Truck-mounted concrete pump

Abstract

The invention relates to a truck-mounted concrete pump having a chassis; two front and two rear supporting booms which can be supported on an underlying surface via extendable supporting legs, wherein each of the supporting booms is provided on the chassis and can be extended from a driving position into a support position, comprising a maximum support position, and into intermediate positions, and the supporting legs are designed to support the truck-mounted concrete pump on the underlying surface with a supporting force; a fold-out articulated mast; and a control device which is designed to determine the support positions of the supporting booms and to limit the working range of the articulated mast on the basis of the determined support positions of the supporting booms. On the basis of the determined support positions of the supporting booms and the limitation of the working range of the articulated mast, the control device determines the maximum supporting forces expected on each supporting leg during the working operation of the articulated mast.

Description

[0001] Truck-mounted concrete pump

[0002] The invention relates to a truck-mounted concrete pump with a chassis, two front and two rear outriggers which can be supported on a ground via extendable support legs, wherein the outriggers are each arranged on the chassis and can be extended from a driving position into a support position with a maximum support position and into intermediate positions, and wherein the support legs are designed to support the truck-mounted concrete pump on the ground with a supporting force, a fold-out articulated mast which has a turntable arranged on the chassis so as to be rotatable about a vertical axis and a chain of mast segments which are articulated to one another via articulated joints and which is linked to the turntable, a control device which is designed to determine the support positions of the outriggers and to limit a working range of the articulated mast depending on the determined support positions of the outriggers.

[0003] Truck-mounted concrete pumps are a well-known, state-of-the-art device for distributing liquid, fresh concrete on construction sites. The extended articulated boom of a truck-mounted concrete pump exerts a significant load moment on the substructure of the truck-mounted concrete pump or the truck chassis, so truck-mounted concrete pumps are typically supported on the ground by four outriggers mounted on extendable support booms. With the outriggers fully extended, the fully extended articulated boom can typically rotate 360° around its vertical axis. This allows the articulated boom to reach a circular area around the truck-mounted concrete pump without the risk of the pump tipping over. If the outriggers cannot be fully extended or folded down due to cramped construction site conditions, the working range of the articulated boom must be restricted to prevent the truck-mounted concrete pump from tipping over.

[0004] As a rule, the maximum support forces must be indicated, for example, by a label on the supports of a truck-mounted concrete pump. This allows the operator to determine whether the ground is suitable for setting up the truck-mounted concrete pump, or to prepare the support surface, for example, with base plates, squared timbers, or similar, to withstand the supporting forces. The supporting forces of the support legs of the truck-mounted concrete pump are usually specified in kN. A supporting force of 240 kN corresponds to a ground load of 24 t / m³. 2 With a contact area of ​​0.8 m 2 , which is achieved, for example, by two adjacent base plates of size 50 * 80 cm, a permissible ground pressure of 30 t / m 2required. By enlarging the support area, for example by using larger or additional base plates, the truck-mounted concrete pump can also be set up at a lower permissible ground pressure. With so-called partial outriggers, i.e. with the outriggers not fully extended and the correspondingly restricted working range of the placing boom, the outrigger forces, particularly on the only partially extended outriggers, can be much greater than the outrigger forces that occur when the truck-mounted concrete pump is fully outrigged, but smaller than the maximum outrigger forces indicated on the markings on the outriggers. This involves outrigger forces per outrigger, for example, in the order of 150 - 400 kN for a machine with a placing boom length of around 45 meters.The operator must therefore always carefully consider, if necessary in consultation with a site manager, whether the intended surface is suitable for the installation of the truck-mounted concrete pump during each installation process, because otherwise there is a risk of catastrophic damage to property and personal injury.

[0005] Against this background, the object of the invention is to provide a truck-mounted concrete pump that supports the operator in supporting the truck-mounted concrete pump, taking into account the maximum support forces that occur. This object is achieved by a truck-mounted concrete pump having the features of claim 1.

[0006] The truck-mounted concrete pump according to the invention is characterized in particular in that the control device is designed to determine the maximum support forces to be expected on the respective support legs during operation of the articulated boom from the determined support positions of the support booms and the associated limitation of the working range of the articulated boom. This means that the maximum support forces that will occur on the support legs during operation are known even before the truck-mounted concrete pump begins operation. The maximum support forces determined in advance for operation can be used, for example, to take suitable precautions for the operation of the truck-mounted concrete pump. The determination of the maximum support forces that occur can also be used, for example, to vary the maximum support forces that occur by selecting different support positions and to adapt them to the construction site conditions.

