A method for automatically adjusting the variable boom position of an adjustable distributor boom of a building materials pumping device and / or a concentrated material pumping device.

Abstract

The present invention relates to a method for automatically adjusting a variable boom position (MS) of an adjustable distributor boom (3) of a building material pumping apparatus and / or thick materials pumping apparatus (4), which is capable of achieving at least one identical tip position (SPO) of a boom tip (3S) of the distributor boom (3) by means of a plurality of different boom positions (MS, MS'), the method comprising a step of determining and adjusting the boom position (MS) in dependence on a predefined quantity (VG) determining the tip position (SPO) and on an optimization criterion (OK), the optimization criterion (OK) being a minimized tilting moment (KM) of the distributor boom (3) relative to a support system (7) of the building material pumping apparatus and / or thick materials pumping apparatus (4), said tilting moment (KM) being dependent on the boom position (MS).

Description

Technical Field

[0001] The present invention relates to a method for automatically setting a variable boom position of an adjustable distributor boom of a building material pump device and / or a thick substance pump device, and to a system.

Summary of the Invention

[0002] Problems and Solutions In particular, the present invention is based on the problem of providing a method for automatically setting a variable boom position of an adjustable distributor boom of a building material pump device and / or a thick substance pump device, each having improved characteristics, and a system.

[0003] The present invention solves the above problems by providing a method having the features of claim 1 and a system having the features of claim 10. Advantageous developments and / or embodiments of the present invention are described in the dependent claims.

[0004] A method according to the present invention, particularly an automatic method, is designed, configured, or provided to automatically set a variable boom position of an adjustable distributor boom, particularly a flexibly adjustable distributor boom, of a building materials pumping device and / or concentrated material pumping device. At least one identical tip position of the boom tip of the distributor boom can be achieved by a plurality of different boom positions or boom orientations, particularly of the distributor boom. The method includes, or has, a step of determining, particularly automatically, at least one value of the boom position of the distributor boom, particularly the boom position particularly, the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom position, particular the boom

[0005] This minimizes, reduces, or mitigates the risk of tilting or tipping over building material pumping equipment and / or concentrated material pumping equipment, and in particular, makes it possible to enhance safety during work or operation of building material pumping equipment and / or concentrated material pumping equipment. Additionally or alternatively, this allows for maximized usable workspace, particularly for the distributor boom, which may depend on the boom position.

[0006] In particular, the term "automatic operation" can be used synonymously with the term "automatic."

[0007] The distributor boom could be a building materials distributor boom and / or a concentrated substance distributor boom.

[0008] The building materials pumping device and / or concentrated material pumping device is mobile, and in particular drivable, and may be a truck-mounted building materials pump and / or concentrated material pump.

[0009] Building material pumping devices and / or concentrated substance pumping devices may be designed to transport building materials and / or concentrated substances.

[0010] Building materials may mean mortar, cement, screed, concrete, and / or gypsum. Additionally or alternatively, concentrated materials may mean mud.

[0011] It may be possible to achieve at least the same tip position of the boom tip by having at least three, and especially at least ten, different boom positions.

[0012] Multiple, in particular at least three, and especially at least ten, tip positions of the boom tip may be achieved by multiple different boom positions of the distributor boom, in particular at multiple different time points, in each case.

[0013] The boom tip can be the free end of the distributor boom.

[0014] The variables determining the tip position may be, in particular, the desired variables and / or variables determining the desired tip position of the boom tip. Additionally or alternatively, the variables may be the motion of the boom tip, in particular the direction of the desired motion, in particular the desired direction, and / or the speed, in particular the desired speed. Further additional or alternatively, the variables may be, in particular, travel commands or orders to achieve the tip position. Further additional or alternatively, the variables may be predefined by the operator or user, in particular of the distributor boom, and / or the building materials pumping device and / or the concentrated material pumping device. Further additional or alternatively, the method may include a step of determining, in particular, the definition of the variables by the operator, in particular, a step of detection.

