CN200952235Y - Apparatus for suppressing concrete pump vehicle arm frame vibrating - Google Patents
Apparatus for suppressing concrete pump vehicle arm frame vibrating Download PDFInfo
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- CN200952235Y CN200952235Y CN 200620052393 CN200620052393U CN200952235Y CN 200952235 Y CN200952235 Y CN 200952235Y CN 200620052393 CN200620052393 CN 200620052393 CN 200620052393 U CN200620052393 U CN 200620052393U CN 200952235 Y CN200952235 Y CN 200952235Y
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- oil cylinder
- shakes
- arm support
- vibration
- controller
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
- E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
- E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
- B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
- B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
- E04G21/04—Devices for both conveying and distributing
- E04G21/0418—Devices for both conveying and distributing with distribution hose
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The utility model discloses a device for inhibiting vibration of concrete pump trunk arm frame. The device includes an arm frame oil cylinder, an arm frame oil cylinder controller, a vibration-inhibiting oil cylinder, a vibration-inhibiting oil cylinder controller, and a monitoring unit. The arm frame oil cylinder is connected with the vibration-inhibiting oil cylinder, the arm frame oil cylinder controller is connected with the arm frame oil cylinder, the vibration-inhibiting oil cylinder controller is connected with the vibration-inhibiting oil cylinder, and the monitoring unit for performing real-time monitoring on oil pressure information of the arm frame oil cylinder and/or vibration-inhibiting oil cylinder is connected with the vibration-inhibiting oil cylinder controller. The utility model has advantages of simple structure and easy operation, can effectively inhibit arm frame vibration, and can be used for inhibiting vibration of concrete pump trunk.
Description
Technical field
The utility model is mainly concerned with the constructional engineering machinery field, refers in particular to a kind of device that is used to suppress vibration of concrete pump vehicle cantilever crane.
Background technology
In the prior art, on the building operations building site, be extensive use of the main equipment that is equiped with more piece rotation jib, such as being installed in the concrete pump on the truck chassis or being installed in concrete placing boom on the cherry picker, it mainly acts on is that concrete is transported to the specified target location of construction work from the pump truck position.This equipment mainly comprises pump truck chassis, concrete pump, pipeline and jib, and jib is called " boom " again.Concrete alternately pushes concrete conveying pipe by the two feed oil cylinders that are installed on the pump truck chassis by bindiny mechanism, and this pipeline moves with more piece rotation jib together by certain fixed form, like this, and just can be with transmission and concrete transmission to desirable target location.Generally jib is made up of the 2-5 joint, referring to shown in Figure 1, be in and travel or the concrete mixer lateral view of deployed condition not, first jib 3, second jib 4, the 3rd jib 5, the 4th jib 6 and the 5th jib 7 contractile motion by arm support oil cylinder 2 draws in is in the same place.Each saves jib each other by rotating shaft 9 rotations, realizes opening and folder function, is subjected to the restriction of space and structure, and jib is limited within limits in the angle that relatively rotates at rotating shaft 9 places.Respectively to save jib and can rotate in order to make, need a driving arrangement, promptly arm support oil cylinder 2, and flexible by arm support oil cylinder 2 inner piston rods relies on connecting rod 8 just to drive adjacent following joint jib rotation.Turntable 1 is installed on the automobile chassis or on the cherry picker, during work, turntable 1 and on parts can in horizontal extent, rotate, concrete is by being attached to line transportation on the jib to flexible pipe 10 positions of jib end, and, arrive operator's appointed positions from flexible pipe 10 terminal outflows.Can rotate because respectively save between the jib, so the same can the rotation of concrete conveying pipe of installing on it at rotating shaft 9 places.When transmission and concrete transmission is discontinuous, jib end hose 10 places will produce very large resonance.Because this kind equipment adopts double-piston feed cylinder feeding cycle usually, has the feed pulsatile impact, cause jib to produce vibration, this vibration is very harmful, can cause inaccurate, the jib problems of crack in the terminal location of jib.When the feed frequency of Concrete Double piston feed cylinder during near 1/2 times of the current attitude of pumping vehicle arm rack or 1 times of intrinsic frequency, jib will produce strong resonance, particular case may reach the amplitude more than the 1000mm down, for fear of resonance, cause jib damage and operator's danger, has only the feed frequency that reduces pump truck, within the specific limits with the vibration limiting that keeps the jib end.
The utility model content
The technical problems to be solved in the utility model just is: at the technical problem that prior art exists, the utility model provides a kind of simple in structure, easy and simple to handle, device that is used for the concrete mixer vibration interference that can effectively suppress the jib vibration.
For solving the problems of the technologies described above, the solution that the utility model proposes is: a kind of device that is used to suppress vibration of concrete pump vehicle cantilever crane, it is characterized in that: but but it comprises arm support oil cylinder, arm support oil cylinder control module shake oil cylinder shake oil cylinder control module and monitoring means, but described arm support oil cylinder links to each other with the oil cylinder that shakes, the arm support oil cylinder control module links to each other with arm support oil cylinder, but but the oil cylinder control module that shakes links to each other with the oil cylinder that shakes, but but be used for monitoring arm support oil cylinder in real time and/or the oil cylinder that shakes in the monitoring means of oil liquid pressure information link to each other with the oil cylinder control module that shakes.
But described arm support oil cylinder is rigidly connected with the oil cylinder that shakes.
But but the arm support oil cylinder rodless cavity on the described arm support oil cylinder is affixed with the oil cylinder rodless cavity that shakes that shakes on the oil cylinder, but arm support oil cylinder rodless cavity and shake and be provided with demarcation strip between the oil cylinder rodless cavity.
