WO2023117359A1

WO2023117359A1 - Sealant delivery system

Info

Publication number: WO2023117359A1
Application number: PCT/EP2022/084044
Authority: WO
Inventors: Ansgar MÜLLER; Dennis ODUKWE
Original assignee: Putzmeister Engineering Gmbh
Priority date: 2021-12-23
Filing date: 2022-12-01
Publication date: 2023-06-29
Also published as: CN118451237A; KR20240122781A; DE102021134513A1; EP4413220A1

Abstract

The invention relates to a sealant delivery system (10) comprising a sealant distributor boom (18) for distributing a sealant to be delivered by means of a sealant pump, said sealant distributor boom having a boom assembly (40) which comprises at least two boom arms (41); a delivery line (17) which extends across the boom assembly (40) and comprises a proximal end that can be connected to an outlet of a sealant pump and a distal end, said distal end of the delivery line (17) transitioning into an end hose (45) at the distal end of the boom assembly (40); a receiving unit (11) for receiving at least one first, at least one second, and at least one third piece of operating information; a processing unit (12) for calculating a current load torque on the basis of the received at least one first piece of operating information, for calculating a theoretical load torque on the basis of the received at least one second piece of information and the received at least one third piece of information, and for determining a differential value by which the calculated current load torque is greater than the calculated theoretical load torque; and a control unit (13) for outputting a first control signal if the determined differential value lies above a first threshold and/or for outputting a second control signal if the determined differential value lies above a second threshold, said second threshold preferably being greater than the first threshold.

Description

Dicks fabric conveyor system

The present invention relates, inter alia, to a sludge handling system, and more particularly to a sludge handling system having a slush dispenser boom, a delivery line, a receiving unit, a processing unit, and a control unit.

Generic thick matter conveying systems are known from the prior art. The conditions under which a sludge conveyor system may be operated within the scope of its design from a safety point of view are specified and unchangeable. The problem here is that the operation of such a high-consistency conveying system is fundamentally possible, contrary to the specifications. In this case, however, it is the sole responsibility of the user to determine the operating parameters with which the high-consistency conveying system is operated, if necessary while disregarding safety-related aspects. For example, when conveying a particularly heavy thick matter or when using a particularly heavy thick matter, only a limited working area can be provided for the thick matter distribution boom of the thick matter conveying system. However , if the user is not aware of these specifications during the operation of the sludge conveyor system , this can lead to incorrect operation . In this case, damage to the thick matter conveyor system and surrounding objects can occur and, last but not least, there is a considerable safety risk for the user and people in the vicinity due to the risk of tipping over during malfunction of the thick matter conveyor system.

In addition, the operating options of a thick matter conveying system of the generic type are limited to operation within the scope of its design. One or more operating parameters can usually only be adjusted by changing them of the basic design parameters possible. This in turn presupposes a complex re-evaluation of the safety-related aspects for operation of the sludge conveyor system with changed operating parameters.

It is therefore an object of the present invention, against the background of the problems mentioned above, to provide an improved high-viscosity delivery system and an improved method for operating a high-viscosity delivery system.

The solution according to the invention lies in the features of the independent claims. Advantageous developments are the subject matter of the dependent claims.

According to the invention, a thick matter conveyor system is disclosed, with a thick matter distribution boom for distributing a thick matter to be conveyed by means of a thick matter pump, which has a boom arrangement comprising at least two or three boom arms, a delivery line extending over the boom arrangement, which has a Output of a thick matter pump connectable proximal end and a distal end, wherein the distal end of the delivery line merges into an end hose at a distal end of the mast assembly, a receiving unit for receiving at least one first, at least one second and at least one third item of operating information, a processing unit for Calculating an instantaneous load moment, depending on the at least one received first piece of operating information, for calculating a theoretical load moment depending on the at least one received second and the at least one received third piece of operating information, and for determining a difference value by which the calculated instantaneous load moment is greater as the calculated theoretical load moment, and a control unit for outputting a first control signal if the determined difference value is above a first threshold value, and/or for outputting a second control signal if the determined difference value is above a second threshold value, the second threshold value preferably being greater than the first threshold value.

The high-consistency conveying system according to the invention is part of a truck-mounted concrete pump, for example.