[0015] Optimization criteria, particularly further optimization criteria, may include the distance maintained by the distributor boom from at least one obstacle, such as the remainder of the building materials pumping device and / or the concentrated material pumping device, and / or from another distributor boom.

[0016] The inclination moment of the distributor boom may be relative to the boom legs, or at the boom legs, particularly at the four-point bearings. Additionally or alternatively, the inclination moment may be generated by the boom position.

[0017] In one advanced form of the present invention, the distributor boom comprises or has a plurality of adjustable boom joints, in particular flexible adjustable boom joints. The boom position can be changed by a variable combination or configuration of joint positions of the plurality of boom joints. The same tip position, in particular at least the same tip position, can be achieved by a plurality of different joint position combinations of the plurality of boom joints. In particular, the plurality of boom joints have a plurality of different adjustment ranges, in particular a plurality of different values ​​of the plurality of different adjustment ranges. The process includes determining, in particular automatically determining, and setting, in particular automatically setting, a joint position combination, in particular a value of the joint position combination, in particular a value of the plurality of boom joints, in particular a value of the joint position combination Additionally or alternatively, at least one of the multiple adjustment ranges may have an angular range, and in particular may be an angular range. Further additional or alternatively, at least one of the multiple adjustment ranges may be defined, in particular by a boundary, of at least one anti-rotation device, in particular a mechanical anti-rotation device, of at least one of the multiple boom joints. Further additional or alternatively, building material pumping devices and / or concentrated material pumping devices, in particular distributor booms, may have multiple joint drive devices for adjusting multiple boom joints or for changing or setting joint position combinations. Further additional or alternatively, one of the multiple boom joints may be at the non-free or fixed end of the distributor boom, or at the boom leg.

[0018] In one embodiment of the present invention, the distributor boom is retractable and / or foldable in a Z-shape by a plurality of boom joints, and is particularly retractable in a Z-shape.

[0019] In one advanced form of the present invention, the distributor boom comprises or has a plurality of adjustable boom segments or boom sections, in particular a plurality of boom segments or boom sections that are adjustable to each other and / or flexibly adjustable. The boom position is variable by a variable adjustment combination or configuration of the plurality of boom segments, in particular a variable adjustment combination or configuration of the plurality of boom segments relative to each other. The same tip position, in particular at least the same tip position, can be achieved by a plurality of different adjustment combinations, in particular a plurality of different adjustment combinations of the plurality of boom segments relative to each other. In particular, the plurality of boom segments have different masses, in particular different values ​​of mass, and / or different lengths, in particular different values ​​of length, and / or different center of gravity positions or centers of gravity, in particular values ​​of center of gravity positions. The process includes determining, in particular automatically determining, and setting, in particular automatically setting, an adjustment combination, in particular at least one value of the adjustment combination, in particular taking into account the mass and / or length and / or center of gravity positions, in particular taking into account the mass and / or length and / or center of gravity positions, in particular taking into account the mass and / or length and / or center of gravity positions, depending on predefined variables and based on optimization criteria, in particular at least on optimization criteria. The tilt moment depends on the adjustment combination. In particular, multiple boom segments may be adjustable by multiple boom joints. Additionally or alternatively, building material pumping equipment and / or concentrated material pumping equipment, especially distributor booms, may have multiple segment drive units for adjusting multiple boom segments or for changing or setting adjustment combinations.

[0020] In particular, the process may include: determining, in particular searching for, multiple boom positions, in particular all of the above multiple boom positions, that can achieve the tip position, depending on a variable that determines the tip position; determining, in particular all and / or related multiple inclination moments, based on the determined multiple boom positions; determining, in particular searching for, the most minimized or smallest inclination moment, based on the determined multiple inclination moments; determining the related boom position, based on the determined most minimized inclination moment; and setting the determined related boom position. In other words, determining and setting the boom position with the overall minimized or smallest inclination moment. In particular, this is independent of the actual boom position, in particular the actual boom position of the distributor boom.