But the piston rod and the arm support oil cylinder of the described oil cylinder that shakes are affixed.
But the piston rod of described arm support oil cylinder is affixed with the oil cylinder that shakes.
But the piston rod of the described oil cylinder that shakes and the piston rod of arm support oil cylinder are affixed.
But but but the described oil cylinder control module that shakes comprises the shake controller and the electromagnetic valve that shakes, but but but the controller that shakes links to each other with the oil cylinder that shakes by the electromagnetic valve that shakes, but the controller that shakes links to each other with monitoring means.
But but but the arm support oil cylinder rod chamber of described arm support oil cylinder links to each other with the oil cylinder rodless cavity that shakes with the cylinder rod chamber that shakes of the oil cylinder that shakes respectively by pipeline with the arm support oil cylinder rodless cavity.
But but but the described oil cylinder control module that shakes comprise the controller that shakes shake electromagnetic valve and control oil cylinder, but but shake controller by shake electromagnetic valve with control oil cylinder link to each other, but the controller that shakes links to each other with monitoring means; But but the control piston bar of described control oil cylinder links to each other with the piston rod that shakes in the oil cylinder that shakes.
But but but the described oil cylinder control module that shakes comprises the controller that shakes shake electromagnetic valve, hydraulic motor and moment mapping device, but but the controller that shakes links to each other with hydraulic motor by the electromagnetic valve that shakes, but the controller that shakes links to each other with monitoring means; But but described hydraulic motor links to each other with the piston rod that shakes of the oil cylinder that shakes by the moment mapping device.
But but the described oil cylinder control module that shakes comprises spring damping device, spring damping controller and the controller that shakes, but the described controller that shakes links to each other with monitoring means, but the controller that shakes links to each other with the spring damping device by the spring damping controller.
Described arm support oil cylinder is installed between per two joint jibs, but the oil cylinder that shakes is installed on the jib or on the car body, but the oil cylinder that shakes links to each other with arm support oil cylinder by pipeline.
Compared with prior art, advantage of the present utility model just is:
1, by enforcement of the present utility model, the vibration situation that can effectively suppress jib, particularly help improving the positioning accuracy of jib end hose, under desirable operating mode, the vibration amplitude of jib end can reduce by 80%, thereby improves jib fatigue strength, prolongs jib application life, reduce reaching use cost after sale, have extremely strong economic worth.Simultaneously, the utlity model has very strong versatility, can adapt to different jib and use, also can on the pump truck of having sold, change hardly, can install this system additional, but make it have the jib function of shaking.
2, but the utility model oil cylinder that will shake links to each other by oil circuit with arm support oil cylinder, can not change original structure and control system on existing pump truck, but only needs extra shake oil cylinder and the control module thereof of increasing to get final product, and has characteristics simple in structure, easy to implement.But the function of shaking and luffing function are controlled separately, by oil circuit two kinds of functions are combined with each other, but carry out shake function and luffing function by arm support oil cylinder.
3, but will shake oil cylinder and arm support oil cylinder of the utility model is rigidly connected, only needing that but the arm support oil cylinder of routine is replaced by the structure that shake oil cylinder and arm support oil cylinder combine gets final product, but the function of shaking and luffing function remain independent control, but two kinds of functions are not combined with each other, but but but the oil cylinder that shakes is carried out the function of shaking, arm support oil cylinder is carried out the luffing function, does not disturb mutually, has very strong versatility.But oil cylinder and inhibition control system break down and also can not influence the normal luffing function of jib even shake, and can not cause machine halt trouble, have high system reliability.
Description of drawings
Fig. 1 is the structural representation of concrete pump truck arm;
Fig. 2 is the schematic flow sheet that presses down method of slight embodiment 1 that the utility model adopts;
Fig. 3 adopts the first kind of vibration-repressing device structural representation that presses down method of slight among the embodiment 1;
Fig. 4 adopts the second kind of vibration-repressing device structural representation that presses down method of slight among the embodiment 1;
Fig. 5 adopts the third vibration-repressing device structural representation that presses down method of slight among the embodiment 1;
Fig. 6 adopts the 4th kind of vibration-repressing device structural representation that presses down method of slight among the embodiment 1;
Fig. 7 is the schematic flow sheet that presses down method of slight embodiment 2 that the utility model adopts;
Fig. 8 adopts the first kind of vibration-repressing device structural representation that presses down method of slight among the embodiment 2;
Fig. 9 adopts the second kind of vibration-repressing device structural representation that presses down method of slight among the embodiment 2;
Figure 10 adopts the third vibration-repressing device structural representation that presses down method of slight among the embodiment 2;
Figure 11 is the jib structure schematic diagram that the utility model is equiped with first kind of vibration-repressing device among the embodiment 2.
