected to the outlet of a concentrated material pump, wherein the proximal end of the conveyor line transitions to an end hose at the distal end of the mast assembly; a receiving unit; a processing unit; and a control unit. The method includes the steps of: receiving at least one item of operation information by a receiving unit; processing the processing unit determining the currently permissible operating range of a first mast arm and a second mast arm, and / or, in each case, determining the currently permissible slewing gear speed according to at least one received item of operation information; if one of the determined currently permissible operating ranges of the first mast arm and the second mast arm is smaller than the respective maximum operating range, the control unit restricting the operating range of the corresponding mast arm to the respective currently permissible operating range; and / or, if the determined currently permissible rotational speed is less than the maximum rotational speed, the control unit restricting the rotational speed of the slewing gear.

[0075] Similarly, a method for operating a concentrated material pump having a double-piston core pump is disclosed, the double-piston core pump having a maximum pump speed and a maximum switching speed, an S-shaped pipe having one end arranged at the outlet of the concentrated material pump and connectable to a transport line, a receiving unit, a processing unit, and a control unit, the method comprising: receiving at least one item of operating information by the receiving unit; determining a currently acceptable pump speed by the processing unit and / or determining a currently acceptable switching speed by the processing unit, in each case determined according to at least one received item of operating information; and if the determined currently acceptable pump speed is less than the maximum pump speed, the control unit limits the pump speed to the currently acceptable pump speed, and further / or if the determined currently acceptable switching speed is less than the maximum switching speed, the control unit limits the switching speed. Instead of pump speed, pump frequency may also be considered, and instead of switching speed, switching frequency may also be considered.

[0076] Further disclosed is a method for operating a concentrated material transport system, the concentrated material transport system comprising a concentrated material distribution mast, a concentrated material pump, and a substructure on which the concentrated material distribution mast and the concentrated material pump can be arranged, the substructure comprising a support structure that supports the substructure, the support structure having a stability range having a first threshold and an upper limit defined by a maximum stability parameter, and comprising a receiving unit, a processing unit, and a control unit, the method comprising the steps of receiving at least one item of operation information by the receiving unit, and the processing unit determining the current stability parameter according to at least one received item of operation information by the processing unit The method includes the steps of: determining a future stability parameter to be predicted based on at least one received item of operating information and an item of predictive information which is a characteristic of the predicted change in the stability parameter of at least one component of the concentrated material distribution mast and / or concentrated material pump during orderly operation; and, if the determined current stability parameter is greater than a first threshold and the determined predicted future stability parameter is closer to the maximum stability parameter than the determined current stability parameter, controlling the operating parameter of at least one component of the concentrated material distribution mast and / or concentrated material pump by a control unit so that the component operates at a slower speed.

[0077] For further explanation of the further advantageous developments of this method, refer to the above-mentioned developments of concentrated material distribution masts, concentrated material pumps, and concentrated material transport systems.

[0078] Similarly disclosed are computer programs having program instructions that cause the processor to execute and / or control at least one of the disclosed methods when the computer program is executed on the processor. For example, the disclosed computer program is stored in a computer-readable data carrier.

[0079] The embodiments and configurations described above should be understood merely as examples and are not intended to limit the present invention in any way. [Brief explanation of the drawing]

[0080] The present invention will be described in more detail below, in an exemplary manner, with reference to the attached drawings, by an advantageous embodiment. [Figure 1] Figure 1 shows a schematic diagram of an exemplary embodiment of the concentrated substance distribution mast according to the present invention. [Figure 2] Figure 2 shows a schematic diagram of an exemplary embodiment of the concentrated substance pump according to the present invention. [Figure 3] Figure 3 shows a schematic diagram of one embodiment of the concentrated substance transport system according to the present invention. Detailed explanation

[0081] Figure 1 shows a concentrated substance distribution mast 18 for distributing concentrated substances transported by a concentrated substance pump, and includes a slewing gear 19, a mast assembly 40, and a transport line 17.

[0082] The mast assembly 40 comprises a first mast arm 41, a second mast arm 42, a further first mast arm 43, and a further second 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 capable of rotating at its maximum rotational speed around a vertical axis, i.e., an axis in the image plane.