[0021] In one advanced form of the present invention, the process includes determining, in particular automatically determining, and / or retrieving, and / or calculating, and setting, in particular automatically setting, starting from the actual inclination moment of the distributor boom with respect to the support system, in particular the temporary or current actual inclination moment, in particular directly and without detours, in particular based on minimizing the inclination moment, in particular based on the maximum minimization, in particular, starting from the actual boom position of the distributor boom, in particular the temporary or current actual boom position, in particular directly and without detours. The actual inclination moment depends on the actual boom position. In other words, the boom position is determined and set to be locally minimized or the smallest, in particular the closest, locally minimized or smallest inclination moment. This allows for local, and / or, in particular thus, simple, and / or rapid minimization of the inclination moment, in particular, while achieving and / or maintaining the tip position, in particular a desired tip position. In particular, the minimized, and especially the thus minimized, inclination moment does not have to be the overall minimized or minimum inclination moment, or may not be the overall minimized or minimum inclination moment. Additionally or alternatively, the expression “particularly the decrease or descent of the maximum gradient” can be used synonymously with the expression “particularly the maximum minimization.” Further additionally or alternatively, the method may be called a gradient-based method. Further additionally or alternatively, the method may include a step of determining, in particular, the actual boom position.

[0022] In one advanced form of the present invention, particularly in one embodiment, the process includes controlling, particularly automatically controlling and / or adjusting the boom position for achieving and / or maintaining, particularly a desired tip position, starting from and / or determining and setting a change to, and / or minimizing the actual tip position of the distributor boom, particularly a temporary or current actual tip position, if any, and insofar as the actual tilt moment is minimized. This enables achieving and / or maintaining the tip position, particularly while minimizing the tilt moment. In particular, the method may include the step of determining, particularly detecting, the actual tip position.

[0023] In one embodiment of the present invention, the process includes determining and setting changes to the boom position by determining, in particular automatically determining, and / or retrieving, and / or calculating a solution, in particular a value, of the kinematic relationship between minimizing the actual tilt moment and achieving and / or maintaining the tip position, in particular at least between minimizing the actual tilt moment and achieving and / or maintaining the tip position. This enables the linking or combination of multiple requirements or multiple functions, in particular, for minimizing the tilt moment and achieving and / or maintaining the tip position. In particular, the kinematic relationship can be modeled in particular to represent minimizing the tilt moment and achieving and / or maintaining the tip position. Additionally or alternatively, achieving and / or maintaining the tip position may be prioritized before minimizing the tilt moment, in particular further minimization. In other words, the boom tip can achieve and / or maintain its tip position, and the tilt moment may not achieve a local minimum, especially the nearest local minimum, especially not fully, or it may not achieve a local minimum, especially the nearest local minimum, especially not fully. Furthermore, additionally or alternatively, the kinematic relationship may have to consider multiple adjustment ranges.

[0024] In one advanced form of the present invention, the support system is adjustable, in particular flexibly adjustable. This method includes, or has, a step of locking, in particular automatically, multiple boom positions, in particular multiple values ​​of multiple boom positions, and / or multiple inclination moments, in particular multiple values ​​of multiple inclination moments, depending on the value of a determined variable or determined parameter, in particular determined, which determines at least one variable support configuration or position, in particular at least one variable value of the support configuration, and / or the actual support configuration of the adjustable support system, in order to react to the inclination moment, in particular the actual inclination moment. This, in particular the adjustable support system, allows for adaptation to construction site conditions, in particular local construction site conditions, in particular small support surfaces. Additionally or alternatively, this, in particular the locking of multiple boom positions and / or multiple tilt moments, depends at least on determined variables that determine the variable support configuration, to minimize, mitigate, or reduce the risk of tilting or tipping over the building material pumping system and / or concentrated material pumping system, and / or, in particular thus, to enhance safety when working with or operating the building material pumping system and / or concentrated material pumping system, especially when adjusting the distributor boom. Further additionally or alternatively, this, in particular the minimization of tilt moments, enables the maximized usable working space, particularly the distributor boom. In other words, this allows the operator or user to operate the building material pumping system and / or concentrated material pumping system, particularly the distributor boom, within the maximum possible range with the minimum support width, even without having knowledge of the multiple relationships between tilt moments or load moments and boom positions. In particular, the support system may have multiple adjustable support outriggers, particularly multiple support legs, particularly within the support width and / or flexibly. Additionally or alternatively, the method may include the step of determining, in particular, detecting, a support configuration, especially an actual support configuration.