Marginal data
1. turntable 2. arm support oil cylinder 3. first jibs
4. second jib 5. the 3rd jib 6. the 4th jib
7. the 5th jib 8. connecting rods 9. rotating shafts
10. flexible pipe 11. charge oil pressure monitoring means 12. arm support oil cylinder rodless cavities
13. arm support oil cylinder piston 14. arm support oil cylinder rod chambers 15. arm support oil cylinder piston rods
16. 18. first pressure monitoring unit, the first displacement monitoring unit, 19. demarcation strips
But but 21. but the oil cylinder 22. that shakes shakes oil cylinder rodless cavity 23. oil cylinder piston that shakes
But 24. but the cylinder rod chamber 25. that shakes shakes oil cylinder piston bar 26. second displacement monitoring unit
28. the second pressure monitoring unit, 31. control oil cylinders, 32. control oil cylinder rodless cavities
33. control oil cylinder piston 34. control oil cylinder piston bars 35. control cylinder rod chambers
38. the 3rd pressure monitoring unit 41. luffing controllers, 42. luffing electromagnetic valves
But 43. but the electromagnetic valve 44. that shakes shakes controller 45. hydraulic pressure main oil pumps
46. hydraulic oil container 50. moment mapping devices 51. hydraulic motors
52. spring damping device 53. spring damping controllers 61. pump trucks are carried the cylinder commutating pulse
62. pump truck reversal valve commutating pulse 63. arm support position and luffing information 64. jib vibration safety monitoring systems
Oil cylinder control module 71. but arm support oil cylinder control module 72. shakes
The specific embodiment
Below with reference to the drawings and specific embodiments the utility model is described in further details.
According to general generation of vibration, propagation law, for a harmonic vibration, as long as it is identical to produce a frequency, amplitude equates that phase difference is 180 ° vibration, promptly a complete anti-phase motion makes the two mutual superposition, then can be with vibration isolation in desirable level.The utility model is according to this basic theories, start with from suppressing the jib tip vibration, by method theoretical and experiment, the vibration regularity of research jib end, the vibration of finding the jib end is the many ripple stacks that are similar to harmonic wave, according to the anti-phase inhibition method of aforesaid vibration, the vibration suppression scheme of taking the initiative, the phase place of active vibration is anti-phase in the vibration that discontinuous feed pulsatile impact causes with jib, amplitude is close, and the frequency unanimity is with the vibration stack of these two kinds of with same frequency and reversed-phase, can be with the vibration of jib, particularly the vibration isolation of jib end is in desirable level.Based on above theory, referring to Fig. 2 and shown in Figure 7, the method of slight that presses down that the utility model vibration-repressing device is adopted is: but arm support oil cylinder 2 is connected with the oil cylinder 21 that shakes, but by the pressure monitoring unit monitor arm support oil cylinder 2 in real time and/or the oil cylinder 21 that shakes in the pressure information of fluid, but send the oil liquid pressure signal that collects to the oil cylinder control module 72 that shakes, but the oil cylinder control module 72 of shaking is analyzed it, after the processing, but regulate the volume of rod chamber and rodless cavity in the oil cylinder 21 that shakes repeatedly, but make shake oil cylinder 21 and arm support oil cylinder 2 generation pulsating vibrations, the jib tip vibration amplitude that this pulsating vibration causes is less than or equal to the amplitude of the jib tip vibration that is caused by the discontinuous conveying of concrete, and phase place is opposite.Wherein, a kind of mode is but that arm support oil cylinder 2 is linked to each other by oil pipe with the oil cylinder 21 of shaking, but but the oil cylinder control module 72 that shakes is regulated the volume of rod chamber and rodless cavity in the oil cylinder 21 that shakes repeatedly, changes the volume of rod chamber and rodless cavity in the arm support oil cylinder 2 simultaneously, makes arm support oil cylinder 2 produce pulsating vibrations.But another kind of mode is to make arm support oil cylinder 2 and shake to be rigidly connected between the oil cylinder 21, when but but the oil cylinder control module 72 that shakes is regulated the volume of rod chamber and rodless cavity in the oil cylinder 21 that shakes repeatedly, but make the oil cylinder 21 that shakes produce pulsating vibration, drive arm support oil cylinder 2 simultaneously and produce pulsating vibration.In preferred embodiment, but the displacement information to piston rod in the arm support oil cylinder 2 and/or the oil cylinder 21 that shakes is monitored in real time, but send the displacement signal that collects to the oil cylinder control module 72 that shakes, after control module 72 is analyzed, is handled it, but, but regulate the volume of rod chamber and rodless cavity in the oil cylinder 21 that shakes repeatedly in conjunction with the pressure information of fluid in the arm support oil cylinder 2 and/or the oil cylinder 21 that shakes.In addition, can also be to one or more monitoring the in the arm support oil cylinder 2 of more piece jib, but then by oil cylinder 21 other arm support oil cylinder 2 of control of shaking, make it produce pulsating vibration.
Pressed down method of slight and above-mentioned vibration suppression thought in conjunction with the utility model adopts, carry out theory analysis, suppose that boom system is the many-body dynamics system of a flexibility, bear and have periodic pulsatile impact, no matter how the waveform of this pulsatile impact power changes, as long as guaranteeing it is periodically to repeat, then the vibration of jib end also is the periodicity emphasis multiplex vibration, and its vibration is to be formed by stacking by periodic harmonic function, the vibration displacement rule of jib end simply can be described as:
In the formula: S---the vibration total amplitude of jib end
A
i---the amplitude of i rank vibration
ω
i---the garden frequency of i rank vibration
T---the time
φ
i---the phase angle of i rank vibration
Since the vibration of jib end is periodic harmonic function stack, by above-mentioned vibration suppression thought, then consider to impel arm support oil cylinder 2 pulse displacements to cause that jib self makes vibrate in opposite phase, this vibration is with the vibration with same frequency and reversed-phase of jib end, and the vibration amplitude that causes at the jib end is identical, then can be with the jib vibration isolation in very desirable level, the jib tip vibration rule that arm support oil cylinder 2 adopts the active vibration displacement to cause can be described as:
In the formula: S '---the jib tip vibration total amplitude that the oil cylinder vibration causes
A
i---the amplitude of i rank oil cylinder vibration
ω
i---the garden frequency of i rank oil cylinder vibration
T---the time
φ
i---the phase angle of i rank oil cylinder vibration
π---the phase difference of oil cylinder vibration
When there is vibration in jib, add controlled arm support oil cylinder 2 active vibration, then jib vibrates mutual superposition, and the vibration amplitude that can describe jib end this moment from the angle of mathematics is:
Though the concrete pulsation can be carried the jib vibration that causes to suppress fully from the mathematics angle, but always a kind of limited hypothesis approximate calculation of theoretical model, so in theoretical calculation stages only with the vibration suppression of jib end in 2mm, and can not eliminate fully as mathematical method.Because the complexity of engineering problem, need not also the jib vibration of rahmonic function stack rule can not be eliminated fully, only consider that the first few items multinomial in the formula 3 gets final product, for proof theory method and computation's reliability, further research adopts the method for experiment to carry out, and experimental study shows, for certain the type concrete mixer under the particular case, the vibration of jib end can be controlled in the 50mm, has verified the validity of method.