The invention is a particularly advantageous embodiment of a high-viscosity conveying system with a dynamic and situation-dependent determination of a theoretically permissible load moment and its comparison with the load moment actually present at the moment for its high-viscosity distribution boom. By considering two threshold values when comparing the instantaneous and theoretical load moment, the Dickstof conveying system offers the possibility of a timely and adequate reaction, for example with a graded intensity, if an approximation of the two load moments is detected. In this way, an imminent overload of the structural components can be detected and prevented at an early stage. In this way, an impending risk of tipping can be recognized at an early stage and an appropriate response taken to ensure the stability of the thick matter conveyor system during operation, i.e. during conveyance. In addition, sensors that are usually available can be used. An increased effort due to the provision of a complex additional sensor system can thus be avoided.

The invention allows the early detection of improper or. non-intended use of a sludge conveyor system such as esp. a concrete pump , which could lead to structural failure or even overturning of the concrete pump , such as e.g. a. by lifting loads, by conveying thick matter with too high a density, by an overly long end hose, etc. Necessary parameter adjustments can be determined automatically become, such as B. an increase in the concrete density and/or end peak load parameters, combined with a limitation of the working range. This enables seamless working .

A few terms are explained below:

Thick stock is a generic term for media that are difficult to convey. The thick substance can be, for example, a substance with coarse-grained components, a substance with aggressive components or the like. The thick material can also be a bulk material. In one embodiment, the thick material is fresh concrete. Fresh concrete can contain grains up to a size of more than 30 mm, sets, forms deposits in dead spaces and is difficult to convey for these reasons. Exemplary thick materials are concrete with a density of 800 kg/m ³ to 2300 kg/m ³ or heavy concrete with a density of more than 2300 kg/m ³ .

The mast arrangement comprises at least two mast arms, but can also comprise three, four or five mast arms. Typically, the mast assembly includes three to seven mast arms. A mast arm can be connected at its proximal end to a slewing gear of the thick matter conveyor system and at its distal end to the proximal end of an adjacent mast arm. The one or more other mast arms are lined up next to each other and are each connected at their proximal end to a distal end of the adjacent mast arm. The distal end of the mast arm last in line, which also has no further connection at its distal end, defines a possible load attachment point.

The mast arms are each connected to one another via a mast joint in such a way that they are at least, for example exclusively, at least independent of the others in one dimension Mast arms are movable. The mast joint at its proximal end is assigned to each mast arm.

The connection of one mast arm to the slewing gear can be designed in such a way that when the slewing gear is rotated about an axis, this mast arm or all mast arms are also rotated about this axis. For example, the mast arm is attached to the slewing gear in such a way that it can be moved, for example exclusively, in the vertical direction independently of the slewing gear and can be rotated, for example, via its mast joint. It is also conceivable that a mast arm has a telescopic function and can be lengthened or shortened telescopically and steplessly along its longitudinal axis. A mast arm can be adjusted, for example, in such a way that at least the distal end of the mast arm can be moved in at least one of the three spatial directions (x, y and z direction).

Alternatively or additionally, a mast arm can be rotatable about its longitudinal axis. For example, a mast arm comprises 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, including different types, with which it can change its position relative to at least one other mast arm, in particular the one on the proximal one end connected mast arm, can alter . The actuators can be set up, for example, to pivot the mast arm rotationally about a horizontal axis that runs, for example, through its mast arm joint, and/or to move it translationally in one, in two, or in all spatial directions.

Alternatively or additionally, the mast arm can have further actuators, by means of which it can be lengthened or shortened or rotated, for example telescopically. The conveying line can be fastened to the mast arms. For example, the conveying line is connected to a mast arm at least at the distal end of the mast arrangement, for example at the load attachment point. The transition of the delivery line into an end hose at a distal end of the mast arrangement should be understood to mean that the delivery line goes beyond the mast arrangement and has an area with the end hose that is not attached to the mast arrangement. Accordingly, the end hose can hang freely at the distal end of the mast assembly. The end hose and conveying line can be designed separately or in one piece and in such a way that the thick matter to be conveyed is conveyed from the conveying line into the end hose with as little loss as possible. In addition, the end hose may include an end hose pinch valve to control the flow of sludge.