[0025] In one advanced form of the present invention, the distributor boom comprises, or has, a conveyor line for transporting building materials and / or concentrated substances, in particular a flexibly adjustable conveyor line. In particular the conveyor line may, and may be, pipes.

[0026] The system according to the present invention comprises or has a setting device. The setting device is designed or configured to set, in particular automatically, the variable boom position of the building materials pumping device and / or concentrated material pumping device, in particular the adjustable distributor boom of the building materials pumping device and / or concentrated material pumping device, in particular the variable boom position of the adjustable distributor boom. The boom tip of the distributor boom, in particular at least one identical tip position of the boom tip, in particular the same tip position, can be achieved by a plurality of different boom positions, in particular a plurality of different boom positions. Furthermore, the setting device is designed or configured to determine and set, in particular determine and set, the boom position, in particular the boom position, depending on a predefined variable that determines the tip position, in particular the predefined variable, and based on an optimization criterion, in particular the optimization criterion. The optimization criterion is the minimized tilt moment of the distributor boom with respect to the support system of the building materials pumping device and / or concentrated material pumping device, in particular the support system. The tilt moment depends on the boom position. This system can enable the same advantages as the methods described above or above. In particular, the system, especially the setting device, may be designed or configured to perform the above method, especially the above method, especially automatically. Additionally or alternatively, the system may have a distributor boom, especially a building material pumping device and / or a concentrated material pumping device. Further additionally or alternatively, the regulating device may be electric, hydraulic, and / or pneumatic. In particular, the setting device may have a computing device, especially a processor and / or a memory device.

[0027] Further advantages and aspects of the present invention will become apparent from the following description of the preferred exemplary embodiments of the present invention, which is set forth below with reference to the claims and the figures.

Brief Description of the Drawings

[0028] [Figure 1] A system and a method according to the present invention for automatically setting a variable boom position of an adjustable distributor boom of a construction material pump device and / or a thick substance pump device, particularly a schematic view of the relationship between the boom position of the distributor boom and the tilt moment. [Figure 2] Particularly, it is a schematic block diagram of the system and method of FIG. 1 for minimizing the tilt moment. [Figure 3] It is a diagram of a schematic example of the functions of the system and method of FIG. 1. [Figure 4] It is a diagram of a schematic example of the functions of the system and method of FIG. 1. [Figure 5] It is a diagram of a schematic example of the functions of the system and method of FIG. 1. [Figure 6] It is a diagram of a schematic example of the functions of the system and method of FIG. 1. [Figure 7] It is a diagram of a schematic example of the functions of the system and method of FIG. 1. [Figure 8] It is a diagram of a schematic example of the functions of the system and method of FIG. 1. [Figure 9] It is a diagram of a schematic example of the functions of the system and method of FIG. 1. [Figure 10] It is a diagram of a schematic example of the functions of the system and method of FIG. 1.

Modes for Carrying Out the Invention

[0029] Detailed Description of the Embodiment Figures 1, 2, and 3-10 illustrate a system 1 according to the present invention, particularly having a setting device 2, and a method according to the present invention designed to automatically set the variable boom position MS of an adjustable distributor boom 3 of a building materials pumping device and / or concentrated material pumping device 4. Multiple different boom positions MS, MS' make it possible to achieve at least one identical tip position SPO of the boom tip 3S of the distributor boom 3.