In fact, although the vibration of jib end is very big, sometimes may reach the above amplitude of 1000mm, but the pulsation shift reciprocately that suppresses the required arm support oil cylinder 2 of its vibration is but very little, this is because boom system is the mechanism of a complexity, the small movements of arm support oil cylinder 2 can cause the bigger motion of jib end, certain amplification is arranged, the motion multiplication factor of the arm support oil cylinder 2 caused jib ends at diverse location place is also different, by the preferred position of determining arm support oil cylinder 2, can obtain highly desirable jib vibration suppressioning effect.
Embodiment 1: according to the above-mentioned method of slight that presses down, the utility model proposes a kind of device that is used to suppress vibration of concrete pump vehicle cantilever crane, it comprises arm support oil cylinder 2, arm support oil cylinder control module 71, but shake oil cylinder 21, but shake oil cylinder control module 72 and monitoring means, but arm support oil cylinder 2 links to each other with the oil cylinder 21 that shakes, arm support oil cylinder control module 71 links to each other with arm support oil cylinder 2, but but the oil cylinder control module 72 that shakes links to each other with the oil cylinder 21 that shakes, but but be used for monitoring arm support oil cylinder 2 in real time and/or the oil cylinder 21 that shakes in the monitoring means of oil liquid pressure information link to each other with the oil cylinder control module 72 that shakes, but this monitoring means comprises and is used for monitoring the first pressure monitoring unit 18 of arm support oil cylinder 2 and is used for monitoring the second pressure monitoring unit 28 of oil cylinder 21 of shaking.Arm support oil cylinder piston 13 is divided into arm support oil cylinder rodless cavity 12 and arm support oil cylinder rod chamber 14 in the arm support oil cylinder 2, but but but but the oil cylinder piston 23 that shakes in the oil cylinder 21 that shakes is divided into the shake oil cylinder rodless cavity 22 and the cylinder rod chamber 24 that shakes.But the control hydraulic oil of shake oil cylinder control module 72 and arm support oil cylinder control module 71 is supplied with by hydraulic pressure main oil pump 45 and hydraulic oil container 26.Wherein but arm support oil cylinder 2 is rigidly connected with the oil cylinder 21 that shakes, referring to shown in Figure 3, can but but the arm support oil cylinder rodless cavity on the arm support oil cylinder 2 12 is affixed with the oil cylinder rodless cavity 22 that shakes on the oil cylinder 21 that shakes, but arm support oil cylinder rodless cavity 12 and shake and be provided with fixing demarcation strip 19 between the oil cylinder rodless cavity 22, demarcation strip 19 separates control referring to shown in Figure 4 with the hydraulic oil of two rodless cavities, also can but the oil cylinder piston bar 25 that shake is affixed with arm support oil cylinder 2, but or the arm support oil cylinder piston rod 15 and the oil cylinder 21 affixed (referring to shown in Figure 5) that shakes, but or shake oil cylinder piston bar 25 and arm support oil cylinder piston rod 15 affixed (referring to shown in Figure 6), but can be with arm support oil cylinder 2 synchronous vibrations when shaking oil cylinder 21 vibrations by making after various being rigidly connected.But but but the oil cylinder control module 72 that shakes comprises the shake controller 44 and the electromagnetic valve 43 that shakes, but but but the controller 44 that shakes links to each other with the oil cylinder 21 that shakes by the electromagnetic valve 43 that shakes, but the controller 44 that shakes links to each other with monitoring means.But the working status parameter of the arm support oil cylinder 2 and/or the oil cylinder 21 that shakes is monitored in real time by monitoring means, promptly its pressure and/or piston position etc. is monitored in real time.Monitoring means further comprises a group or more displacement monitoring unit, but this displacement monitoring unit also comprises the first displacement monitoring unit 16 that is used for monitoring arm support oil cylinder 2 accordingly and is used for monitoring the second displacement monitoring unit 26 of oil cylinder 21 of shaking.But the oil cylinder control module 72 that shakes further can also be monitored the information that pump truck carries cylinder commutating pulse 61, pump truck reversal valve commutating pulse 62, arm support position and luffing information 63, jib vibration safety monitoring system 64 etc. to locate.But shake the information of controller 44 according to monitoring, analyze, but control the action of the electromagnetic valve 43 that shakes according to preferred algorithm, but drive the oil cylinder piston 23 that shakes and produce the reciprocating motion that meets preferred rule, but thereby make the oil cylinder 21 that shakes produce pulsating vibration, but oil cylinder 21 and arm support oil cylinder 2 are for being rigidly connected owing to shake, so just can further drive arm support oil cylinder 2 and produce small pulsation, this pulsation behavior acts on the jib, conduct to the jib end, anti-phase with the mobile impact that causes of pulsation concrete, frequency is identical, amplitude is approximate, then can be with the vibration suppression of jib in very desirable level.Arm support oil cylinder 2 is installed between per two joint jibs, but the oil cylinder 21 that shakes is fixed together with arm support oil cylinder 2.