The receiving unit is set up to receive at least one first, at least one second and at least one third item of operating information. A piece of operational information is indicative of a property of a large number of possible properties of the thick matter conveying system or its components. This means that it is representative of the respective property and that conclusions can be drawn about this property from the operating information. Such a property, for example an operating parameter, can be characterized, for example, by a measured variable. It can be a question of properties that come to light before or only after the start of extraction. For example, operating information can be provided by measuring a measured variable that is characteristic of this operating information, for example by detecting a sensor unit of the high-viscosity conveyor system. Likewise, the operating information received by the receiving unit can be the result of an upstream calculation, in which, for example, one or more measured variables have been included. Such a thing is conceivable The upstream calculation is carried out directly on site in an appropriately equipped unit of the thick material conveyor system, but it can also be carried out externally, for example on a server device, and the operating information calculated in this way can then be received by the receiving unit and, for example, at a communication interface of the thick material conveyor system be recorded .

The processing unit should be understood as being set up to calculate an instantaneous load moment, to calculate a theoretical load moment and to determine a difference value by which the calculated instantaneous load moment is greater than the calculated theoretical load moment. This should be done at least partially depending on, in particular all, first, second and third operating information received. The load moments mentioned should in each case be load moments of the sludge distributor boom of the sludge conveyor system. For this purpose, the processing unit can, for example, have access to the information received from the receiving unit and calculate the instantaneous load moment, the theoretical load moment, taking into account specified properties of components of the thick matter conveyor system that are assumed to be constant, such as their individual mass or their spatial extent. In addition, other properties such as the stability of the thick matter conveyor system, the influence of wind surfaces of the components, and specified safety or limit values can also be taken into account.

The control unit includes appropriate means to output control signals, such as a wired or wireless signal output. By outputting control signals in the manner described, the control unit can control at least one component of the high-consistency conveying system and act on an operating parameter of the component. The The second control signal can be output as an alternative or in addition to the output of the first control signal. For example, the first control signal causes a warning signal to be output and/or the second control signal causes the proper operation, in particular any operation, of the high-viscosity transport system to be set. Accordingly, it is conceivable that the outputting of the first control signal also causes proper operation to be continued.

An optional output of further control signals can, for example, cause one or more components of the high-viscosity conveyor system to be operated at a speed that is reduced compared to normal operation, or the working range of one or more components of the high-viscosity conveyor system to be limited to a currently permissible working range. Limiting the working range of a component of the high-viscosity conveying system is to be understood as meaning that an operating parameter of the respective component is limited and the component is operated in accordance with the limited operating parameter. In this way, the respective operating parameter can be restricted to an extent of action or an intensity of action of the component that is still permissible, depending on the determined differential value. In particular, the operation of the component outside the permissible working area is prevented. In this case, the scope of action or the intensity of action after the limitation is smaller than the maximum scope of action and the maximum intensity of action generally provided for the component in principle, for example in proper operation. For example, the control unit can determine a currently permissible upper limit for the working area of the thick matter distributor boom and the operation of the thick matter conveyor system can be effected in such a way that the thick matter distributor boom is only deflected below the determined upper limit. Accordingly, it can then be prevented, for example, that the opening angle or the actuator force of a boom arm of the thick matter distributor boom exceeds a correspondingly determined limit. For this purpose, the respective actuator can, for example, receive a suitable control signal that is output by the control unit. For example, the control unit can thus limit the deflection of a mast arm by an actuator. In addition, the limitation of the working range of the high-density matter distribution boom should also be understood as an additional or alternative limitation of the rotational angle range of a slewing gear of the high-density matter delivery system.

The differential value by which the calculated instantaneous load torque is greater than the calculated theoretical load torque can be negative or positive. Positive differential values are within a differential value range. In the case of negative difference values and also within the difference value range, the stability of the thick matter conveyor system and the structural integrity of the components of the thick matter conveyor system are given. The upper limit of the difference value range is defined by a maximum permissible difference value. Above this upper limit, the calculated instantaneous load moment is so much greater than the calculated theoretical load moment that there is a risk of loss of stability or damage to the components of the sludge conveyor system. A first and a second threshold value are also defined in the difference area, which can be predetermined, for example. For example, the second threshold may be closer to the maximum allowable difference value than the first threshold. Accordingly, as the difference value increases, first the first threshold value is exceeded, then the second threshold value, and then the upper limit. Provision can also be made for the values of the second threshold value and the upper limit to coincide in one value. According to one embodiment, the receiving unit is also set up to receive updated third piece of operating information if the determined differential value is above the first or above the second threshold value, and the processing unit is set up to calculate an updated theoretical load torque Depending on the second and the updated third received operating information, the difference value to be determined corresponds to an updated difference value by which the calculated instantaneous load torque is greater than the calculated updated theoretical load torque.