[0030] Furthermore, System 1, in particular Setting Device 2, is designed to determine and set the boom position MS based on a predefined variable VG that determines the tip position SPO, and on the optimization criterion OK.

[0031] This method further includes the step of determining and setting the boom position MS based on a predefined variable VG that confirms the tip position SPO, and on the optimization criterion OK, in particular by system 1, in particular setting device 2.

[0032] The optimization criterion OK is the minimized tilt moment KM of the distributor boom 3 relative to the support system 7 of the building material pumping device and / or concentrated substance pumping device 4, particularly the boom leg 3F of the distributor boom 3. The tilt moment KM depends on the boom position MS.

[0033] In the illustrated exemplary embodiment, System 1 includes a distributor boom 3, in particular a building materials pumping device and / or a concentrated material pumping device 4.

[0034] In detail, the distributor boom 3 has multiple adjustable boom joints 5a, 5b, 5c, 5d, and 5e. The boom position MS is variable by the variable joint position combination GSK of the multiple boom joints 5a to e. The same tip position SPO can be achieved by different multiple joint position combinations GSK and GSK'. In particular, the multiple boom joints 5a, 5b, 5c, 5d, and 5e have different adjustment ranges 5Va, 5Vb, 5Vc, 5Vd, and 5Ve. The process includes determining and setting the joint position combination GSK based on a predefined variable VG and an optimization criterion OK, while taking into account the adjustment range 5Va to e, by system 1, particularly setting device 2. The tilt moment KM depends on the joint position combination GSK.

[0035] In detail, the distributor boom 3 is retractable and / or foldable in a Z-shape by multiple boom joints 5a to e, and is particularly retractable in a Z-shape.

[0036] Furthermore, the distributor boom 3 has a plurality of boom segments 6a, 6b, 6c, 6d, 6e, in particular adjustable to each other. The boom position MS is variable by a variable adjustment combination VSK of the plurality of boom segments 6a~e, in particular adjustable to each other. The same tip position SPO is achievable by a plurality of different adjustment combinations VSK, VSK'. In particular, the plurality of boom segments 6a, 6b, 6c, 6d, 6e have different masses ma, mb, mc, md, me and / or different lengths La, Lb, Lc, Ld, Le and / or different center of gravity positions GPa, GPb, GPc, GPd, GPe. The process includes determining and setting the adjustment combination VSK, in particular by system 1, in particular setting device 2, depending on a predefined variable VG, in particular considering the masses ma~e and / or lengths La~e and / or center of gravity positions GPa~e, and based on optimization criteria OK. The inclination moment KM depends on the adjustment combination VSK.

[0037] In the illustrated exemplary embodiment, the distributor boom 3 has five adjustable boom joints 5a to e. In an alternative exemplary embodiment, the distributor boom may have at least three boom joints.

[0038] Furthermore, in the illustrated exemplary embodiment, the distributor boom 3 has five boom segments 6a to e. In an alternative exemplary embodiment, the distributor boom may have at least three boom segments.

[0039] To explain the background, boom joints and / or boom segments allow for the movement of the boom tip. Two boom joints and / or two boom segments allow for the free movement of the boom tip, in particular, with the height and radius being independent of each other, especially within certain limits. At least three boom joints and / or at least three boom segments allow for the free movement of the boom tip and the setting of the boom position with at least one degree of freedom. In other words, N boom joints and / or N boom segments (where N≧3) allow for the free movement of the boom tip and the setting of the boom position with N-2 degrees of freedom.

[0040] Furthermore, in the illustrated exemplary embodiment, the radius or distance r and / or direction or angle RI of the boom tip 3S of the distribution boom, in particular, with respect to the distributor boom 3, especially its boom leg 3F and / or support system 7, can be changed by a variable joint position combination GSK and / or a variable adjustment combination VSK.

[0041] The process further includes determining and setting a change VMS starting from the actual boom position IMS, based on the minimization, particularly the maximum minimization, of the actual tilt moment IKM of the distributor boom 3 relative to the support system 7, using system 1, particularly setting device 2. The actual tilt moment IKM depends on the actual boom position IMS.