[0083] The first mast arm 41 is connected to the slewing gear 19 at its proximal end via a mast arm joint. Here, the connection via the mast arm joint is configured as a fixed joint. A further first mast arm 43 is connected at its proximal end to the distal end of the first mast arm 41 via a mast arm joint, which is similarly configured as a joint. Similarly, a further second mast arm 44 is connected to the further first mast arm 43 via a joint. A second mast arm 42 is connected at its proximal end to the proximal end of a further second mast arm 44 via a joint that is articulated at its proximal end.

[0084] Here, each of the mast arms 41, 42, 43, and 44 of the mast assembly 40 has a range of motion. In the embodiment shown in Figure 1, each mast arm is articulated at its proximal end, in each case, to one another or to the slewing gear 19, and the maximum range of motion of each mast arm is characterized by its minimum or maximum opening angle. Plotted in the embodiment is the opening angle 47 of the second mast arm 42, which is defined as the angle enclosed by the longitudinal axis of the mast arm 42 and the longitudinal axis of the mast arm 44 connected to its proximal end. In this embodiment, the maximum range of motion of the second mast arm 42 corresponds to an opening angle 47 of 180°. Similarly, the (maximum) opening angle, and therefore the (maximum) range of motion, is defined for each of the other mast arms. In the case of the first mast arm 41, the opening angle should be understood to mean the angle enclosed by the longitudinal axis of the mast arm 41 and the plane perpendicular to the vertical axis of the slewing gear 19.

[0085] Furthermore, the lower structure 30 on which the concentrated substance distribution mast 18 is arranged is shown by a dashed line. In one embodiment, the lower structure 30 is arranged on the vehicle 33 by a dotted line.

[0086] The transport line 17 has a proximal end, which is connected to a concentrated material pump (not shown), and extends from the stock structure 30 along the slewing gear 19 and from the proximal end of the mast assembly 40 to the distal end of the mast assembly 40. Here, the transport line 17 transitions to an end hose 45. The location of this transition identifies, for example, a load mounting point 46 where the mast assembly 40 may have additional eyelets.

[0087] Furthermore, the concentrated substance distribution mast 18 includes a receiving unit 11, a processing unit 12, and a control unit 13.

[0088] The receiving unit 11 comprises a sensor unit equipped with multiple sensors, in each case the multiple sensors are arranged at the mast joints of the mast arms 41, 42, 43, and 44, respectively. Thus, the receiving unit 11 is configured to receive at least one piece of operational information from the sensor unit. In the embodiment shown in Figure 1, it should be understood that, in each case, the sensors are configured to record an item of operational information in the form of the cylinder force at the mast joint of each mast arm.

[0089] Based on the received operational information, the processing unit 12 determines the currently permissible operating range for each mast arm 41, 42, 43, and 44. This determined currently permissible operating range is defined as the currently permissible opening angle. The currently permissible opening angle can correspond to an angle less than or equal to the maximum opening angle.

[0090] If the receiving unit 11 receives operational information characteristic of particularly high cylinder forces, the processing unit 12 determines that the currently acceptable opening angle, and therefore the currently acceptable operating range, is smaller than the maximum opening angle. This is done, for example, to avoid overloading the second mast arm 42 or the entire concentrated material distribution mast 18. Such a scenario may occur, for example, when the end hose 45 within the load attachment point 46 is subjected to a particularly high load, which typically occurs when transporting heavy concrete or filling tall formwork.

[0091] However, even if the concentrated material distribution mast 18 operates as planned, it may be possible to determine a currently acceptable operating range that is smaller than the maximum operating range. This may occur, for example, in unfavorable ambient conditions such as strong winds or unpaved ground. For example, if the corresponding items of operating information are received by the receiving unit 11 by recording user input in the user interface of the receiving unit 11, the processing unit 12 may determine an operating range lower than the currently acceptable maximum operating range, regardless of the concentrated material that can actually be transported within the maximum operating range of the mast arm.