The updated third item of operating information is third item of operating information received at a second point in time. In this case, the second point in time when the updated third item of operating information is received should be after a first point in time when the third item of operating information was received. The updated third item of operating information is then more current than the third item of operating information. The updated third piece of operating information is also included in the calculation of an updated theoretical load moment. In addition, an updated differential value is determined, taking into account the updated theoretical load moment. The differential value to be determined is replaced by the updated differential value determined in this way, which the control unit then accesses.

The updated third piece of operating information can be received, for example, by being detected by a sensor unit. However, it is also conceivable that such operating information is received by detecting a corresponding user input at a suitable user interface or by detecting the operating information at a communication interface. Combinations are also possible: receiving the third item of operating information can are detected by the sensor unit, while the updated third user information is done by detecting a user input at the user interface.

In this way it is possible to react to changing operating information, for example changing operating information during the operation of the high-consistency conveying system. For example, changes in the length of the end hose or fluctuations in the density of the thick matter to be conveyed can be taken into account.

The first piece of operational information is preferably indicative of a cylinder force of a mast joint of a mast arm. However, the first operating information can also be indicative of the respective cylinder forces of mast joints of several, in particular all, mast arms of a mast arrangement.

The cylinder force of a mast arm is the force acting on its mast joint. This represents a force that depends, among other things, on the total weight of the mast assembly, on wind loads, on the weight of the thick matter to be conveyed or on the weight acting on the distal end of the first mast arm of the mast assembly, corresponding to a mast tip load. The cylinder force can be characterized, for example, by measuring the force acting in an actuator of the respective boom arm. The cylinder force can be converted into a joint torque and a joint angle of the mast joint of the respective mast arm by means of a transfer function.

Alternatively or additionally, the second item of operating information is indicative of an angle of inclination of a mast arm. This can be an absolute angle of the mast arm in relation to the earth's gravitational field. Alternatively, the angles of the mast arms relative to one another can also be determined and added up be, which proves to be more complex and less accurate. However, the second piece of operating information can also be indicative of the respective angle of inclination of several, in particular all, mast arms of a mast arrangement.

For example, an opening angle can be determined by comparing the angles of inclination of neighboring mast arms. In this way, the processing unit can carry out a particularly precise determination of the theoretical load moment in real time, taking into account the respective angles of inclination of the mast arms. All boom arm angles are preferably determined from a measuring point for the first item of operating information. If the measuring point is at a last mast arm joint, only the inclination of the last mast arm is required. If measurements are taken at a lower joint to increase accuracy, all other (external) mast arm angles are determined.

In a further embodiment, the third piece of operational information is indicative of a density of the thick matter to be conveyed, a load of the end hose, a type of end hose, a length of the end hose or a load weight at a load attachment point.

The type of thick substance should be understood to mean, for example, the material composition or the viscosity of the thick substance to be conveyed. In particular, it is conceivable that the receiving unit is set up to receive operating information that is characteristic of the type of end hose by reading out a corresponding RFID tag on the end hose. If, for example, the thick matter distributor boom has only one load attachment point, at which the delivery line also merges into the end hose, the load of the end hose corresponds to the load weight at the load attachment point. Other parameters that do not change can be included in the calculation, such as the center of gravity of the mast arms and their weight and length.

According to one exemplary embodiment, the receiving unit comprises a sensor unit for acquiring operational information, a communication interface for acquiring operational information, or a user interface for acquiring operational information.

By using a sensor unit, the receiving unit can acquire operating information automatically and independently of user input. The sensor unit can include one or more sensors of the same or different type. Exemplary sensors are force and pressure sensors (e.g. for detecting a cylinder force of a mast joint of a mast arm, a force acting on an actuator of a mast arm or the load of the end hose), position sensors (e.g. sensors of a satellite-based positioning system such as GPS, GLONASS or Galileo), position sensors ( e.g. spirit levels or inclination sensors for detecting an angle of inclination of a boom arm), electrical sensors (e.g. induction sensors), optical sensors (e.g. laser sensors or 2D scanners) or acoustic sensors (e.g. ultrasonic sensors) , for example for detecting the density of the thick matter to be conveyed. Equally, an item of operating information can also be acquired through the interaction of a plurality of sensors in the sensor unit.