[0007] Advantageous embodiments and further developments of the invention emerge from the dependent claims. It should be noted that the features listed individually in the claims can also be combined with one another in any technologically expedient manner, thus revealing further embodiments of the invention.

[0008] Advantageously, the control device is designed to transmit the determined maximum support forces to a display device for display. The operator can thus very easily determine, for example, before starting work, whether the ground on which the truck-mounted concrete pump is to be parked is suitable for withstanding the maximum support forces that occur and can then decide whether a different support position or a different installation location for the truck-mounted concrete pump should be selected. The operator could also adapt the load-bearing capacity of the ground to the expected maximum support forces by using underfills, base plates, squared timbers or similar. According to an advantageous embodiment, the control device is designed to transmit the working range of the articulated boom, determined as a function of the support positions of the outriggers, to the display device for display.This has the particular advantage that the operator of the truck-mounted concrete pump, who must take the maximum support forces into account, can simultaneously determine by looking at the display unit whether the resulting working range of the articulated boom, taking the maximum support forces into account, is sufficient to reach all areas of the concreting field with the articulated boom. If it turns out that, taking the support forces into account, not all areas to be concreted can be reached with the articulated boom, the plan can be rescheduled early on without having to re-support the truck-mounted concrete pump, which is very time-consuming.

[0009] Preferably, position sensors detect the support position of the extended outriggers, and the control device is designed to determine the expected maximum support forces based on the currently detected support positions of the outriggers. This allows the operator, for example, to extend the outriggers as far as the construction site conditions allow before finally supporting the truck-mounted concrete pump. As a rule, a truck-mounted concrete pump is most secure when all outriggers are fully extended. The operator will therefore extend the outriggers as far as possible and can, for example, easily read the maximum support forces occurring on the display and assess whether the ground is suitable for these support forces.

[0010] According to an advantageous embodiment, the position sensors are designed to continuously detect the support position of the outriggers during the extension process, and the control device is designed to determine the expected support forces based on the currently detected support positions of the outriggers. For example, if it is known that the ground can support a maximum support force of 200 kN, an operator can detect, for example, during the extension process of the outriggers, when the maximum support forces for the individual support legs fall below the load-bearing capacity of the ground and thus, for example, set the minimum possible support width. This is advantageous, for example, in cramped construction site conditions where the truck-mounted concrete pump needs to be set up with the smallest possible support width.Advantageously, the support boom position can be entered and / or selected before the outriggers are extended, and the control device is configured to determine the expected maximum support forces based on the entered and / or selected support boom positions. This initially avoids the actual, relatively time-consuming extension of the outriggers, and an operator can determine very early on whether the load-bearing capacity of the ground is sufficient for different support configurations by selecting the support boom positions, for example, using an input device with a touch display.It may be necessary to take into account that the working range of the placing boom is different for different support configurations, so that the operator can simultaneously determine from the display of the respective working range whether the reach of the articulated boom is sufficient to place concrete in all necessary places.

[0011] Advantageously, the control device is designed to limit the working range of the articulated boom based on the determined support positions of the outriggers, so that the limit support forces occurring during operation are not exceeded. This allows, for example, an operator to extend the outriggers as far as possible and be confident that, due to the limitation of the working range of the articulated boom, the articulated boom will never reach a position where the limit support forces of the outriggers are not exceeded.

[0012] The limit support forces cannot be exceeded, for example, due to a previously known load-bearing capacity of the ground beneath the support legs, and the control device is designed to limit the working range of the articulated boom based on the determined support positions of the outriggers, so that limit support forces due to the load-bearing capacity of the ground are not exceeded. This measure, for example, allows the working range of a truck-mounted concrete pump, which under certain circumstances has support forces that could exceed the load-bearing capacity of the ground, to be used even on ground that actually has a load-bearing capacity that is too low for the truck-mounted concrete pump compared to the maximum support forces marked on the outriggers. According to an advantageous embodiment, the limit support forces, which are limited due to the previously known load-bearing capacity of the ground beneath the support legs, are adjustable.This means, for example, that an operator can easily enter the limit support forces on an input device.

[0013] According to an advantageous embodiment of the invention, the control device is designed to limit the working range of the articulated boom so that the maximum support forces occurring during operation are not exceeded due to the design characteristics of the truck-mounted concrete pump. The maximum possible support forces may be limited, for example, due to the design characteristics of the support legs and / or the outriggers.

