CN102338191B - Arm support vibration suppression method and system as well as arm-support-type engineering machinery - Google Patents
Arm support vibration suppression method and system as well as arm-support-type engineering machinery Download PDFInfo
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- CN102338191B CN102338191B CN2011101836750A CN201110183675A CN102338191B CN 102338191 B CN102338191 B CN 102338191B CN 2011101836750 A CN2011101836750 A CN 2011101836750A CN 201110183675 A CN201110183675 A CN 201110183675A CN 102338191 B CN102338191 B CN 102338191B
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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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- 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
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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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
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- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control And Safety Of Cranes (AREA)
- Operation Control Of Excavators (AREA)
- Jib Cranes (AREA)
Abstract
The invention relates to the technical field of arm-support-type engineering machinery, and in particular discloses an arm support vibration suppression method. The method comprises the following steps: a step A, detecting the amplitude A and frequency f of the tail end vibration of the final arm support in real time; and a step B, driving an arm support oil cylinder on at least one arm support to act, thus a component motion with amplitude A1 and frequency f1 is generated at the tail end of the final arm support, the amplitude A1 is less than the amplitude A, and the frequency f1 is greater than the frequency f. The invention also discloses an arm support vibration suppression system and the arm-support-type engineering machinery with the same.
Description
Technical field
The present invention relates to the arm support type engineering machinery technical field, relate in particular to a kind of vibration of arm inhibition method.The invention still further relates to a kind of vibration of arm suppresses system and has the arm support type engineering machinery that above-mentioned vibration of arm suppresses system.
Background technique
Concrete mixer is a kind of common arm support type engineering machinery, concrete mixer extensively is used in delivering concrete on the infrastructure building site, concrete conveyance operation especially for the Large Construction building site, the heavy physical labor of construction site concrete conveyance be can alleviate greatly, construction speed and working efficiency improved.
Concrete mixer is that concrete pumping mechanism, boom system, supporting mechanism etc. are integrated on automobile chassis, integrate travel, the high-effective concrete conveying equipment of pumping, cloth.Boom system is support and the motion carrier of concrete delivery pipe, and boom system is to be formed by bearing pin is hinged by a plurality of jibs, connecting rod, adopts to be arranged on the mechanism that the hydraulic jack on corresponding jib drives to complete various motion morphologies.
Concrete mixer is in pumping procedure, and pumping oil cylinder and coordinating of tilt cylinder be inharmonious, and to make concrete flow in conveyance conduit discontinuous, causes arm support tail end produce vibration and swing, and when making construction, the polarization of arm support tail end is relatively poor; In addition, due to vibration of arm, easily cause jib local location early fatigue to damage and crackle occurs, directly affecting the working life of concrete mixer, bringing potential safety hazard.
In order to solve the excessive problem of vibration of arm, usually adopt the method for regulating the pumping frequency to realize in prior art, that tries one's best makes the pumping frequency away from the jib natural frequency, thereby prevents that vibration of arm is excessive.This vibration of arm inhibition method, limited the regulation range of pump truck output when regulating the pumping frequency, and the natural frequency of pump truck under different operating modes be difficult to obtain, thereby cause this method not good to the inhibition of vibration of arm, and do not possess transplantability and versatility.
Therefore, how in the situation that do not limit the regulation range of pump truck output, effectively suppress the vibration of jib, become the technical barrier that those skilled in the art need to be resolved hurrily.
Summary of the invention
First purpose of the present invention is to provide a kind of vibration of arm inhibition method, and this vibration of arm inhibition method can in the situation that do not limit the regulation range of pump truck output, effectively suppress the vibration of jib.Second purpose of the present invention is to provide a kind of vibration of arm and suppresses system, and the 3rd purpose of the present invention is to provide a kind of arm support type engineering machinery that above-mentioned vibration of arm suppresses system that has.
In order to realize above-mentioned first purpose, the invention provides a kind of vibration of arm inhibition method, it is characterized in that, comprise the following steps:
Steps A detects amplitude A, the frequency f of the tip vibration of minor details jib in real time;
Step B drives the arm support oil cylinder action at least one joint jib, makes the end of described minor details jib produce the component motion with amplitude A 1, frequency f 1, and described amplitude A 1 less than described amplitude A, described frequency f 1 greater than described frequency f.