[0042] TIFF0007844618000001.tif61164

[0043] Multiple lever arms of multiple boom segments 6a-e depend on the boom position MS, particularly the actual boom position IMS, for example, The file is TIFF0007844618000002.tif6889. φ represents the adjustment coordinates, specifically the angles, of multiple boom joints 5a~e.

[0044] Minimizing the tilt moment KM, especially minimizing the maximum tilt moment, especially minimizing the tilt moment starting from the actual tilt moment IKM, especially minimizing the maximum tilt moment, means, for example, deriving a function of the tilt moment KM after the change in boom position MS VMS, especially the adjustment coordinates or angles of the multiple boom joints 5a~e, especially a function starting from the actual boom position IMS, especially the adjustment coordinates or angles of the multiple boom joints. TIFF0007844618000003.tif1462 Here The file is TIFF0007844618000004.tif16103.

[0045] To minimize the tilt moment KM, and especially to minimize it simply or purely, it is possible to determine, and specifically identify, multiple velocities of multiple boom joints 5a~e, for example, by pseudo-inverse matrix or direct inverse kinematics: TIFF0007844618000005.tif1348

[0046] The process further includes, in particular, adjusting the boom position MS to achieve and / or maintain the tip position SPO, in particular a desired tip position SSPO, while determining and setting the change VMS, and / or while the actual tip position ISPO of the distributor boom 3 is determined and / or the change VMS is determined and / or while the actual tilt moment IKM is minimized, particularly by system 1, in particular setting device 2.

[0047] To explain the background, for example, the boom tip 3S is achieved and / or maintained, and especially fixed, via the regulator, particularly the setting device 2.

[0048] A deviation of the tip position SPO, particularly the actual tip position ISPO, from a desired tip position or desired value SSPO results in positional errors, such as the following: TIFF0007844618000006.tif755

[0049] To minimize positional errors, the movement of the boom tip 3S to the desired tip position SSPO can, or is intended to, be initiated by, for example, a simple proportional law. TIFF0007844618000007.tif747

[0050] Mapping multiple boom joints 5a to e to multiple speeds is possible, for example, through the following relationship. TIFF0007844618000008.tif1347

[0051] In addition, the process includes determining and setting the modified VMS by determining the solution LS of the kinematic relationship KIZ between minimizing the actual tilt moment IKM and achieving and / or maintaining the tip position SPO, in particular by system 1, in particular setting device 2, and controlling, in particular adjusting, the boom position MS.

[0052] To explain the background, the function or requirement mentioned last is, for example, a vector equation. TIFF0007844618000009.tif2649 can be used to minimize the tilt moment KM, in particular the minimization of this function or the required tilt moment, in particular the above function, the modification of the tilt moment, and in particular the above function, the motion of the boom tip, to form a coupled Jacobian matrix or to form a kinematic relation KIZ. For three boom segments, this kinematic relation KIZ or this equation can be solved precisely. In general, it may be advantageous to directly impose at least one additional requirement on multiple velocities of multiple boom joints 5a~e. To move this as efficiently as possible, for example, It can be used to create TIFF0007844618000010.tif838, or further, it can be used to consider at least one adjustment range, in particular all of multiple adjustment ranges 5Va~e. To integrate the efficiency of the method into consideration, for example, the following requirements can be used. TIFF0007844618000011.tif932

[0053] To consider at least one adjustment range, and in particular all of multiple adjustment ranges 5Va~e, a travel command or movement command to the adjustment range 5Va~e, especially the relevant adjustment range, can be requested, for example, depending on the joint position GS of one of the multiple boom joints 5a~e. For example, if the angle of the first boom joint 5a, especially the angle at the boom leg 3F, is close to the limit value, further, for example This results in TIFF0007844618000012.tif733, and in particular, it is possible to require D<0 near the upper limit and / or D>0 near the lower limit. The relationship between the multiple velocity vectors required for multiple boom joints 5a~e can be represented, for example, by the identity matrix. TIFF0007844618000013.tif1792