[0092] If the processing unit 12 determines that the currently permissible range of motion of the mast arm is less than the maximum range of motion, the control unit 13 restricts the range of motion of the corresponding mast arm to the determined currently permissible range of motion, thereby limiting it to a currently permissible opening angle smaller than the maximum opening angle in this embodiment. In this case, the deflection of the corresponding mast arm is not performed by the concentrated material distribution mast 18, for example, by the corresponding actuator of the concentrated material distribution mast 18, but is instead eliminated, for example, in response to a control signal from the control unit 13.

[0093] If the currently permissible opening angle of the corresponding mast arm determined by the processing unit 12 is greater than or equal to its maximum opening angle, the operating range of the mast arm is not restricted, and its deflection is not interrupted. This may occur, for example, when conveying is carried out according to the planned design of the concentrated material distribution mast 18.

[0094] Furthermore, in this embodiment, the processing unit 12 further determines the currently permissible slewing speed according to the items of operation information received by the receiving unit 11, such as the cylinder force recorded by the sensor of the sensor unit. In this case, the currently permissible rotational speed of the slewing gear 19 can be lower than the maximum rotational speed used for orderly operation. For example, the centrifugal force generated by the rotation of the slewing gear 19 may significantly increase the cylinder force in the mast arm joint 47 of the second mast arm 42, potentially damaging the second mast arm 42. If such a high cylinder force is recorded by the sensor of the receiving unit 11, the processing unit 12 may determine that the currently permissible slewing gear speed is lower than the maximum slewing gear speed. In this case, the control unit 13 limits the rotational speed of the slewing gear 19 to the currently permissible rotational speed determined by the processing unit 12.

[0095] Figure 2 shows a concentrated material pump 16 for transporting concentrated material. The concentrated material pump 16 comprises a double-piston core pump 15 and a switchable S-shaped pipe 24. In this case, the core pump 15 has a maximum pumping speed and the S-shaped pipe 24 has a maximum switching speed, at which speed one end of the S-shaped pipe 24 is switched back and forth between the two pistons of the core pump. At the outlet 28 of the concentrated material pump 16, the other end of the S-shaped pipe 24 is connected to a transport line 17 of a concentrated material distribution mast (not shown). Furthermore, the concentrated material pump 16 comprises a receiving unit 11, a processing unit 12, and a control unit 13.

[0096] In this embodiment, the receiving unit 11 is equipped with a user interface, such as a touch panel display unit, and can record items of operation information entered by the user. For example, the user can input the type of thick material to be transported, and the receiving unit 11 can receive the corresponding items of operation information.

[0097] The processing unit 12 determines the currently permissible pump speed, for example, the (maximum) pump speed provided for transporting the current type of concentrated substance, and the (maximum) switching speed provided for transporting the current type of concentrated substance, according to the items of operation information received by the receiving unit 11, namely, items of information regarding the type of concentrated substance to be processed.

[0098] In particular, the currently acceptable pump speed and currently acceptable switching speed determined in this manner can be smaller than the maximum pump speed of the core pump 15 and the maximum switching speed of the S-type pipe 24. In selected embodiments of a particular type of concentrated material to be conveyed, the control unit 13 limits the pump speed of the core pump 15 to the determined currently acceptable pump speed and the switching speed of the S-type pipe 24 to the determined currently acceptable switching speed.

[0099] In this way, for example, when transporting a certain type of concentrated substance, the potential overload of the components of the concentrated substance pump 16 or the concentrated substance distribution mast 18 can be taken into consideration. For example, when transporting a highly viscous concentrated substance in particular, it may be considered to prevent the core pump 15 from operating at its maximum pumping speed or the S-type pipe 24 from operating at its maximum switching speed in order to avoid damage to the concentrated substance pump 16. In the case of a particularly dense and therefore heavy concentrated substance, it may also be considered to prevent the core pump 15 from operating at its maximum pumping speed and the S-type pipe 24 from operating at its maximum switching speed, because the load torque on each of the mast arms would be large, posing a risk of overloading the concentrated substance distribution mast 18 by transporting the concentrated substance along the transport line.