Preferably, described steps A is specially:
Steps A 1 detects the position of the end of minor details jib in real time;
Steps A 2 according to the variation of described position, is calculated amplitude A, the frequency f of the tip vibration of described minor details jib.
Preferably, described steps A is specially: the amplitude A, the frequency f that directly detect in real time the tip vibration of minor details jib.
Preferably, control described arm support oil cylinder action by controlling the arm support oil cylinder multi-way valve.
Vibration of arm inhibition method provided by the invention, at first in real time detect amplitude A, the frequency f of the tip vibration of minor details jib, drive the arm support oil cylinder action at least one joint jib, make the end of described minor details jib produce the component motion with amplitude A 1, frequency f 1, and described amplitude A 1 less than described amplitude A, described frequency f 1 greater than described frequency f.
This vibration of arm inhibition method, on the basis of the amplitude A that gathers and analyzed the tip vibration of minor details jibs, frequency f, the arm support oil cylinder of controlling at least one joint jib is moved, make high frequency of end generation of minor details jib, the component motion of little amplitude, the low frequency large-amplitude vibration of the component motion partial offset arm support tail end of this high frequency, little amplitude, thus reach the purpose of vibration damping.
This vibration of arm inhibition method is to make the end of minor details jib produce the component motion of a little amplitude of high frequency by single, two or more cylinder movements, and then the end low frequency large amplitude component motion of inhibition minor details jib, thereby reach the purpose of vibration damping, this method need not be changed the mechanical structure of jib and pumping, jib hydraulic system, only need to know the vibration of arm situation, drive arm support oil cylinder and realize vibration damping, can in the situation that do not limit the regulation range of pump truck output, effectively suppress the vibration of jib.And this vibration of arm inhibition method can in the situation that become discharge capacity, become attitude, conversion pumping material all can suppress the vibration of jib, it has the intelligent and adaptivity of height.
In order to realize above-mentioned second purpose, the present invention also provides a kind of vibration of arm to suppress system, comprising:
Detection device is used for the position of the end of detection minor details jib in real time;
Controller, described controller calculate amplitude A, the frequency f of the tip vibration of described minor details jib according to the variation of described position;
Described controller sends the driving signal, drive the arm support oil cylinder action at least one joint jib, make the end of described minor details jib produce the component motion with amplitude A 1, frequency f 1, and described amplitude A 1 less than described amplitude A, described frequency f 1 greater than described frequency f.
Preferably, described detection device is the dip sensor that is arranged on each jib.
Preferably, described detection device be arranged on each jib rotating coder or for detection of the displacement transducer of each arm support oil cylinder displacement.
Preferably, described controller calculates amount of exercise and the motion frequency of corresponding arm support oil cylinder, so that the end of described minor details jib produces the component motion with described amplitude A 1, described frequency f 1.
Preferably, also comprise the arm support oil cylinder multi-way valve, described controller sends to described arm support oil cylinder multi-way valve and drives signal, drives described arm support oil cylinder action.
Vibration of arm inhibition provided by the invention system comprises detection device, controller; Detection device detects the position of the end of minor details jib in real time; Controller, described controller calculate amplitude A, the frequency f of the tip vibration of described minor details jib according to the variation of described position; Described controller sends the driving signal, drive the arm support oil cylinder action at least one joint jib, make the end of described minor details jib produce the component motion with amplitude A 1, frequency f 1, and described amplitude A 1 less than described amplitude A, described frequency f 1 greater than described frequency f.
This vibration of arm suppresses system, on the basis of the amplitude A that gathers and analyzed the tip vibration of minor details jibs, frequency f, the arm support oil cylinder of controlling at least one joint jib is moved, make high frequency of end generation of minor details jib, the component motion of little amplitude, the low frequency large-amplitude vibration of the component motion partial offset arm support tail end of this high frequency, little amplitude, thus reach the purpose of vibration damping.
This vibration of arm inhibition system makes the end of minor details jib produce the component motion of a little amplitude of high frequency by single, two or more cylinder movements, and then the end low frequency large amplitude component motion of inhibition minor details jib, thereby reach the purpose of vibration damping, the mechanical structure of jib and pumping, jib hydraulic system need not be changed by this system, only need to know the vibration of arm situation, drive arm support oil cylinder and realize vibration damping, can in the situation that do not limit the regulation range of pump truck output, effectively suppress the vibration of jib.And this vibration of arm inhibition method can in the situation that become discharge capacity, become attitude, conversion pumping material all can suppress the vibration of jib, it has the intelligent and adaptivity of height.