Alternatively or additionally, the respective receiving unit can also include one or more (eg wireless) communication interfaces, through which (eg externally) detected operating information is received by the receiving unit in a way known to those skilled in the art. If a user interface is provided for capturing operating information, this can, for example, be at least one button, a keypad, a keyboard, a mouse, a display unit (e.g. a display), a microphone, a touch-sensitive display unit (e.g. a touchscreen), a camera and/or a touch-sensitive surface (e.g. a touchpad). For example, the operational information is received by detecting a user input at the user interface.

In particular, the control unit can also be set up to output a third control signal if the specific differential value is above the second threshold value.

In particular, the output of the third control signal can cause the provision of report information that is representative of an adjustment to the proper or even any operation of the thick matter conveyor system. The information provided in this way can then, for example, be presented to a user by means of a suitable user interface or sent to a suitable user terminal via a communication interface of the thick matter conveyor system.

In one embodiment, the mast arrangement includes a further mast arm. The total number of mast arms of the mast arrangement then amounts to three. It is also conceivable that two to four further mast arms are provided in the mast arrangement, the mast arrangement then comprising four, five or six mast arms.

With additional boom arms, the maximum range of action of the thick matter distributor boom and thus of the thick matter conveyor system can be increased in a simple manner. Especially at the implementation of articulated joints for connecting the individual mast arms to each other, the design of the mast arrangement can still be particularly compact.

In an embodiment, the thick matter conveying system comprises a thick matter pump for conveying the thick matter, in particular through a conveying line of the thick matter conveying system, and a substructure on which the thick matter distributor boom and the thick matter pump are arranged.

The sludge pump can include a core pump with two, for example exactly two, delivery cylinders. It is then alternately switched from the first to the second delivery cylinder and from the second to the first delivery cylinder. An S-tube can be switched cyclically between the delivery cylinders. Furthermore, an additional cylinder can be set up in such a way that it bridges each of the transitions. The S-pipe is a movable pipe section with which the delivery cylinders are alternately connected to the outlet of the sludge pump. The pipe section and the additional cylinder can be elements of a structural unit that is detachably connected to the sludge pump. This can facilitate maintenance and cleaning of the sludge pump.

The substructure is a basic framework, for example a chassis, on which a thick matter distribution boom and/or a thick matter pump can be arranged. For example, the sludge distributor boom and/or sludge pump are attached to the substructure. The substructure can be stationary, e.g. as a platform, or mobile, e.g. as a vehicle. The substructure can include a supporting structure for support, for example with at least one support leg that can be moved horizontally and vertically. If a sludge distributor boom and a sludge pump are arranged on such a substructure, the entire sludge conveyor system can be used supported and its stability improved during operation.

According to the invention, a method is also disclosed for operating a high-viscosity conveying system, with a high-viscosity distribution boom for distributing a high-viscosity to be conveyed by means of a high-viscosity pump, which has a boom arrangement comprising at least two boom arms, a delivery line extending over the boom arrangement, which a proximal end that can be connected to an outlet of a sludge pump and a distal end, the distal end of the conveying line merging into an end hose at a distal end of the mast assembly, and a receiving unit, a processing unit and a control unit, the method comprising the following steps comprises: receiving, by the receiving unit, at least one first, one second and one third piece of operating information; Calculating, by the processing unit, an instantaneous load moment depending on the at least one received first item of operating information; Calculating, by the processing unit 10, a theoretical load moment depending on the at least one received second and the at least one received third piece of operating information; Determination, by the processing unit, of a differential value by which the calculated instantaneous load torque is greater than the calculated theoretical load torque; outputting, by the control unit, a first control signal if the determined differential value is above a first threshold value; and/or outputting, by the control unit, a second control signal if the determined differential value is above a second threshold value, the second threshold value preferably being greater than the first threshold value.

In one embodiment, the method further includes the

Steps : Received, by the receiving unit, an updated based third piece of operating information if the determined differential value is above the first or the second threshold value; and calculating, by the processing unit, an updated theoretical load moment depending on the second and the updated third received operating information, the difference value corresponding to an updated difference value by which the calculated instantaneous load moment is greater than the calculated updated theoretical load moment.