[0014] Particularly with partial support, the support forces on some support legs can theoretically be very high without compromising the truck-mounted concrete pump's stability against tipping. Because these extreme values ​​only occur in very specific, potentially rare, setup configurations, truck-mounted concrete pumps are often not designed for these conditions, as they would make the structures excessively complex, heavy, or expensive. This measure makes it easy to always operate a truck-mounted concrete pump that is not designed for excessively high support forces safely by limiting the working range of the articulated boom.

[0015] Advantageously, the limit support forces are limited due to the design characteristics of the outriggers or support legs of the truck-mounted concrete pump.

[0016] In a further advantageous embodiment, the control device determines the required support surface for each support leg based on the determined maximum support forces. This surface is to be created using supports, for example, in the form of base plates and / or squared timbers. This allows the operator to specifically provide the required number / area of ​​base plates, squared timbers, or similar, adapted for each support leg.

[0017] According to an advantageous embodiment of the invention, the control device is designed to limit the working range of the articulated boom by limiting the angle of rotation of the turntable and / or the articulation angle of at least one articulated joint of the articulated boom. This makes it very easy to restrict the working range of the articulated boom in order to avoid exceeding the supporting forces, which may be limited due to various factors, as exemplified above.

[0018] Further features, details, and advantages of the invention will become apparent from the following description and from the drawings, which show exemplary embodiments of the invention. Corresponding objects or elements are provided with the same reference numerals in all figures. They show:

[0019] Figure 1: truck-mounted concrete pump according to the invention,

[0020] Figure 2: schematic representation of an inventive

[0021] Truck-mounted concrete pump in full support,

[0022] Figure 3a: schematic representation of an inventive

[0023] Truck-mounted concrete pump in a first partial support,

[0024] Figure 3b: schematic representation of a truck-mounted concrete pump according to the invention in a first partial support, and

[0025] Figure 4: schematic representation of the control of an inventive

[0026] Truck-mounted concrete pump.

[0027] Figure 1 shows a truck-mounted concrete pump 10 according to the invention in the supported state. The truck-mounted concrete pump 10 has a chassis 12, two front and two rear support booms 14, 15, 16, 17 that can be supported on a ground via extendable support legs 18, 19, 20, 21. Each support boom is arranged on the chassis 12 and can be extended from a travel position to a support position with maximum support position and to intermediate positions. The support legs 18, 19, 20, 21 are designed to support the truck-mounted concrete pump 10 on the ground with a respective support force F1, F2, F3, F4 of the support legs 18, 19, 20, 21. Under the support legs 18, 19, 20, 21, supports 32 in the form of base plates and squared timbers are arranged, which distribute the supporting forces of the support legs 18, 19, 20, 21 to the ground by increasing the contact area.In addition, the truck-mounted concrete pump 10 has a foldable articulated mast 13 with a turntable 24 arranged to rotate about a vertical axis H and a chain articulated to the turntable 24 and comprising mast segments 13a-e connected to one another via articulated joints 25, 26, 27, 28, 29. The first mast segment 13a is pivotally connected to the turntable 24 via an articulated joint 25. The further mast segments 13b-e are connected to the respective preceding mast segment via articulated joints 26-29. The mast segments 13a-d can be pivoted relative to the turntable 24 and among themselves by means of hydraulic cylinders or other suitable pivot drives about the horizontal articulated joints 25-29. The turntable 24 is driven and mounted by the articulated mast 13 for rotation about the vertical axis H. A slewing sensor 43 detects the angle of rotation co around the vertical axis H of the articulated mast 13.The articulated mast 13 of the truck-mounted concrete pump 10 shown in Figure 1 is designed as a so-called standard fold. This means that the articulated mast 13, when folded, is arranged completely behind the driver's cab 11 and rests on the mast support 31 above the second mast segment 13b, as shown here as an example. The truck-mounted concrete pump 10 shown as an example in Figure 1 has five mast segments 13a-e. Truck-mounted concrete pumps with a larger or smaller number of mast segments are also known. The angles α, β, γ, δ, ε of the articulated joints 25, 26, 27, 28, 29 are detected, for example, with rotation angle sensors 38, 39, 40, 41, 42. As an alternative to angle of rotation sensors, inclination sensors for detecting the angles a, ß, y, ö, £ can also be arranged between the articulated joints 25, 26, 27, 28, 29 on the mast segments 13a-e.Other sensors, such as cable pull sensors, which determine the extension length of the hydraulic cylinders driving the articulated joints 25, 26, 27, 28, 29, which can be converted into the respective articulation angles a, ß, y, ö, £ based on the kinematics, are also conceivable.