In order to realize above-mentioned the 3rd purpose, the present invention also provides a kind of arm support type engineering machinery, this arm support type engineering machinery is provided with above-mentioned vibration of arm and suppresses system, system has above-mentioned technique effect due to above-mentioned vibration of arm inhibition, has the arm support type engineering machinery that this vibration of arm suppresses system and also should have corresponding technique effect.
Description of drawings
Fig. 1 is the FB(flow block) of a kind of embodiment of vibration of arm inhibition method provided by the invention;
Fig. 2 is the coordinate position schematic diagram of boom system;
Fig. 3 is the structural representation that vibration of arm provided by the present invention suppresses a kind of embodiment of system.
Embodiment
First core of the present invention is to provide a kind of vibration of arm inhibition method, and this vibration of arm inhibition method can in the situation that do not limit the regulation range of pump truck output, effectively suppress the vibration of jib.Second core of the present invention is to provide a kind of vibration of arm and suppresses system, and the 3rd core of the present invention is to provide a kind of arm support type engineering machinery that above-mentioned vibration of arm suppresses system that has.
In order to make those skilled in the art understand better technological scheme of the present invention, the present invention is described in further detail below in conjunction with the drawings and specific embodiments.
Please refer to Fig. 1, Fig. 1 is the FB(flow block) of a kind of embodiment of vibration of arm inhibition method provided by the invention.
As shown in Figure 1, vibration of arm inhibition method provided by the present invention comprises the following steps.
Step S101 detects the position of the end of minor details jib in real time.In concrete scheme, can adopt and be arranged on the coordinate figure that the dip sensor that respectively saves on jib detects the end of minor details jib in real time, position with the end of determining the minor details jib, save the boom system of jibs as example to have four, as shown in Figure 2, four joint jibs are respectively jib 11, jib 12, jib 13, jib 14, and the length of jib 11, jib 12, jib 13, jib 14 is respectively l
1, l
2, l
3, l
4, jib 11 is θ with the angle of horizontal plane
1, the angle between jib 11 and jib 12 is θ
2, the angle between jib 12 and jib 13 is θ
3, the angle between jib 13 and jib 14 is θ
4, according to the length of each jib and the angle between adjacent jib, can derive the formula of the end of minor details jib:
x＝-l
4c1234+l
3c123-l
2c12+l
1c1
y＝-l
4s1234+l
3s123-l
2s12+l
1s1
Wherein, c1 represents cos θ
1, s1 represents sin θ
1, c12 represents cos(θ
1+ θ
2), s12 represents sin(θ
1+ θ
2), c123 represents cos(θ
1+ θ
2+ θ
3), s123 represents sin(θ
1+ θ
2+ θ
3), c1234 represents cos(θ
1+ θ
2+ θ
3+ θ
4), s1234 represents sin(θ
1+ θ
2+ θ
3+ θ
4).
Step S102 according to the variation of described position, calculates amplitude A, the frequency f of the tip vibration of described minor details jib.The x of the end that calculates the minor details jib by enforcement in the jib plane, the variation of y coordinate figure can draw amplitude A, the frequency f of the vibration of minor details arm support tail end.
Step S103 drives the arm support oil cylinder action at least one joint jib, makes the end of described minor details jib produce the component motion with amplitude A 1, frequency f 1, and described amplitude A 1 less than described amplitude A, described frequency f 1 greater than described frequency f.
This vibration of arm inhibition method, on the basis of the amplitude A that gathers and analyzed the tip vibration of minor details jibs, frequency f, the arm support oil cylinder of controlling at least one joint jib is moved, make high frequency of end generation of minor details jib, the component motion of little amplitude, the low frequency large-amplitude vibration of the component motion partial offset arm support tail end of this high frequency, little amplitude, thus reach the purpose of vibration damping.