The motion that the utility model is taken the initiative, directly method drives arm support oil cylinder 2, the luffing motion of jib is to be finished by arm support oil cylinder 2 under the control of arm support oil cylinder control module 71, but the operation that jib shakes designs a Vibration Suppression System separately.Yet in fact, do not carry out at arm support oil cylinder control module 71 under the situation of any action, arm support oil cylinder integral body is to keep inactive state, and is irremovable.Oil cylinder 21 and arm support oil cylinder 2 are for being rigidly connected but the utility model shakes, but but shake oil cylinder 21 under the control of the controller 44 that shakes, but drive the oil cylinder piston 23 that shakes and produce preferred shift reciprocately motion, but so by controlling the shift reciprocately rule of the piston 23 that shakes, but the oil cylinder piston bar 25 that shakes produces pulsating vibration, then this pulsating vibration is passed to arm support oil cylinder 2, arm support oil cylinder 2 just can produce the pulse displacement that meets the predetermined control rule, the jib tip vibration amplitude that this displacement law causes is less than or equal to the jib tip vibration amplitude that is caused by the discontinuous conveying of concrete, and phase place is opposite, then can be with the vibration suppression of jib end in very desirable level.
Actual pump truck is when work, its pumping frequency according to concrete demand and supply in continuous variation, but the ripple frequency of oil cylinder piston bar 25 must be followed the actual operating frequency variation of pump truck automatically and be changed so shake, and but the jib tip vibration that piston rod 25 displacements that guarantee to shake cause carries the jib vibration that causes anti-phase with the concrete pulsation, and the vibration of jib end is reduced.In order to realize this point, monitoring means (at least one pressure sensor) must be installed, but the oil liquid pressure curvilinear motion in the supervision arm support oil cylinder in the rodless cavity 12 and/or the oil cylinder rodless cavity 22 that shakes, experiment confirm, this pressure curve moves with the concrete broken afterflow and has certain corresponding relation, that is also there is certain corresponding relation with the vibration of jib end, so can judge the vibration characteristics of jib end according to measured oil liquid pressure curve, but this curve data is transferred to the oil cylinder control module 72 that shakes, but the 72 pairs of data of oil cylinder control module of shaking are analyzed, the main crest of analyzing pressure curve, the moment at trough place and the frequency characteristic of pressure curve, extract the parameter that characterizes jib tip vibration characteristic, as frequency characteristic, phase characteristic etc.By above analysis, but some special parameters of selected pressure curve are as the control time benchmark of the oil cylinder control module 72 that shakes, be offset a time span with respect to pump cycles duration ratio then on this basis (by mathematic(al) manipulation, may also be referred to as the skew phase angle), but excite the action of the oil cylinder 21 that shakes, but make the oil cylinder piston bar 25 that shakes produce a shift reciprocately motion, and guarantee that the jib tip vibration that this motion causes is anti-phase with the jib tip vibration that concrete causes, the vibration of jib end is reduced.By above work, but the phase angle and the frequency parameter of the oil cylinder 21 that shakes have been obtained to drive, but because under the different attitudes of different operating mode, the vibration displacement amount of jib end is also inequality, so still need but the displacement of the oil cylinder 21 that shakes is controlled, the vibration of the jib end that oil cylinder 21 motions cause but assurance is shaken is less than or equal to the vibration that the jib end that causes is carried in the concrete pulsation, gather displacement signal so need monitoring means this moment, it comprises a displacement or velocity sensor at least, select displacement transducer for use under the preferred situation, but be used for monitoring arm support oil cylinder piston 13 and/or the displacement of the oil cylinder piston 23 that shakes, but, then guaranteed the inhibition of vibration of jib end by controlling the displacement amplitude of the piston rod 25 that shakes.Because the complexity of system, controller 44 also need be monitored pump truck simultaneously and be carried parameters such as cylinder commutating pulse 61, pump truck reversal valve commutating pulse 62, arm support position and luffing information 63, jib vibration safety surveillance 64, hydraulic system pressure 11 but jib shakes, but replenishes as the controlling parameter to the electromagnetic valve 43 that shakes.