[0028] Position sensors 34, 35, 36, 37 on the outriggers 14, 15, 16, 17 serve to detect the support positions of the outriggers 14, 15, 16, 17. In the case of telescopic straight or curved outriggers 14, 15, which are frequently used as front outriggers 14, 15, cable displacement sensors or a plurality of discrete sensors, for example inductive or capacitive sensors, can be used. For the rear outriggers 16, 17, which are frequently designed as so-called folding outriggers, position sensors 36, 37, designed as angle of rotation sensors, for example, on the joints of the folding outriggers 16, 17, can detect the unfolding angles, i.e., the support positions.

[0029] A concrete pump 23, usually a two-cylinder piston pump with two hydraulically driven differential cylinders and two delivery cylinders, which is arranged below the articulated boom 13, sucks the fresh concrete to be applied on a construction site from the feed hopper 22 and pumps the concrete through a delivery line (not shown) guided along the unfolded articulated boom 13, to the tip of the articulated boom 13 to the end hose 30 for concrete application.

[0030] The functions of the truck-mounted concrete pump 10 are controlled by a control device 60 (see Figure 4) or an input device 50. Furthermore, the operator has the option of operating the truck-mounted concrete pump 10 with a remote control 57, which, for example, has a display device 52b, which is connected to the control device 60 of the truck-mounted concrete pump 10 via a radio link or a cable.

[0031] As can be seen from Figure 2 and Figures 3a and 3b, the working range 72, 72a, 72b of the articulated boom 13 depends on the support positions of the four outriggers 14, 15, 16, 17. Figure 2 shows the truck-mounted concrete pump 10 with the working range 72 in a so-called full support position. This means that all four outriggers 14, 15, 16, 17 have each reached the maximum possible support position. Generally, in these support positions, the fully extended articulated boom 13 can be rotated in all directions using the turntable 24, which is represented by the full circle of the working range 72.

[0032] Figure 3a shows a first variant of partial support, in which the two outriggers 15, 17 arranged to the right in the direction of travel of the truck-mounted concrete pump 10 are only partially extended or not extended at all. This results in the working area 72a only forming a partial circle located to the left of the truck-mounted concrete pump 10. A rotation of the articulated boom 10 over the driver's cab 11 or to the right of the truck-mounted concrete pump 10 would cause the truck-mounted concrete pump 10 to tip over because the overall center of gravity of the truck-mounted concrete pump 10 would move beyond the boundaries of the tilting rectangle formed by the four support legs 18, 19, 20, 21. In Figure 3b, the two rear outriggers 16, 17 are not extended or only partially extended, and the two front outriggers 14, 15 are fully extended. In this case, this results in, for example, the three different, partially overlapping working areas 72b, 72c and 72d.The working area 72d, which can also be called the passage area because, under certain circumstances, the operation of the concrete pump 23 is not permitted in this working area 72d, primarily serves to raise and unfold the articulated mast 13 so that the articulated mast 13 can reach the working areas 72c and 72d for conveying operations. The working area 72c forms a full circle; however, the angle a of the joint 25 between the turntable 24 and the first mast segment 13a is restricted by the control device 60 (see Figure 4), so that the articulated mast 13 cannot be unfolded to its full length. In the working area 72b, the angle a of the joint 25 between the turntable 24 and the first mast segment 13a is not restricted by the control device 60 (see Figure 4), so that the articulated mast 13 can be unfolded to its full length.For this purpose, the angle of rotation oo of the turntable 24 is now limited so that the articulated mast 13 can only be moved forward over the driver's cab 11 of the truck-mounted concrete pump 10. In all three working areas 72b, 72c, and 72d, the truck-mounted concrete pump 10 is stable because the overall center of gravity of the truck-mounted concrete pump 10 always lies within the tilting rectangle formed by the support legs 18, 19, 20, 21.

[0033] In a conventional truck-mounted concrete pump 10, for example with an articulated boom length of 45 meters, the support forces F1, F2, F3, F4 acting on the ground by the support legs 18, 19, 20, 21 with full support with the working range 72, as shown in Figure 2, are, for example, 200 kN per support leg 18, 19, 20, 21. The support forces F1, F2 of the front support legs 18, 19 can differ slightly from the support forces F3, F4 of the rear support legs 20, 21 depending on the design of the truck-mounted concrete pump 10.Measurements and calculations have shown that, for example, in the case of partial outriggers with the working areas 72a, 72b, 72c, 72D, as shown in Figures 3a and 3b, the supporting forces F1, F2, F3, F4 during the working operation of the articulated boom 13 within the working areas 72a, 72b, 72c, 72d can be considerably higher, in particular when the right-hand outriggers 15, 17 in Figure 3a are not fully extended or when the rear outriggers 16, 17 in Figure 3b are not fully extended. This assumes that the outriggers 18, 19, 20, 21 were extended evenly during the outriggering process, so that the chassis of the truck-mounted concrete pump 10 is not stressed. The support forces F1, F2, F3, F4 can reach 240 kN for these partial supports, for example, which is not acceptable if the subsoil on the construction site is only suitable for a support force of 200 kN.