This vibration of arm inhibition method is to make the end of minor details jib produce the component motion of a little amplitude of high frequency by single, two or more cylinder movements, and then the end low frequency large amplitude component motion of inhibition minor details jib, thereby reach the purpose of vibration damping, this method need not be changed the mechanical structure of jib and pumping, jib hydraulic system, only need to know the vibration of arm situation, drive arm support oil cylinder and realize vibration damping, can in the situation that do not limit the regulation range of pump truck output, effectively suppress the vibration of jib.And this vibration of arm inhibition method can in the situation that become discharge capacity, become attitude, conversion pumping material all can suppress the vibration of jib, it has the intelligent and adaptivity of height.
In concrete scheme, can control described arm support oil cylinder action by controlling the arm support oil cylinder multi-way valve.The action of arm support oil cylinder is controlled by the arm support oil cylinder multi-way valve in the jib hydraulic system usually, the size of the motion amplitude that the valve opening by controlling the arm support oil cylinder multi-way valve and effect duration can be controlled arm support oil cylinder and the size of motion frequency.
In preferred version, can be by valve opening and the effect duration that calculates the arm support oil cylinder multi-way valve, with the size of the motion amplitude of determining corresponding arm support oil cylinder and the size of motion frequency.
Further in scheme, the arm support oil cylinder multi-way valve is generally solenoid valve, can determine by the size of controlling the required magnitude of current of arm support oil cylinder multi-way valve the valve opening of arm support oil cylinder multi-way valve, more specifically in scheme, amount of exercise that can be required according to above-mentioned arm support oil cylinder is determined the size of the required magnitude of current of arm support oil cylinder multi-way valve; In scheme, can further determine the current"on"time of jib multi-way valve more specifically, to determine the effect duration of arm support oil cylinder multi-way valve.
In above-described embodiment, employing is arranged on the variation of coordinate figure that the dip sensor that respectively saves on jib detects the end of minor details jib in real time, then in amplitude A, the frequency f of the tip vibration of the minor details jib by calculating the minor details jib, the present invention is not limited thereto, can also obtain by corresponding sensor direct-detection amplitude A, the frequency f of tip vibration of the minor details jib of minor details jib, but as dip sensor of direct-detection amplitude A, frequency f etc.
The present invention also provides a kind of vibration of arm to suppress system, and following examples are described in detail it.
Please refer to Fig. 3, Fig. 3 is the structural representation that vibration of arm provided by the present invention suppresses a kind of embodiment of system.
As shown in Figure 3, vibration of arm inhibition provided by the invention system comprises detection device, controller.
Detection device is used for detecting in real time the position of the end of minor details jib; Described controller calculates amplitude A, the frequency f of the tip vibration of described minor details jib according to the variation of described position; Described controller sends the driving signal, drive the arm support oil cylinder action at least one joint jib, make the end of described minor details jib produce the component motion with amplitude A 1, frequency f 1, and described amplitude A 1 less than described amplitude A, described frequency f 1 greater than described frequency f.
This vibration of arm suppresses system, on the basis of the amplitude A that gathers and analyzed the tip vibration of minor details jibs, frequency f, the arm support oil cylinder of controlling at least one joint jib is moved, make high frequency of end generation of minor details jib, the component motion of little amplitude, the low frequency large-amplitude vibration of the component motion partial offset arm support tail end of this high frequency, little amplitude, thus reach the purpose of vibration damping.
This vibration of arm inhibition system makes the end of minor details jib produce the component motion of a little amplitude of high frequency by single, two or more cylinder movements, and then the end low frequency large amplitude component motion of inhibition minor details jib, thereby reach the purpose of vibration damping, the mechanical structure of jib and pumping, jib hydraulic system need not be changed by this system, only need to know the vibration of arm situation, drive arm support oil cylinder and realize vibration damping, can in the situation that do not limit the regulation range of pump truck output, effectively suppress the vibration of jib.And this vibration of arm inhibition method can in the situation that become discharge capacity, become attitude, conversion pumping material all can suppress the vibration of jib, it has the intelligent and adaptivity of height.