[0100] As shown in Figure 3, the concentrated material transport system 10 comprises a substructure 30 on which a concentrated material distribution mast 18 and a concentrated material pump 16 are arranged. The substructure 30 is again shown exemplary as being arranged on a vehicle 33. Furthermore, as an embodiment, a transport line 17 and a slewing gear 19 are illustrated as typical components of the concentrated material distribution mast 18.

[0101] The lower structure 30 includes a support structure 31 equipped with support legs 32 for supporting the lower structure 30. A stability range is defined for the support structure 31, having a first threshold, a second threshold, and an upper limit, taking into consideration, for example, the positioning of the support legs 32, and the upper limit is defined by the maximum stability parameter. The lower structure 30 is also provided with a receiving unit 11, a processing unit 12, and a control unit 13.

[0102] The receiving unit 11 is configured to receive multiple items of operational information, each of which represents, for example, the horizontal leg force and vertical leg force of each support leg 32. To this end, the receiving unit 11 has a sensor unit, which has corresponding sensors on the support legs 32 for recording their respective leg forces.

[0103] The processing unit 12 determines current stability parameters that characterize the current stability of the support structure and its mechanical load capacity, in accordance with these items of operational information received by the receiving unit 11 in this manner. Furthermore, the processing unit 12 also determines predicted future stability parameters in each case, in accordance with items of predictive information that are characteristic of the predicted changes in the stability parameters of one or more components of the concentrated material distribution mast 18 and concentrated material pump 16 during orderly operation. In embodiments, components considered in connection with determining the items of predictive information may be the mast arm or the slewing gear 19 of the concentrated material distribution mast 18, or the S-shaped pipe of the core pump or concentrated material pump 16.

[0104] The control unit 13 is configured to control the operating parameters of the components under consideration of the concentrated material distribution mast 18 and / or the concentrated material pump 16. If the component is the mast arm of the concentrated material distribution mast 18, the operating parameter is, for example, the characteristic of the steering speed α of the articulated joint of the corresponding mast arm joint. For example, the steering speed α used in orderly operation corresponds to ±2° / s. For example, if the component under consideration is the slewing gear of the concentrated material distribution mast 18, the operating parameter can be a rotational speed φ of ±6° / s or less.

[0105] Here, the control unit 13 controls the operating parameters of each component so that the operation of the component becomes slower if the current stability parameter determined by the processing unit 12 is greater than or equal to a first threshold within the stability range, and the predicted future stability parameter is close to the maximum stability parameter, that is, if the stability trend would further worsen if the component in question were to operate in an orderly manner. Therefore, in the above-described embodiment of the mast arm, the control unit 13 controls the operating speed α and / or rotational speed φ of the joint connection to a reduced operating speed α, respectively. red <α or rotational speed φ red It is reduced to <φ. Here, if we describe the stability range as a distance margin, the distance margin becomes smaller.

[0106] However, when the first threshold is exceeded by the current stability parameters determined by the processing unit 12, if the expected equally determined future stability parameters are far from the maximum stability parameters, i.e., if the stability trend improves in the orderly operation of the relevant components, the control unit 13 can control the operating parameters of the components so that the operation of the components is carried out at a rate that does not change. In this case, the control unit 13 does not reduce the steering speed α and / or rotational speed φ of the indirect joint. If the stability range is described as a distance margin, this results in an increase in the distance margin.

[0107] The control unit 13 controls the components to stop their orderly operation if the current stability parameters determined by the processing unit 12 have already exceeded a second threshold and are close to the upper limit of stability, and furthermore, if the future predicted safety parameters are still close to the maximum stability parameters. In the described embodiment, no further movement of the joints and / or rotation of the swivel gears is performed (α=0, φ=0), and is excluded, for example, in response to a control signal from the control unit 13. The distance margin remains unchanged.

[0108] However, the control unit 13 can control the operation of the target component to be slower if the current stability parameter determined by the processing unit 12 exceeds a second threshold, or if the position of the predicted future stability parameter, similarly determined by the processing unit 12, is far from the maximum stability parameter. Therefore, if the second threshold is exceeded, and thus a lower speed, α red <α, φ red Although the φ is close to critical stability, the joints may move and / or the swivel gears may rotate. As a result, the distance margin increases slowly.