[0034] Figure 4 shows the control device 60, which detects as input signal the angle of rotation co of the turntable 24 and the articulation angles a, ß, y, ö, £ of the articulation joints 25, 26, 27, 28, 29 by means of the angle sensors 38, 39, 40, 41, 42, 43. Furthermore, the control device 60 detects the support positions of the four support booms 14, 15, 16, 17 by means of the position sensors 34, 35, 36, 37. Based on this input information, the control device 60 limits the working range 72, 72a, 72b, 72c, 72d of the articulated mast 13 depending on the determined support positions of the support booms 14, 15, 16, 17 by limiting the angle of rotation w of the turntable 24 and / or an articulation angle α, β, γ, δ, ε of at least one articulated joint 25, 26, 27, 28, 29 of the articulated mast 13.In addition, the control device 60 is designed to determine the maximum support forces F1 max, F2 max, F3 max, F4 max ZU expected at the respective support legs F1, F2, F3, F4 during operation of the articulated mast 13 from the determined support positions of the support booms 14, 15, 16, 17 and the limits of the working range 72, 72a, 72b of the articulated mast 13. To determine the expected maximum support forces F1 max, F2 max, F3 max, F4 max, the control device 60 uses, for example, the total weight and the position of the center of gravity of the truck-mounted concrete pump 10.To determine the maximum possible support forces F1 max, F2max, F3max, F4max during operation, the load moment of the articulated mast 13 acting on the turntable 24 is also taken into account, for example, which moves within the respective permissible working range 72, 72a, 72b, 72c, 72d, whereby, as explained above, the respective permissible working range 72, 72a, 72b, 72c, 72d depends on the support positions of the outriggers 14, 15, 16, 17.

[0035] The determined maximum support forces F1 max, F2 max, F3 max, F4 max occurring during operation of the truck-mounted concrete pump 10 are forwarded by the control device 60 to a display device 52a, b for display. The display device 52a of Figure 4 is, for example, a screen of an input / output device 50, which is additionally provided with input elements 54. Alternatively, the display device 52a could be, for example, a touchscreen with integrated input keys 54. The maximum expected support forces F1 max, F2 max, F3 max, F4 max can alternatively or additionally be sent by the control device 60 to the remote control 52 for display on the display device 52b.

[0036] The operator can read the maximum possible support forces F1 max, F2max, F3max, F4max on the display device 52a before the truck-mounted concrete pump 10 is finally supported and can decide based on this whether the maximum support forces F1 max, F2max, F3max, F4max can be borne by the ground, or whether it is necessary to provide additional support plates under the support feet or to select a completely different installation configuration.

[0037] Furthermore, the control device 60 can transmit the working range 72, 72a, 72b of the articulated mast 13, determined as a function of the support positions of the support booms 14, 15, 16, 17, to the display device 52a, 52b for display, as shown in Figure 4. The operator therefore sees not only the maximum support forces F1 max, F2 max, F3 max, F4 max possible during operation, but also the associated working range(s) 72b, 72c, 72d of the articulated mast 13 and can thereby determine whether, with the intended support positions of the support booms 14, 15, 16, 17, the working range(s) 72, 72a, 72b are sufficient for the articulated mast 13 to reach all the locations to be concreted.

[0038] The control device 60 determines, for example, with the aid of the position sensors 34, 35, 36, 37, the support position of the support booms 14, 15, 16, 17 and thus determines the maximum support forces F1 max, F2max, F3max, F4max to be expected during operation on the basis of the detected support positions of the support booms 14, 15, 16, 17.

[0039] The support positions of the outriggers 14, 15, 16, 17 can be continuously detected, for example, by means of the position sensors 34, 35, 36, 37 during the extension process of the outriggers 14, 15, 16, 17. The control device 60 continuously determines the maximum support forces F1 max, F2 max, F3 max, F4 max expected during operation based on the currently detected support positions of the outriggers 14, 15, 16, 17 and forwards these to the display device 52a, 52b for display. The operator can then assess, even during the extension process, whether the maximum expected support forces are, for example, above or below the load-bearing capacity of the ground.