For a more detailed explanation of further advantageous developments of the method, reference is made to the developments of the high-viscosity conveying system described above.

The invention also includes a computer program with program instructions to cause a processor to execute and/or control the method according to the invention when the computer program is executed on the processor. The computer program according to the invention is stored, for example, on a computer-readable data carrier.

The embodiments and configurations described above are to be understood only as examples and are not intended to limit the present invention in any way.

The invention is explained in more detail below by way of example with reference to the attached drawings using advantageous embodiments.

FIG. 1 shows a schematic representation of an exemplary embodiment of a thick matter conveying system according to the invention

FIG. 2 shows a further schematic illustration of an exemplary embodiment of a high-viscosity conveyor system according to the invention FIG. 3 shows a schematic flow diagram of an exemplary embodiment of a method according to the invention.

FIGS. 1 and 2 each show a schematic representation of an exemplary high-consistency conveying system 10 . The thick matter conveying system 10 comprises a thick matter distribution boom 18 for distributing a thick matter to be conveyed by means of a thick matter pump, which has a boom arrangement 40 , and a conveying line 17 .

The mast arrangement 40 comprises a first mast arm 41 , a second mast arm 42 and a first further mast arm 43 and a second further mast arm 44 . 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 to the distal end of the mast assembly 40 .

In addition, an optional slewing gear 19 of the thick matter conveying system 10 is shown in dashed lines, which is intended to be rotatable about a vertical axis, ie about an axis in the plane of the drawing.

The first mast arm 41 is connected to the slewing gear 19 via a mast arm joint at the proximal end of the first mast arm 41 . The connection via the mast arm joint is designed as a fastening by means of an articulated joint. The first further 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 also designed as an articulated joint. Correspondingly, the second further mast arm 44 follows, which is connected in the same way to the first further mast arm 43 via an articulated joint. The second mast arm 42 is connected at its proximal end to the distal end of the second further mast arm 44 via an articulated joint. Furthermore, a substructure 30 is shown in dashed lines, on which the thick matter distribution boom 18 is arranged. The substructure 30 is arranged, for example, on a vehicle 33 indicated by dotted lines.

The delivery line 17 (not shown in full for reasons of clarity) has a proximal end which is connected to a sludge pump (not shown) and extends from the substructure 30 along the slewing gear 19 and from the proximal end of the mast assembly 40 up to the distal end. There the conveying line 17 merges into an end hose 45 . The location of the transition specifies a load attachment point 46 at which the mast arrangement 40 can also have an eyelet, for example.

In addition, a receiving unit 11 , a processing unit 12 and a control unit 13 are provided, for example, on the thick matter distributor boom 18 . However, the units can also be arranged individually or in various combinations in one or more other components of the thick matter conveying system 10 and, for example, integrated into a substructure 30 .

The receiving unit 11 is designed to receive at least one first, at least one second and at least one third item of operating information. For this purpose, it comprises a sensor unit with several sensors, each arranged in the mast joints of the mast arms 41, 42, 43, 44, for detecting a cylinder force of the mast joint of the respective mast arm as first operating information and an inclination angle of the respective mast arm as second operating information. Consequently, the first operating information is indicative of the respective cylinder forces of mast joints of all mast arms 41, 42, 43, 44 of the mast assembly 40 and the second operating information is indicative of the respective angles of inclination of all mast arms 41, 42 , 43 , 44 of the mast assembly 40 . In addition, the sensor unit also includes a force sensor 48 which is set up to record third operating information which is indicative of a load weight at the load attachment point 46 and to measure the weight of the end hose 45 for this purpose.

Depending on the first operating information received, that is to say on the detected cylinder forces of the mast joint of the respective mast arm, the processing unit 12 calculates an instantaneous load moment of the thick matter distributor mast 18 . In addition, the processing unit 12 calculates a theoretical load moment , depending on both the received first operating information and the received third operating information, i.e. the respective recorded inclination angles of the mast arms 41 , 42 , 43 , 44 and the recorded load weight at the load attachment point 46 . In addition, the processing unit 12 determines a difference value as that value by which the calculated instantaneous load torque is greater than the calculated theoretical load torque.