[0109] In one embodiment, the components of the concentrated substance transport system 10 are operable by a control element configured as a three-axis joystick with an illuminated display, each representing one of the six directions of movement of the joystick. The operation of the components of the concentrated substance transport system 10, and therefore changes in one or more items of operation information, are assumed to be the result of the joystick being moved in the direction of movement by the user, so the determination of the expected future stability parameters also depends on such operation.

[0110] For example, the brightness of each display can be reduced in the direction of motion in which the control unit 13 activates the operating parameters of each component, so that the component operates at a low speed. Conversely, the brightness of each display can be maximized in the direction of motion in which the control unit 13 controls the operating parameters of the component, so that the component operates at a constant speed. Finally, the brightness of these displays can be minimized in the direction of motion in which the control unit 13 stops the operation of the component.

[0111] The embodiments of the present invention described herein, and any features and characteristics enumerated in this regard, should be understood as also being disclosed in all combinations with others. In particular, a description of features constituted by one embodiment is not understood at present to be essential or indispensable to the function of that embodiment unless explicitly stated otherwise.

Claims

1. A concentrated substance distribution mast (18) for distributing concentrated substances transported by a concentrated substance pump (16), A swivel gear (19) capable of rotating at maximum rotational speed around a vertical axis, 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 the proximal end of the mast assembly (40), and the mast arms (41, 42) each have a maximum range of motion, A transport line (17) extending across the mast assembly (40) and having a proximal end and a distal end that can be connected to the outlet (28) of the concentrated substance pump, wherein the distal end of the transport line (17) transitions to an end hose (45) at the distal end of the mast assembly (40), A receiving unit (11) that receives at least one data item of operation information, A processing unit (12) for determining the currently permissible operating range of the first mast arm (41) and the second mast arm (42), and further / or for determining the currently permissible slewing gear speed in accordance with at least one received operating information data item, If the determined currently permissible operating range of either the first mast arm (41) or the second mast arm (42) is less than or equal to its respective maximum operating range, the control unit (13) restricts the operating range of the corresponding mast arm (41, 42) to its respective currently permissible operating range, and if the determined currently permissible rotational speed is less than or equal to the maximum rotational speed, the control unit (13) restricts the rotational speed of the slewing gear (19). A concentrated substance distribution mast (18) having the following features.

2. The concentrated substance distribution mast (18) according to claim 1, wherein the mast assembly (40) comprises further mast arms (43, 44), preferably two further mast arms.

3. The concentrated material distribution mast (18) according to claim 2, wherein the processing unit (12) is further configured to determine, in each case preferably, the currently permissible operating range of each of the further mast arms (43, 44) in accordance with at least one received item of operating information, and the control unit (13) is further configured to limit the operating range of the further mast arms (43, 44) 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 operating range of the corresponding mast arms (43, 44).

4. The slewing gear (19) and the first mast arm (41) of the mast assembly (40) and the two mast arms (41, 42, 43, 44) are each connected to one another by articulated joints, and the processing unit (12) is further configured to determine the currently permissible range of motion of the mast arms (41, 42, 43, 44) based on the setting of the currently permissible opening angle of the articulated joints at the proximal ends of the mast arms (41, 42, 43, 44), the concentrated material distribution mast (18) according to any one of claims 1 to 3.

5. The concentrated substance distribution mast (18) according to claim 4, wherein the control unit (13) is further configured to limit the operating range by limiting the rotational capability of the mast arms (41, 42, 43, 44) to a currently permissible opening angle.

6. In a concentrated substance pump (16) for transporting concentrated substances via a transport line (17) of a concentrated substance distribution mast (18), A double-piston core pump (15) having the maximum pump speed, An S-shaped pipe (24) that can be switched at the maximum switching speed, one end of which is arranged at the outlet (28) of the concentrated substance pump (16) and connectable to the transport line (17), A receiving unit for receiving at least one item of operational information, A processing unit for determining the currently acceptable pump speed, and / or for determining the currently acceptable switching speed, each of which depends on at least one received item of the operating information; If the determined currently acceptable pump speed is less than the maximum pump speed, then the pump speed will be limited to the currently acceptable pump speed, and / or If the current acceptable switching speed is less than the determined switching speed, a control unit (13) for limiting the switching speed is provided. A concentrated substance pump (16) having the following features.