[0040] The support positions of the support booms 14, 15, 16, 17 can, for example, be entered or selected by an operator on the input device 50 before the support booms 14, 15, 16, 17 are actually extended. The control device 60 can determine the expected maximum support forces F1 max, F2max, F3max, F4max on the basis of the entered and / or selected support positions of the support booms 14, 15, 16, 17, so that the operator can already see whether the ground is suitable for the maximum support forces F1 max, F2max, F3max, F4max, or whether, for example, other support configurations are possible in which the maximum expected support forces F1 max, F2max, F3max, F4max are lower or whether the load-bearing capacity of the ground must be increased by using base plates or other substructures under the support legs 18, 19, 20, 21.

[0041] If the operator enters the maximum permissible ground pressure for the planned installation position of the truck-mounted concrete pump 10 into the input device 50, the control device 60 can also determine the required support surface for each support leg 18, 19, 20, 21 based on the determined maximum support forces F1 max, F2 max, F3 max, F4 max, and display or represent it, for example, on the display device 52. With this information, the operator can provide precisely the number / area of ​​supports 32 under each support leg 18, 19, 20, 21 that corresponds to the respective expected maximum support force.The control device 60 can calculate the contact area or, for example, read it from tables and, in doing so, may take into account the available base plates and / or squared timbers and their dimensions and specify the construction of the supports to be carried out, whereby the largest contact area is to be provided for the support leg with the highest determined support force FXmax.

[0042] Because the expected maximum support forces F1 max, F2max, F3max, F4max also depend on the working range 72, 72a, 72b, 72c of the articulated mast 13, i.e., the horizontal or vertical position to which the articulated mast 13 is unfolded, the support forces F1 max, F2max, F3max, F4max can be determined not only on the basis of the desired or possible support positions of the outriggers 14, 15, 16, 17, but also taking into account a desired working range 72, 72a, 72b, 72c or an unfolded position of the articulated mast 13.If it is foreseeable that, for example, an articulated boom 13, which has a maximum horizontal unfolding length of 50 meters, only requires an unfolding length of 40 meters, the maximum support forces F1 max, F2max, F3max, F4max occurring during operation of the truck-mounted concrete pump 10 can, under certain circumstances, be significantly reduced, so that ultimately the ground is still suitable for the planned support position with a restricted working area.

[0043] It is also possible that limit support forces F1 limit, T, F2 limit, T, F3 limit, T, F4 limit, T must not be exceeded, which result, for example, from the load-bearing capacity of the ground beneath the support legs 18, 29, 20, 21. On the basis of the determined support positions of the support booms 14, 15, 16, 17, the control device 60 limits the working range of the articulated mast 13 such that the limit support forces F1 limit, T, F2 limit, T, F3 limit, T, F4 limit, T are not exceeded due to the load-bearing capacity of the ground. The limit support forces F1 limit, T, F2 limit, T, F3 limit, T, F4 limit, T can be set, for example, by an input on the input device 50.If differences in the load-bearing capacity of the ground under the individual support legs 18, 19, 20, 21 are known, for example if the left support legs 18, 19 are on an asphalt road and the two right support legs 19, 21 are on a grass area, which occurs relatively frequently when a truck-mounted concrete pump 10 is set up on the side of the road, the limit support forces F1 limit, T, F2 limit, T, F3 limit, T, F4 limit, T can be entered individually.

[0044] Under certain circumstances, limit support forces F 1 limit, K, F 2 limit, K, F 3 limit, K, F 4 limit, K occurring during operation must not be exceeded due to the design characteristics of the truck-mounted concrete pump 10, which result, for example, from the design characteristics of the outriggers 14, 15, 16, 17 or the support legs 18, 19, 20, 21 of the truck-mounted concrete pump 10. The control device 60 then limits the working range of the articulated boom 13 such that the limit support forces F 1 limit, K, F 2 limit, K, F 3 limit, K, F 4 limit, K occurring during operation are not exceeded due to the design characteristics of the truck-mounted concrete pump 10.In the exemplary embodiment presented here, it is initially assumed that an operator at the input / output device 50 is shown and reads the maximum support forces F1 max, F2max, F3max, F4max occurring during operation and, if necessary, makes entries via the input keys in accordance with the above explanations and takes appropriate measures.