The differential value determined in this way lies in a differential value range within which a first and a second threshold value are specified. If the processing unit 12 determines a differential value that is above the first threshold value, then the control unit 13 outputs a first control signal. If the determined differential value is above the second threshold value, the control unit 13 alternatively or additionally outputs a second control signal. For example, the first control signal in the embodiment described can cause an acoustic warning signal to be emitted by a siren arranged on the first mast arm 41 . The second

Control signal, on the other hand, causes a complete setting of the

Operation of the sludge handling system 10 . A warning signal can as described acoustically, but also optically, such as e.g. a blinking signal or an output on a user display.

Provision can optionally be made for the receiving unit 11 to be able to receive updated third piece of operating information if the difference value determined is above the first or above the second threshold value. In the present example, the sensor unit can then be designed to record such updated operating information. In the embodiment shown, the force sensor 48 again measures the weight of the end hose 45 and thus acquires updated operating information that is indicative of the load weight at the load attachment point 46 . This updated operating information then corresponds to the updated third operating in format! on .

FIG. 2 shows another exemplary thick matter conveying system 10, which includes a substructure 30 on which a thick matter distribution boom 18 and a thick matter pump 16 are arranged. The thick matter distribution boom 18 corresponds to that of FIG. The substructure 30 is again shown by way of example as being arranged on a vehicle 33 . The delivery line 17 is also shown.

FIG. 3 shows a flow chart of an exemplary embodiment of a method 100 for operating a high-viscosity transport system 10 .

In a method step 111, the receiving unit 11 receives at least one first item of operating information. Analogously to this, the receiving unit 11 receives at least one second and at least one third item of operating information in method steps 112 and 113 . Steps 111, 112 and 113 can be carried out successively or also at least partially in parallel. is exemplary the first operating information is indicative of a cylinder force of a mast joint of a mast arm 41, 42, 43, 44, the second operating information is indicative of an inclination angle of a mast arm 41, 42, 43, 44 and the third operating information is indicative of a load weight at a load attachment point 46 .

Depending on the first piece of operating information received in step 111 , the processing unit 12 calculates an instantaneous load torque in method step 121 . In method step 122 a theoretical load moment is calculated by the processing unit 12 depending on the second and third operating information received in steps 112 and 113 .

Based on the load moments calculated in steps 121 and 122, in method step 131 the processing unit 12 determines a differential value by which the calculated instantaneous load moment is greater than the calculated theoretical load moment.

Subsequently, in step 141 a first control signal is output by the control unit 13 if the differential value determined in step 131 is above a first threshold value. If the differential value determined in step 131 is above a second threshold value, then in step 142 , as an alternative or in addition to step 141 , a second control signal is output by the control unit 13 . For example, the first control signal causes an acoustic warning signal to be emitted by a siren arranged on the first mast arm 41 . The second control signal, on the other hand, causes the operation of the thick matter conveying system 10 to stop completely. Method steps 114 and 123 can optionally follow step 142 . In step 114, the receiving unit 11 receives updated third piece of operational information. In the present example, the sensor unit of the receiving unit 11 can be designed to record such updated operating information that is indicative of the load weight at the load attachment point 46 and to carry out a repeated measurement of the weight of the end hose 45 using the force sensor 48 . This updated operating information then corresponds to the updated third operating information, on the basis of which an updated theoretical load torque is calculated in step 123 .

The differential value subsequently determined in step 131 then corresponds to an updated differential value by which the instantaneous load torque calculated in step 121 is greater than the updated theoretical load torque calculated in step 123 . Steps 141 and 142 can then be performed at step 131 as described above.

The embodiments of the present invention described in this specification and the optional features and properties listed in each case in this regard should also be understood in all disclosed combinations with one another. In particular, the description of a feature included in an embodiment - unless explicitly stated to the contrary - should not be understood in the present case in such a way that the feature is essential or essential for the function of the embodiment.