Embodiment 2: according to the above-mentioned method of slight that presses down, the utility model proposes a kind of device that is used to suppress vibration of concrete pump vehicle cantilever crane, it comprises arm support oil cylinder 2, arm support oil cylinder control module 71, but shake oil cylinder 21, but shake oil cylinder control module 72 and monitoring means, but arm support oil cylinder 2 links to each other with the oil cylinder 21 that shakes, arm support oil cylinder control module 71 links to each other with arm support oil cylinder 2, but but the oil cylinder control module 72 that shakes links to each other with the oil cylinder 21 that shakes, but but be used for monitoring arm support oil cylinder 2 in real time and/or the oil cylinder 21 that shakes in the monitoring means of oil liquid pressure information link to each other with the oil cylinder control module 72 that shakes, but this monitoring means comprises and is used for monitoring the first pressure monitoring unit 18 of arm support oil cylinder 2 and is used for monitoring the second pressure monitoring unit 28 of oil cylinder 21 of shaking.Arm support oil cylinder piston 13 is divided into arm support oil cylinder rodless cavity 12 and arm support oil cylinder rod chamber 14 in the arm support oil cylinder 2, but but but but the oil cylinder piston 23 that shakes in the oil cylinder 21 that shakes is divided into the shake oil cylinder rodless cavity 22 and the cylinder rod chamber 24 that shakes.But the control hydraulic oil of shake oil cylinder control module 72 and arm support oil cylinder control module 71 is supplied with by hydraulic pressure main oil pump 45 and hydraulic oil container 26.Wherein but arm support oil cylinder 2 is connected by pipeline with the oil cylinder 21 of shaking, referring to shown in Figure 8, but but but the oil cylinder control module 71 that shakes comprise the controller 44 that shakes shake electromagnetic valve 43 and control oil cylinder 31, but but the controller 44 that shakes links to each other with control oil cylinder 31 by the electromagnetic valve 43 that shakes, but the controller 44 that shakes links to each other with monitoring means by bus; But but the control oil cylinder piston bar 34 of control oil cylinder 31 links to each other with the oil cylinder piston bar 25 that shakes in the oil cylinder 21 that shakes.In the present embodiment, but but the area of the shake cylinder rod chamber 24 and the oil cylinder rodless cavity 22 that shakes is consistent than the area ratio with arm support oil cylinder rod chamber 14 and arm support oil cylinder rodless cavity 12 or is approximate.The working status parameter of oil cylinder 21, control oil cylinder 31 is monitored in real time by monitoring means but arm support oil cylinder 2 is shaken, and promptly its pressure and/or piston position etc. is monitored in real time.Monitoring means further comprises a group or more displacement monitoring unit, but this displacement monitoring unit also comprises the first displacement monitoring unit 16 that is used for monitoring arm support oil cylinder 2 accordingly and is used for monitoring the second displacement monitoring unit 26 of oil cylinder 21 of shaking.But the oil cylinder control module 72 that shakes further can also be monitored the information that pump truck carries cylinder commutating pulse 61, pump truck reversal valve commutating pulse 62, arm support position attitude and luffing information 63, jib vibration safety monitoring system 64 etc. to locate.But the controller 44 that shakes is analyzed according to the information of monitoring, but control the action of the electromagnetic valve 43 that shakes according to preferred algorithm, drive control oil cylinder piston bar 34 and produce the reciprocating motion that meets preferred rule, but thereby drive oil cylinder piston bar 25 motions of shaking, but so just transmitted motion on the oil cylinder piston bar 25 that shakes, it is moved back and forth according to certain rules, because the Incoercibility of liquid, but the cylinder rod chamber 24 that shakes is connected with arm support oil cylinder rod chamber 14, but the oil cylinder rodless cavity 22 that shakes is connected with arm support oil cylinder rodless cavity 12, so further driving jib oil cylinder piston bar 15 produces small pulsation, this pulsation behavior acts on the jib, conduct to the jib end, anti-phase with the mobile impact that causes of pulsation concrete, frequency is identical, and the jib tip vibration amplitude that the pulsation behavior causes is less than or equal to the jib tip vibration amplitude that concrete flows and to cause, then can be with the vibration suppression of jib in very desirable level.Arm support oil cylinder 2 is installed between per two joint jibs, but be mounted on the jib under oil cylinder 21 preferable case of shaking, be fixed together with arm support oil cylinder 2, can realize oil circuit and the shortest layout of circuit like this, but under certain specific purpose requires, but also the oil cylinder 21 that shakes can be arranged on the frame chassis, same, but but the electromagnetic valve 43 that shakes is preferably made a whole valve member class formation with the oil cylinder 21 that shakes, control oil cylinder 31, realizes the requirement of attractive in appearance, modularization, interchangeability; Controller 44 integrates but the electromagnetic valve 43 that also can further but but the oil cylinder 21 that shakes, control oil cylinder 31 be shaken shakes, make a vibration suppression unit, be installed on pumping vehicle arm rack or the car body, only need adjust controlling parameter, just go on existing all concrete mixers or other model pump trucks.Referring to shown in Figure 11, be in and travel or the concrete mixer lateral view of deployed condition not, be equiped with vibration-repressing device of the present utility model on it.Wherein first jib 3, second jib 4, the 3rd jib 5, the 4th jib 6 and the 5th jib 7 are in the same place by the contractile motion gathering of arm support oil cylinder 2.Each saves jib each other by rotating shaft 9 rotations, realizes opening and folder function, is subjected to the restriction of space and structure, and jib is limited within limits in the angle that relatively rotates at rotating shaft 9 places.Respectively to save jib and can rotate in order to make, need a driving arrangement, promptly arm support oil cylinder 2, and flexible by arm support oil cylinder 2 inner piston rods relies on connecting rod 8 just to drive adjacent following joint jib rotation.Turntable 1 is installed on the automobile chassis or on the cherry picker, during work, turntable 1 and on parts can in horizontal extent, rotate, concrete is by being attached to line transportation on the jib to flexible pipe 10 positions of jib end, and, arrive operator's appointed positions from flexible pipe 10 terminal outflows.But arm support oil cylinder 2 links to each other by pipeline with the oil cylinder 21 of shaking, and is fixed in together.