[0045] In the example shown in Figure 4, for example, the supporting forces F1 max, F2 max for the two front support legs 18, 19 amount to 200 kN and for the two rear support legs 20, 21 amount to 280 kN. If the ground is only suitable for a maximum supporting force of 250 kN, appropriate measures would have to be taken to ensure stability during operation by enlarging the contact area of ​​the rear support legs 20, 21, further reducing the working area(s) 72a, 72b, 72c, or extending the rear folding supports 20, 21. The contact surfaces determined by the control device 60 as a function of the ground load capacity are therefore displayed on the display 52a in the form of base plates 32, which are slightly larger for the two rear support legs 20, 21 than those for the two front support legs 18, 19.

[0046] It is also conceivable for the supporting and working process of the truck-mounted concrete pump 10 to be fully and / or partially automated, for example, by the control device 60 of the truck-mounted concrete pump 10 communicating with the computer system of a building data and control system, known, for example, as a Building Information Model (BIM). Such a building data and control system can, for example, provide data on the maximum load-bearing capacity of the subsoil to the control device 60. On the other hand, the control device 60 of a partially or fully automatically operated truck-mounted concrete pump 10 can communicate the maximum supporting forces F1 max, F2 max, F3 max, F4 max to be expected during operation to the building data and control system.In fully automatic operation, in which the control device 60 of the truck-mounted concrete pump 10 exchanges all necessary data with the structure data and control system and automatically carries out the concreting process by controlling the articulated boom 13, the use of the input / output unit 50 or the remote control 57 might no longer be necessary for the implementation of the invention. The invention was illustrated here using the example of a truck-mounted concrete pump 10 with four extendable outriggers 14, 15, 16, 17. Truck-mounted concrete pumps 10, for example truck mixer pumps and small-scale truck-mounted concrete pumps, are also known in which, in particular, the two rear outriggers 20, 21 are permanently mounted on the chassis 12 or the substructure and cannot be extended via outriggers 16, 17. The two front outriggers 18, 19, on the other hand, can be extended or folded down via outriggers 14, 15.In such truck-mounted concrete pumps 10, the maximum support forces F1 max, F2max, F3max, F4max to be expected during the working operation of the articulated boom 13 on the respective support legs 18, 19, 20, 21 are also determined in accordance with the invention presented here.

[0047] List of reference symbols

[0048] 10 truck-mounted concrete pumps

[0049] 11 Driver's cab

[0050] 12 chassis

[0051] 13 articulated mast

[0052] 13a-e mast arm segments

[0053] 14 Outrigger front left

[0054] 15 Outrigger front right

[0055] 16 Outrigger rear left

[0056] 17 Outrigger rear right

[0057] 18 Support leg front left

[0058] 19 Support leg front right 20 Support leg rear left

[0059] 21 Support leg rear right

[0060] 22 feed hoppers

[0061] 23 Concrete pump

[0062] 24 turntables

[0063] 25 A-joint

[0064] 26 B-joint

[0065] 27 C-joint

[0066] 28 D-joint

[0067] 29 E-joint

[0068] 30 end hose

[0069] 31 Mast support

[0070] 32 documents

[0071] 34 Position sensor support boom front left

[0072] 35 Position sensor support boom front right

[0073] 36 Position sensor support boom rear left

[0074] 37 Position sensor support boom rear right

[0075] 38 Angle sensor A-joint (a)

[0076] 39 Angle sensor B-joint (ß)

[0077] 40 Rotation angle sensor C-joint (y)

[0078] 41 Angle sensor D-joint (ö)

[0079] 42 Angle sensor E-joint (E)

[0080] 43 Rotation angle sensor slewing gear (w)

[0081] 50 Input device 52a, b Display device

[0082] 51 a, b Menu fields

[0083] 54 input keys

[0084] 55 Screen 57 Remote control

[0085] 60 Control device

Claims

Patent claims 1 . Truck-mounted concrete pump (10) with: a chassis (12), two front and two rear support booms (14, 15, 16, 17) which can be supported on a ground via extendable support legs (18, 19, 20, 21), wherein the support booms (14, 15, 16, 17) are each arranged on the chassis (12) and can be extended from a travel position into a support position with a maximum support position and into intermediate positions, and wherein the support legs (18, 19, 20, 21) are designed to support the truck-mounted concrete pump (10) on the ground with a respective support force (F1, F2, F3, F4), a foldable articulated mast (13) which has a turntable (24) arranged on the chassis (12) so as to be rotatable about a vertical axis (H), and a chain of interconnected via articulated joints (25, 26, 27, 28, 29) articulated mast segments (13a-e), a control device (60) which is used to determine the support positions of the support booms (14, 15, 16,17) and for limiting a working area (72, 72a, 72b) of the articulated mast (13) depending on the determined support positions of the support booms (14, 15, 16, 17), characterized in that the control device (60) is further designed to determine the maximum support forces (F1 max, F2 max, F3 max, F4 max) to be expected on the respective support legs (18, 19, 20, 21) during the working operation of the articulated mast (13) from the determined support positions of the support booms (14, 15, 16, 17) and the limitation of the working area (72, 72a, 72b) of the articulated mast (13).