7. In the concentrated substance transport system (10), A concentrated substance distribution mast for distributing the concentrated substance being transported, A concentrated substance pump for transporting the concentrated substance via the transport line (17) of the concentrated substance distribution mast, The lower structure (30) on which the concentrated substance distribution mast and the concentrated substance pump are arranged, It has, The aforementioned lower structure (30) is The system comprises a support structure (31) for supporting the lower structure (30), a receiving unit (11) for receiving at least one item of operation information, a processing unit (12), and a control unit (13). The support structure (31) has a stability range having a first threshold, and the stability range has an upper limit defined by the maximum stability parameter. The processing unit (12) is a processing unit for determining current stability parameters in accordance with at least one received item of operation information, and further for determining predicted future stability parameters in accordance with at least one received item of operation information and at least one item of prediction information, the latter characterized by a predicted change in the stability parameters in the orderly operation of at least one component of the concentrated material distribution mast and / or the concentrated material pump. The control unit (13) is for controlling the operating parameters of at least one component of the concentrated material distribution mast and / or the concentrated material pump, and the control unit (13) is configured to control the operating parameters such that the operation of the component occurs at a slower speed when the determined current stability parameter is greater than the first threshold and the predicted determined future stability parameter is closer to the maximum stability parameter than the determined current stability parameter.

8. The concentrated substance transport system (10) according to claim 7, wherein the control unit (13) is further configured to control the operating parameters such that the components operate at an invariant speed when the determined current stability parameter is greater than the first threshold and the predicted determined future stability parameter is further from the maximum stability parameter than the determined current stability parameter.

9. The concentrated substance transport system (10) according to any one of claims 7 to 8, wherein the stability range of the support structure (31) includes a second threshold that is closer to the maximum stability parameter than the first threshold, and the control unit (13) is configured to control the operating parameters such that the orderly operation of the components is stopped if the determined current stability parameter is greater than the second threshold and the predicted determined future stability parameter is closer to the maximum stability parameter than the determined current stability parameter.

10. The concentrated substance transport system (10) according to claim 9, wherein the control unit (13) is configured to control the operating parameters such that the operation of the components occurs at a slower speed when the determined current stability parameter is greater than the second threshold and the predicted determined future stability parameter is further from the maximum stability parameter than the determined current stability parameter.

11. The degree of the speed reduction depends on the operating speed of the component, the concentrated substance transport system (10) according to any one of claims 7 to 10.

12. The operating parameters of at least one component of the concentrated material distribution mast and / or the concentrated material pump are: The rotational speed of the slewing gear of the concentrated substance distribution mast, which is rotatable around a vertical axis, The steering speed of the mast arm joint of the concentrated material distribution mast, The operating speed of the actuator of the mast arm of the concentrated material distribution mast, The pump speed or pump frequency of the core pump (15) of the concentrated substance pump, and / or The switching speed or switching frequency of the switchable S-shaped pipe (24) of the concentrated substance pump, The concentrated substance transport system (10) according to any one of claims 7 to 11.

13. The concentrated material transport system (10) according to any one of claims 7 to 12, wherein the processing unit (12) is configured to determine the predicted future stability parameters in accordance with items of predictive information that are characteristic of the predicted changes in the items of operational information in the orderly operation of a plurality, preferably all, of the components of the concentrated material distribution mast and / or the concentrated material pump.

14. A concentrated substance transport system (10) according to any one of claims 7 to 13, wherein the influence of the component that maximizes the stability parameter is assumed to be a predicted change in the stability parameter.

15. The concentrated substance transport system (10) according to any one of claims 7 to 14, wherein the items of the prediction information are calculated taking into consideration the control signals output by the control unit for orderly operation during the prediction period.