[0054] This additional requirement, condition, or function yields a kinematic relation KIZ, particularly a global relation, or a combined Jacobian matrix. TIFF0007844618000014.tif2959

[0055] This kinematic relation KIZ represents a system of over-determined equations that cannot generally be solved precisely. Instead, for example, the optimal solution LS of this system of equations can be determined at least-squares points. For this purpose, the sum of the squared errors of the above equations can be minimized. The cost function for this optimization is as follows: TIFF0007844618000015.tif32131

[0056] In order to allow for various prioritization of the individual components of a method or process (minimizing the tilt moment KM, achieving and / or maintaining the desired tip position SSPO, and realizing the required speeds of the multiple boom joints 5a-e), it may be considered to assign different weights to these components in the cost function K. The diagonal matrix W may, in particular, contain these weights.

[0057] Since this is a linear relationship, this can be done directly, for example, by a general least-squares solution. TIFF0007844618000016.tif34122

[0058] TIFF0007844618000017.tif76164

[0059] Furthermore, the support system 7 is adjustable. The method includes, in particular, the step of locking multiple boom positions MS" and / or multiple inclination moments KM" by system 1, in particular setting device 2, depending on a determined variable EG that determines at least one variable support configuration ASK of the adjustable support system 7 in order to exert a counteracting effect on the inclination moment KM.

[0060] Furthermore, the distributor boom 3 has a conveyor line 8 for transporting building materials and / or concentrated substances BDS, and is particularly supported.

[0061] Furthermore, the distributor boom 3 has end hoses, particularly freely suspended end hoses.

[0062] In particular, the end hose can be taken into consideration in the mass me and / or center of gravity position GPE of the boom segment 6e, especially the last boom segment.

[0063] As illustrated and described above in exemplary embodiments, the present invention provides advantageous methods and systems for automatically setting the variable boom position of an adjustable distributor boom of a building materials pumping device and / or concentrated material pumping device, each having particularly improved characteristics.

[0064] In other words, a method and / or system for automatically minimizing the tilt moment allows the operator or user to maximize the use of workspace when workspace is freed up based on the actual tilt moment. When the boundary of the freed workspace is reached, the distributor boom may be readjusted to minimize the actual tilt moment by simply pressing a button, thereby freeing up multiple other parts of the workspace. This allows the operator or user to operate the building material pumping system and / or concentrated material pumping system within the maximum possible range with the minimum support width, even without their own knowledge of the relationship between the tilt moment and the boom position.

Claims

1. A method for automatically setting the variable boom position (MS) of an adjustable distributor boom (3) of a building materials pumping device and / or concentrated substance pumping device (4), wherein at least one identical tip position (SPO) of the boom tip (3S) of the distributor boom (3) can be achieved by a plurality of different boom positions (MS, MS'), The aforementioned method, A method comprising the steps of determining and setting the boom position (MS) based on a predefined variable (VG) that determines the tip position (SPO), and on an optimization criterion (OK), wherein the optimization criterion (OK) is the minimized tilt moment (KM) of the distributor boom (3) relative to the support system (7) of the building material pumping device and / or concentrated material pumping device (4), and the tilt moment (KM) depends on the boom position (MS).

2. The distributor boom (3) has a plurality of adjustable boom joints (5a, 5b, 5c, 5d, 5e), and the boom position (MS) can be changed by a variable joint position combination (GSK) of the plurality of boom joints (5a to e), and the same tip position (SPO) can be achieved by a plurality of different joint position combinations (GSK, GSK'), The method according to claim 1, wherein the step includes determining and setting a joint position combination (GSK) depending on the predefined variable (VG) and based on the optimization criterion (OK), and the tilt moment (KM) depends on the joint position combination (GSK).