In concrete scheme, detection device can be for being arranged at the dip sensor on each jib, save the boom system of jibs as example to have four, as shown in Figure 2, four joint jibs are respectively jib 11, jib 12, jib 13, jib 14, and the length of jib 11, jib 12, jib 13, jib 14 is respectively l
1, l
2, l
3, l
4, jib 11 is θ with the angle of horizontal plane
1, the angle between jib 11 and jib 12 is θ
2, the angle between jib 12 and jib 13 is θ
3, the angle between jib 13 and jib 14 is θ
4, according to the length of each jib and the angle between adjacent jib, can derive the formula of the end of minor details jib:
x＝-l
4c1234+l
3c123-l
2c12+l
1c1
y＝-l
4s1234+l
3s123-l
2s12+l
1s1
Wherein, c1 represents cos θ
1, s1 represents sin θ
1, c12 represents cos(θ
1+ θ
2), s12 represents sin(θ
1+ θ
2), c123 represents cos(θ
1+ θ
2+ θ
3), s123 represents sin(θ
1+ θ
2+ θ
3), c1234 represents cos(θ
1+ θ
2+ θ
3+ θ
4), s1234 represents sin(θ
1+ θ
2+ θ
3+ θ
4).
In concrete scheme, can control described arm support oil cylinder action by controlling the arm support oil cylinder multi-way valve.The action of arm support oil cylinder is controlled by the arm support oil cylinder multi-way valve in the jib hydraulic system usually, the size of the motion amplitude that the valve opening by controlling the arm support oil cylinder multi-way valve and effect duration can be controlled arm support oil cylinder and the size of motion frequency.
In preferred version, can be by valve opening and the effect duration that calculates the arm support oil cylinder multi-way valve, with the size of the motion amplitude of determining corresponding arm support oil cylinder and the size of motion frequency.
Further in scheme, the arm support oil cylinder multi-way valve is generally solenoid valve, can determine by the size of controlling the required magnitude of current of arm support oil cylinder multi-way valve the valve opening of arm support oil cylinder multi-way valve, more specifically in scheme, amount of exercise that can be required according to above-mentioned arm support oil cylinder is determined the size of the required magnitude of current of arm support oil cylinder multi-way valve; In scheme, can further determine the current"on"time of jib multi-way valve more specifically, to determine the effect duration of arm support oil cylinder multi-way valve.
In above-described embodiment, detection device adopts the dip sensor that is arranged on each jib, reach the coordinate figure of the end that calculates accordingly the minor details jib by detecting the angle of inclination of respectively saving jib, the present invention is not limited thereto, detection device also can adopt on each jib rotating coder or for detection of displacement transducer of each arm support oil cylinder displacement etc., and then adopt corresponding computational methods can calculate the coordinate figure of the end of minor details jib.
The present invention also provides a kind of arm support type engineering machinery, this arm support type engineering machinery is provided with above-mentioned vibration of arm and suppresses system, system has above-mentioned technique effect due to above-mentioned vibration of arm inhibition, have the arm support type engineering machinery that this vibration of arm suppresses system and also should have corresponding technique effect, no longer be described in detail at this.
The above is only the description of the preferred implementation of invention; should be understood that; finiteness due to literal expression; and objectively have unlimited concrete structure; for those skilled in the art; under the prerequisite that does not break away from the principle of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (10)
1. a vibration of arm inhibition method, is characterized in that, comprises the following steps:
Steps A detects amplitude A, the frequency f of the tip vibration of minor details jib in real time;
Step B drives the arm support oil cylinder action at least one joint jib, makes the end of described minor details jib produce the component motion with amplitude A 1, frequency f 1, and described amplitude A 1 less than described amplitude A, described frequency f 1 greater than described frequency f.
2. vibration of arm inhibition method according to claim 1, is characterized in that, described steps A is specially:
Steps A 1 detects the position of the end of minor details jib in real time;
Steps A 2 according to the variation of described position, is calculated amplitude A, the frequency f of the tip vibration of described minor details jib.
3. vibration of arm inhibition method according to claim 1, is characterized in that, described steps A is specially: the amplitude A, the frequency f that directly detect in real time the tip vibration of minor details jib.
4. vibration of arm inhibition method according to claim 1, is characterized in that, controls described arm support oil cylinder action by controlling the arm support oil cylinder multi-way valve.
5. a vibration of arm suppresses system, it is characterized in that, comprising:
Detection device is used for the position of the end of detection minor details jib in real time;
Controller, described controller calculate amplitude A, the frequency f of the tip vibration of described minor details jib according to the variation of described position;
Described controller sends the driving signal, drive the arm support oil cylinder action at least one joint jib, make the end of described minor details jib produce the component motion with amplitude A 1, frequency f 1, and described amplitude A 1 less than described amplitude A, described frequency f 1 greater than described frequency f.