2. Truck-mounted concrete pump (10) according to claim 1, characterized in that the control device is designed to transmit the determined maximum supporting forces (F1 max, F2max, F3max, F4max) to a display device (52a, b) for display.

3. Truck-mounted concrete pump (10) according to claim 2, characterized in that the control device (60) is designed to transmit the working range (72, 72a, 72b) of the articulated boom (13) determined as a function of the support positions of the support booms (14, 15, 16, 17) to the display device (52a, 52b) for display.

4. Truck-mounted concrete pump (10) according to one of the preceding claims, characterized in that position sensors (34, 35, 36, 37) Detect support positions of the extended support booms (14, 15, 16, 17) and the control device (60) is designed to determine the maximum support forces (F1 max, F2max, F3max, F4max) to be expected during the working operation of the articulated mast (13) on the basis of the detected support positions of the support booms (14, 15, 16, 17).

5. Truck-mounted concrete pump (10) according to claim 4, characterized in that the control device (60) is designed to continuously detect the support positions of the support booms (14, 15, 16, 17) by means of the position sensors (34, 35, 36, 37) during the extension process of the support booms (14, 15, 16, 17) and is further designed to determine the maximum support forces (F1 max, F2max, F3max, F4max) to be expected during operation on the basis of the currently detected support positions of the support booms (14, 15, 16, 17).

6. Truck-mounted concrete pump (10) according to one of claims 1 to 3, characterized in that the support positions of the support booms (14, 15, 16, 17) can be entered or selected and the control device (60) is designed to determine the expected maximum support forces (F1 max, F2max, F3max, F4max) on the basis of the entered and / or selected support positions of the support booms (14, 15, 16, 17).

7. Truck-mounted concrete pump (10) according to one of the preceding claims, characterized in that the control device (60) is designed to limit the working range of the articulated boom (13) on the basis of the determined support positions of the support booms (14, 15, 16, 17), so that limit support forces (F1 limit, F2 limit, F3 limit, F4 limit) occurring during operation are not exceeded.

8. Truck-mounted concrete pump (10) according to claim 7, characterized in that the Control device (60) is designed to control the working area of the Articulated mast to be limited so that limit support forces (F1 limit, T, F2 limit, T, F3 limit, T, F4 limit, T) are not exceeded due to the load-bearing capacity of the ground under the support legs (18, 19, 20, 21).

9. Truck-mounted concrete pump according to claim 8, characterized in that the supporting forces (F1 limit, T, F2 limit, T, F4 limit, T) limited due to the previously known load-bearing capacity of the ground under the supporting legs (18, 19, 20, 21) are adjustable.

10. Truck-mounted concrete pump (10) according to one of claims 7 to 9, characterized in that the control device (60) is designed to limit the working range of the articulated boom (13) such that limit support forces (F1 limit, K, F2 limit, K, F3 limit, K, F4 limit, K) occurring during working operation are not exceeded due to the structural properties of the truck-mounted concrete pump (10). 11 . Truck-mounted concrete pump (10) according to claim 10, characterized in that the limit support forces (F1 limit, K, F2 gr enz,K, F3grenz,K, F4 grenz,K ) are limited due to the structural properties of the support booms (14, 15, 16, 17) or the support legs (18, 19, 20, 21 ) of the truck-mounted concrete pump (10).

12. Truck-mounted concrete pump (10) according to one of the preceding claims, characterized in that the control device (60) determines the required contact area for each support leg (18, 19, 20, 21), which is to be produced by using supports (32), on the basis of the determined maximum support forces (F1 max, F2max, F3max, F4max) for each support leg 18, 19, 20, 21.

13. Truck-mounted concrete pump (10) according to one of the preceding claims, characterized in that the control device (60) is designed to limit the working range (72, 72a, 72b) of the articulated boom (13) by limiting the angle of rotation (w) of the turntable (24) and / or a bending angle (α, β, y, δ, ε) of at least one articulated joint (25, 26, 27, 28, 29) of the articulated boom (13).

Images