The utility model takes indirect method to drive the motion of arm support oil cylinder 2, the luffing motion of jib is to be finished by arm support oil cylinder 2 under the control of arm support oil cylinder control module 71, but the operation that jib shakes is Vibration Suppression System of design separately, keep the fluid of arm support oil cylinder 2 invariable when not carrying out the luffing operation, but but the oil cylinder piston bar 25 that shakes can produce reciprocal pulse displacement.Yet in fact, do not carry out at arm support oil cylinder control module 71 under the situation of any action, arm support oil cylinder 2 integral body are to keep inactive state, and are irremovable.But but the displacement of the oil cylinder piston bar 25 that shakes will cause hydraulic oil to flow in the arm support oil cylinder 2 and the oil cylinder 21 that shakes, but promptly be delivered on the arm support oil cylinder piston rod 15, drive jib oil cylinder piston bar 15 and produce corresponding displacement movement by will the shake characteristics of motion of oily piston rod 25 of hydraulic oil.But so by controlling the pulse displacement rule of the oil cylinder piston bar 25 that shakes, then by pipeline this rule is sent to arm support oil cylinder piston rod 15, arm support oil cylinder piston rod 15 just can produce the pulse displacement that meets the predetermined control rule.
But oil cylinder piston bar 25 strokes that shake can be selected by dual mode, as required, but but select manually to shake the control and the control of shaking automatically, this conversion is selected and can be selected by the gauge tap that is installed on the remote controller, but when being chosen in when automatically shaking gear, the stroke of oil cylinder 21 is carried out control automatically but but 72 pairs of the oil cylinder control modules that shake shake, but when being chosen in when manually shaking gear, but can manually control the stroke of the oil cylinder 21 that shakes by remote controller, the trip can be divided into several stages, accepts control of remote controller.Because the complexity of system, but the controller 44 that shakes also need be monitored pump truck simultaneously and be carried parameters such as commutating pulse 61, pump truck reversal valve commutating pulse 62, arm support position attitude and the luffing information 63 of cylinder, jib vibration safety monitoring system, hydraulic system pressure, but as the control foundation of electromagnetic valve 43 that jib is shaken.
Referring to shown in Figure 9, another embodiment as present embodiment, but but but the oil cylinder control module 72 that shakes comprises the controller 44 that shakes shake electromagnetic valve 43, hydraulic motor 51 and moment mapping device 50, but but the controller 44 that shakes links to each other with hydraulic motor 51 by the electromagnetic valve 43 that shakes, but the controller 44 that shakes links to each other with monitoring means; But but hydraulic motor 51 links to each other with the oil cylinder piston bar 25 that shakes of the oil cylinder 21 that shakes by moment mapping device 50, but control the action of hydraulic motor 51 by the electromagnetic valve 43 that shakes, but moment mapping device 50 with transmission of power to the oil cylinder piston bar 25 that shakes, thereby order about arm support oil cylinder 2 and produce the displacement pulsation, suppress the vibration of jib.Moment mapping device 50 can be cam mechanism, pinion and rack, turbine and worm mechanism, linkage etc.A kind of situation in addition is that hydraulic motor 51 also can adopt common motor, electromagnetism, other drive power source such as pneumatic, this driving also can be a high speed rotating, what this drive system just can be done like this is very little, and the conversion by moment mapping device 50, but the reciprocating motion that produces the oil cylinder piston bar 25 that shakes that meets preferred vibration suppression rule.
Referring to shown in Figure 10, another embodiment as present embodiment, but but the oil cylinder control module 72 that shakes comprises spring damping device 52, spring damping controller 53 and the controller 44 that shakes, but the controller 44 that shakes links to each other with monitoring means, but the controller 44 that shakes links to each other with spring damping device 52 by spring damping controller 53.Spring damping device 52 is accepted the control of spring damping controller 53, this is a kind of situation of active control, better situation is that spring damping device 52 adopts Passive Shape Control, promptly under the situation of cancellation spring damping device 52 and spring damping controller 53, still can effectively suppress the vibration of jib end.
Be one of some embodiment of the utility model only below, but be not limited to the textural association mode of the foregoing description.
Claims (12)
1, a kind of device that is used to suppress vibration of concrete pump vehicle cantilever crane, it is characterized in that: it comprises arm support oil cylinder (2), arm support oil cylinder control module (71), but the oil cylinder that shakes (21), but shake oil cylinder control module (72) and monitoring means, described arm support oil cylinder (2) but link to each other with the oil cylinder that shakes (21), arm support oil cylinder control module (71) links to each other with arm support oil cylinder (2), but shake oil cylinder control module (72) but link to each other with the oil cylinder that shakes (21), be used for monitoring arm support oil cylinder (2) in real time but and/or the oil cylinder that shakes (21) but in the monitoring means of oil liquid pressure information link to each other with the oil cylinder control module (72) that shakes.
2, the device that is used to suppress vibration of concrete pump vehicle cantilever crane according to claim 1 is characterized in that: described arm support oil cylinder (2) but be rigidly connected with the oil cylinder (21) that shakes.
3, the device that is used to suppress vibration of concrete pump vehicle cantilever crane according to claim 2, it is characterized in that: the arm support oil cylinder rodless cavity (12) on the described arm support oil cylinder (2) but with shake oil cylinder (21) but on the oil cylinder rodless cavity that shakes (22) affixed, arm support oil cylinder rodless cavity (12) but and be provided with demarcation strip (19) between the oil cylinder rodless cavity that shakes (22).
4, the device that is used to suppress vibration of concrete pump vehicle cantilever crane according to claim 2 is characterized in that: but the piston rod (25) of the described oil cylinder that shakes (21) is affixed with arm support oil cylinder (2).
5, the device that is used to suppress vibration of concrete pump vehicle cantilever crane according to claim 2 is characterized in that: the piston rod (15) of described arm support oil cylinder (2) but affixed with the oil cylinder (21) that shakes.