16. Each receiving unit (11) is configured to receive items of operational information indicating the joint torque of the mast arms (41, 42, 43, 44), the cylinder force of the mast arms (41, 42, 43, 44), and / or the opening angle of the mast joint (47), according to any one of the claims, for a concentrated material distribution mast (18), concentrated material pump (16), or concentrated material transport system (10).

17. The concentrated material distribution mast (18), concentrated material pump (16), or concentrated material transport system (10) according to claim 16, wherein the processing unit (12) is configured to calculate a load torque based on recorded items of operation information indicating the joint torque of all mast arms (41), and to determine, in each case, the currently permissible operating range of the first mast arm (41) and the second mast arm (42), the currently permissible slewing gear speed, the currently permissible pump speed, the currently permissible switching speed, the current stability parameter, and / or the predicted future stability parameter, respectively, for the first mast arm (41) and the second mast arm (42).

18. The concentrated material distribution mast (18), concentrated material pump (16), or concentrated material transport system (10) according to claim 17, wherein the processing unit (12) is configured to determine, in each case, the currently permissible operating range of the first mast arm (41) and the second mast arm (42), the currently permissible slewing gear speed, the currently permissible pump speed, the currently permissible switching speed, the current stability parameter, and / or the predicted future stability parameter, according to items of operating information indicating the currently permissible theoretical maximum load torque.

19. Each of the aforementioned receiving units (11) is, The type of concentrated substance being transported, The density of the concentrated substance being transported, Load on the end hose (45), Model of end hose (45), A concentrated material distribution mast (18), concentrated material pump (16), or concentrated material transport system (10) according to any one of the claims, configured to receive items of operational information indicating the characteristics of the concentrated material.

20. Each of the receiving units (11) is configured to receive items of operational information indicating the expected wind speed, in particular the maximum wind speed, in the concentrated material distribution mast (18), concentrated material pump (16), or concentrated material transport system (10) according to any one of the claims.

21. Each of the receiving units (11) is configured to receive items of operational information indicating the maximum ground load capacity, in the concentrated material distribution mast (18), concentrated material pump (16), or concentrated material transport system (10) according to any one of the claims.

22. The receiving unit (11) is configured to receive items of operational information indicating the location of the load application point (46) and / or the load weight, according to any one of the claims, for a concentrated material distribution mast (18), concentrated material pump (16), or concentrated material transport system (10).

23. A concentrated material distribution mast (18) according to any one of the claims, configured as a concrete distribution mast, or a concentrated material pump (16) according to any one of claims 1 to 22, configured as a concrete pump.

24. In the concentrated substance transport system according to any one of claims 7 to 22, the support structure (31) further comprises at least one support leg (32) that is displaceable horizontally and vertically, and the receiving unit (11) is Torque of the slewing gear of a concentrated substance distribution mast that can rotate around a vertical axis, The horizontal leg force of at least one support leg (32), The vertical leg force of the at least one support leg (32), A concentrated substance transport system configured to receive operational information that indicates the characteristics of the substance.

25. In the concentrated substance distribution mast (18), concentrated substance pump (16), or concentrated substance transport system (10) according to any one of the above claims, Each of the aforementioned receiving units is: A sensor unit for recording items of operational information. A communication interface for recording operational information items, or A user interface for recording items of operational information. A concentrated substance distribution mast (18), a concentrated substance pump (16), or a concentrated substance transport system (10) further comprising:

26. In a concentrated substance transport system, A lower structure (30) on which a concentrated substance distribution mast (18) and a concentrated substance pump (16) can be arranged, A concentrated substance distribution mast (18) according to any one of the above claims, Furthermore / or, A concentrated substance pump (16) according to any one of the above claims, A system for transporting concentrated substances.

27. In the concentrated substance transport system according to any one of claims 7 to 25, A concentrated substance transport system wherein the concentrated substance distribution mast (18) is configured as described in any one of the claims, and / or the concentrated substance pump (16) is configured as described in any one of the claims.

28. The concentrated substance transport system according to any one of the claims, wherein the lower structure (30) is arranged on a vehicle (33).

Images