3. The plurality of boom joints (5a, 5b, 5c, 5d, 5e) have a plurality of different adjustment ranges (5Va, 5Vb, 5Vc, 5Vd, 5Ve), The method according to claim 2, wherein the step includes determining and setting a joint position combination (GSK) based on the predefined variable (VG) and the optimization criterion (OK), taking into consideration the plurality of adjustment ranges (5Va to e), and the tilt moment (KM) depends on the joint position combination (GSK).

4. The method according to claim 2, wherein the distributor boom (3) can be retracted and / or folded into a Z shape by the plurality of boom joints (5a to e).

5. The distributor boom (3) has a plurality of adjustable boom segments (6a, 6b, 6c, 6d, 6e), in particular a plurality of boom segments (6a, 6b, 6c, 6d, 6e) that are adjustable to each other, and the boom position (MS) is variable by a variable adjustment combination (VSK) of the plurality of boom segments (6a to e), is variable relative to each other, and the same tip position (SPO) can be achieved by a plurality of different adjustment combinations (VSK, VSK'). The method according to claim 1, wherein the step includes determining and setting an adjustment combination (VSK) depending on the predefined variable (VG) and based on the optimization criterion (OK), and the tilt moment (KM) depends on the adjustment combination (VSK).

6. The plurality of boom segments (6a, 6b, 6c, 6d, 6e) have different masses (ma, mb, mc, me) and / or different lengths (La, Lb, Lc, ld, Le) and / or different center of gravity positions (GPa, GPb, GPc, GPd, GPe), The method according to claim 5, wherein the step includes determining and setting an adjustment combination (VSK) based on the predefined variables (VG) and the optimization criteria (OK), taking into consideration the mass (ma to e) and / or the length (La to e) and / or the center of gravity position (GPa to e), the tilt moment (KM) depends on the adjustment combination (VSK).

7. The method according to claim 1, wherein the step includes determining and setting a change (VMS) starting from the actual boom position (IMS) based on minimizing the actual inclination moment (IKM) of the distributor boom (3) with respect to the support system (7), wherein the actual inclination moment (IKM) depends on the actual boom position (IMS).

8. The above process is, The method according to claim 7, comprising controlling the boom position (MS) in order to achieve and / or maintain the tip position (SPO).

9. The above step is, Starting from the actual tip position (ISPO) of the distributor boom (3), and / or while determining and setting the change (VMS), and / or while minimizing the actual inclination moment (IKM), The method according to claim 7, comprising adjusting the boom position (MS) in order to achieve and / or maintain the tip position (SPO).

10. The method according to claim 8, wherein the step includes determining, setting, and controlling the change in boom position (MS) by determining the solution (LS) of the kinematic relationship (KIZ) between the minimization of the actual tilt moment (IKM) and the achievement and / or maintenance of the tip position (SPO).

11. The support system (7) is adjustable, The method according to claim 1, comprising the step of locking the boom position (MS'') and / or tilt moment (KM'') depending on a determined variable (EG) that determines at least one variable support configuration (ASK) of the adjustable support system (7) in order to exert a reverse effect on the tilt moment (KM).

12. The method according to claim 1, wherein the distributor boom (3) has a conveyor line (8) for transporting building materials and / or concentrated materials (BDS).

13. System (1), wherein System (1) Equipped with a setting device (2), The setting device (2) is designed to automatically set the variable boom position (MS) of the adjustable distributor boom (3) of the building materials pumping device and / or concentrated substance pumping device (4), and at least one identical tip position (SPO) of the boom tip (3S) of the distributor boom (3) can be achieved by a plurality of different boom positions (MS, MS'), The setting device (2) is designed to determine and set the boom position (MS) depending on a predefined variable (VG) that determines the tip position (SPO) and based on an optimization criterion (OK), wherein the optimization criterion (OK) is the minimized tilt moment (KM) of the distributor boom (3) relative to the support system (7) of the building material pump device and / or concentrated material pump device (4), and the tilt moment (KM) depends on the boom position (MS).

14. The system according to claim 13, wherein the system (1) is designed to perform the method described in any one of claims 1 to 12.

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