6, the device that is used to suppress vibration of concrete pump vehicle cantilever crane according to claim 2 is characterized in that: but the piston rod (25) of the described oil cylinder that shakes (21) is affixed with the piston rod (15) of arm support oil cylinder (2).
7, according to the device that is used to suppress vibration of concrete pump vehicle cantilever crane described in any in the claim 2 to 6, it is characterized in that: but described shake oil cylinder control module (72) but comprise the controller that shakes (44) but and the electromagnetic valve that shakes (43), but the controller that shakes (44) but by the electromagnetic valve that shakes (43) but link to each other with the oil cylinder that shakes (21), but the controller that shakes (44) links to each other with monitoring means.
8, the device that is used to suppress vibration of concrete pump vehicle cantilever crane according to claim 1 is characterized in that: the arm support oil cylinder rod chamber (14) of described arm support oil cylinder (2) with arm support oil cylinder rodless cavity (12) but by pipeline respectively with the oil cylinder that shakes (21) but the cylinder rod chamber that shakes (24) but link to each other with the oil cylinder rodless cavity that shakes (22).
9, the device that is used to suppress vibration of concrete pump vehicle cantilever crane according to claim 8, it is characterized in that: but described shake oil cylinder control module (72) but comprise the controller that shakes (44) but the electromagnetic valve that shakes (43) and control oil cylinder (31), but the controller that shakes (44) but by the electromagnetic valve that shakes (43) with control oil cylinder (31) link to each other, but the controller that shakes (44) links to each other with monitoring means, the control piston bar (34) of described control oil cylinder (31) but with the oil cylinder that shakes (21) but in the piston rod that shakes (25) link to each other.
10, the device that is used to suppress vibration of concrete pump vehicle cantilever crane according to claim 8, it is characterized in that: but described shake oil cylinder control module (72) but comprise the controller that shakes (44) but the electromagnetic valve that shakes (43), hydraulic motor (51) and moment mapping device (50), but the controller that shakes (44) but link to each other with hydraulic motor (51) by the electromagnetic valve that shakes (43), but the controller that shakes (44) links to each other with monitoring means; Described hydraulic motor (51) by moment mapping device (50) but with the oil cylinder that shakes (21) but the piston rod that shakes (25) link to each other.
11, the device that is used to suppress vibration of concrete pump vehicle cantilever crane according to claim 8, it is characterized in that: but the described oil cylinder control module (72) that shakes comprises spring damping device (52), spring damping controller (53) and the controller that shakes (44), but the described controller that shakes (44) links to each other with monitoring means, but the controller that shakes (44) links to each other with spring damping device (52) by spring damping controller (53).
12, any described device that is used to suppress vibration of concrete pump vehicle cantilever crane in 11 according to Claim 8, it is characterized in that: described arm support oil cylinder (2) is installed between per two joint jibs, but the oil cylinder that shakes (21) is installed on the jib or on the car body, but the oil cylinder that shakes (21) links to each other with arm support oil cylinder (2) by pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 200620052393 CN200952235Y (en) | 2006-09-30 | 2006-09-30 | Apparatus for suppressing concrete pump vehicle arm frame vibrating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620052393 CN200952235Y (en) | 2006-09-30 | 2006-09-30 | Apparatus for suppressing concrete pump vehicle arm frame vibrating |
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| CN200952235Y true CN200952235Y (en) | 2007-09-26 |
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| CN 200620052393 Expired - Fee Related CN200952235Y (en) | 2006-09-30 | 2006-09-30 | Apparatus for suppressing concrete pump vehicle arm frame vibrating |
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| CN1932215B (en) * | 2006-09-30 | 2010-08-11 | 三一重工股份有限公司 | Method and apparatus for suppressing vibration of concrete pump vehicle cantilever crane |
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| CN102108790A (en) * | 2010-12-24 | 2011-06-29 | 三一重工股份有限公司 | Concrete pumping equipment and arm support state control system thereof |
| CN102322497A (en) * | 2011-07-01 | 2012-01-18 | 三一重工股份有限公司 | Method and system for inhibiting vibration of arm support and arm support type engineering machinery |
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| CN102493652A (en) * | 2011-12-08 | 2012-06-13 | 中联重科股份有限公司 | Concrete pumping equipment and arm-support-vibration semi-active control device and arm-support-vibration semi-active control method thereof |
| CN102704689A (en) * | 2012-06-18 | 2012-10-03 | 三一重工股份有限公司 | Cantilever crane device and engineering machinery |
| CN103090964A (en) * | 2011-12-15 | 2013-05-08 | 中联重科股份有限公司 | Vehicle-mounted data unit, method, engineering machinery and system of cantilever crane vibration monitoring |
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| CN1932215B (en) * | 2006-09-30 | 2010-08-11 | 三一重工股份有限公司 | Method and apparatus for suppressing vibration of concrete pump vehicle cantilever crane |
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| CN103090964A (en) * | 2011-12-15 | 2013-05-08 | 中联重科股份有限公司 | Vehicle-mounted data unit, method, engineering machinery and system of cantilever crane vibration monitoring |
| WO2013091481A1 (en) * | 2011-12-23 | 2013-06-27 | 中联重科股份有限公司 | Pump displacement controller, pump vehicle and pump displacement control method |
| CN102704689A (en) * | 2012-06-18 | 2012-10-03 | 三一重工股份有限公司 | Cantilever crane device and engineering machinery |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070926 Termination date: 20120930 |