Claims

24

Claims Thick matter conveyor system (10), with

- a thick matter distribution boom (18) for distributing a thick matter to be conveyed by means of a thick matter pump, which has a boom arrangement (40) comprising at least two boom arms (41),

- A delivery line (17) extending over the mast arrangement (40) and comprising a proximal end that can be connected to an outlet of a sludge pump and a distal end, the distal end of the delivery line (17) being connected to a distal end of the mast arrangement (40) in passes over an end hose (45),

- A receiving unit (11) for receiving at least one first operating information, at least one second operating information and at least one third operating in format! on,

- a processing unit (12) for calculating an instantaneous load torque as a function of the at least one received first piece of operating information, for calculating a theoretical load torque as a function of the at least one received second piece of operating information and the at least one received third piece of operating information and for determining a difference value by which the calculated instantaneous load torque is greater than the calculated theoretical load torque, and

- a control unit (13) for outputting a first control signal if the determined difference value is above a first threshold value, and/or for Outputting a second control signal if the determined difference value is above a second threshold value, the second threshold value preferably being greater than the first threshold value. The thick matter conveying system (10) according to claim 1, wherein the receiving unit (11) is further arranged to receive updated third operational information if the determined difference value is above the first or above the second threshold value, and wherein the processing unit (12) to do so is set up to calculate an updated theoretical load moment, depending on the second and the updated third received operating information, wherein the difference value to be determined corresponds to an updated difference value by which the calculated instantaneous load moment is greater than the calculated updated theoretical load moment. Thick matter conveyor system (10) according to one of the preceding claims, wherein the first operating information is indicative of a cylinder force of a mast joint of a mast arm (41), in particular for respective cylinder forces of mast joints of all mast arms (41, 42, 43, 44) of the mast arrangement (40) . Thick matter conveyor system (10) according to one of the preceding claims, wherein the second operating information is indicative of an angle of inclination of a mast arm (41), in particular for the respective angle of inclination of all mast arms (41, 42, 43, 44) of the mast arrangement (40). High density material conveying system (10) according to one of the preceding claims, wherein the third piece of operational information is indicative of one of the following properties: a density of the thick matter to be conveyed,

- a load of the end hose (45),

- one type of end hose (45) ,

- A length of the end hose (45), and

- A load weight on a load attachment point (46). The slum handling system (10) of any preceding claim wherein the first control signal causes a warning signal to be issued and/or the second control signal causes the slab boom (18) to cease proper operation. The slum conveying system (10) according to any one of the preceding claims, wherein the receiving unit (11) further comprises:

- a sensor unit for acquiring operational information,

- a communication interface for acquiring operational information, or

- A user interface for acquiring operational information. Thick matter conveying system (10) according to one of the preceding claims, wherein the control unit (13) is further set up to output a third control signal if the determined difference value is above the second threshold value. 27 thick matter conveyor system (10) according to any one of the preceding claims, wherein the mast arrangement (40) comprises a further mast arm (43, 44), preferably two further mast arms. The slum conveying system (10) according to any one of the preceding claims, further comprising

- A thick matter pump (16) for conveying a thick matter, and

- A base (30) on which the sludge distributor mast (18) and the sludge pump (16) are arranged. The sludge handling system (10) of claim 10, wherein the base (30) is mounted on a vehicle (33). A method (100) for operating a thick stock conveying system

(10), with a thick matter distribution boom (18) for distributing a thick matter to be conveyed by means of a thick matter pump, which has a boom arrangement (40) comprising at least two boom arms (41), a delivery line (17) extending over the boom arrangement (40), the a proximal end that can be connected to an outlet of a sludge pump and a distal end, the distal end of the delivery line (17) merging into an end hose (45) at a distal end of the mast assembly (40), and a receiving unit (11), a Processing unit (12) and a control unit (13), the method comprising the following steps:

Receiving (111, 112, 113), by the receiving unit (11), at least one first, one second and one third item of operating information; 28

- Calculating (121), by the processing unit (12), a current load moment, depending on the at least one received first operating information;

- Calculating (122), by the processing unit (12), a theoretical load torque depending on the at least one received second and the at least one received third operating information;

- Determining (131), by the processing unit (12), a differential value by which the calculated instantaneous load torque is greater than the calculated theoretical load torque;

- Outputting (141), by the control unit (13), a first control signal if the determined difference value is above a first threshold value; and or

- Outputting (142), by the control unit (13), a second control signal if the determined difference value is above a second threshold value, wherein the second threshold value is preferably greater than the first threshold value. The method (100) of claim 12, the method further comprising the steps of:

Receiving (114), by the receiving unit (11), updated third operating information if the determined difference value is above the first or above the second threshold value; and

Calculate (123), by the processing unit (12), an updated theoretical load torque dependent 29 from the second and the updated third operating information received, the difference value corresponding to an updated difference value by which the calculated instantaneous load moment is greater than the calculated updated theoretical load moment.