6. vibration of arm according to claim 5 suppresses system, it is characterized in that, described detection device is the dip sensor that is arranged on each jib.
7. vibration of arm according to claim 5 suppresses system, it is characterized in that, described detection device be arranged on each jib rotating coder or for detection of the displacement transducer of each arm support oil cylinder displacement.
8. according to claim 5-7 described vibration of arms of any one suppress system, it is characterized in that, described controller calculates amount of exercise and the motion frequency of corresponding arm support oil cylinder, so that the end of described minor details jib produces the component motion with described amplitude A 1, described frequency f 1.
9. vibration of arm according to claim 5 suppresses system, it is characterized in that, also comprises the arm support oil cylinder multi-way valve, and described controller sends to described arm support oil cylinder multi-way valve and drives signal, drives described arm support oil cylinder action.
10. an arm support type engineering machinery, is characterized in that, this arm support type engineering machinery is provided with the described vibration of arm of claim 5-9 any one and suppresses system.
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| CN2011101836750A CN102338191B (en) | 2011-07-01 | 2011-07-01 | Arm support vibration suppression method and system as well as arm-support-type engineering machinery |
| PCT/CN2012/074264 WO2013004100A1 (en) | 2011-07-01 | 2012-04-18 | Jib vibration suppression method, system and jib-type engineering machine |
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|---|---|---|---|
| CN2011101836750A CN102338191B (en) | 2011-07-01 | 2011-07-01 | Arm support vibration suppression method and system as well as arm-support-type engineering machinery |
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| CN102338191B true CN102338191B (en) | 2013-06-05 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102338191B (en) * | 2011-07-01 | 2013-06-05 | 三一重工股份有限公司 | Arm support vibration suppression method and system as well as arm-support-type engineering machinery |
| CN102589493B (en) | 2012-02-08 | 2014-05-21 | 三一重工股份有限公司 | Cantilever crane system, engineering machinery and cantilever crane system terminal end location parameter obtaining method |
| CN102797787B (en) | 2012-08-17 | 2013-11-20 | 中联重科股份有限公司 | Concrete distributing equipment and method, controller and device for suppressing vibration of arm support of concrete distributing equipment |
| CN103048040B (en) * | 2012-12-19 | 2015-07-08 | 中联重科股份有限公司 | Device, system and method for evaluating vibration of tail end of arm support |
| CN103629293B (en) * | 2013-12-04 | 2015-10-14 | 中联重科股份有限公司 | Method and device for inhibiting residual vibration of arm support |
| CN103777647B (en) * | 2014-02-17 | 2017-02-01 | 中联重科股份有限公司 | Arm support vibration reduction control system and control method and concrete distribution equipment |
| US11028898B2 (en) * | 2019-01-11 | 2021-06-08 | The Boeing Company | Couplings that actively stabilize vibrations |
| EP3929677A1 (en) * | 2020-06-24 | 2021-12-29 | Siemens Aktiengesellschaft | Vibration damping system and machine tool |
| CN114217646A (en) * | 2021-12-15 | 2022-03-22 | 三一汽车制造有限公司 | Arm support control method, arm support device, engineering vehicle and readable storage medium |
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| CN101550984A (en) * | 2009-04-03 | 2009-10-07 | 哈尔滨工程大学 | Active vibration absorption control method based on mechanical vibration absorption actuating mechanism |
| 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 |
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| JPH06307404A (en) * | 1993-04-21 | 1994-11-01 | Hitachi Constr Mach Co Ltd | Vibration restraint control device for operating apparatus on hydraulically operating machine |
| JPH10331426A (en) * | 1997-05-30 | 1998-12-15 | Mitsubishi Heavy Ind Ltd | Concrete pump car |
| 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 |
| CN200952235Y (en) * | 2006-09-30 | 2007-09-26 | 三一重工股份有限公司 | Apparatus for suppressing concrete pump vehicle arm frame vibrating |
| CN102071809B (en) * | 2011-01-12 | 2012-07-25 | 中联重科股份有限公司 | Concrete pump truck and vibration damping device and method for concrete pump truck arm support |
| CN102338191B (en) * | 2011-07-01 | 2013-06-05 | 三一重工股份有限公司 | Arm support vibration suppression method and system as well as arm-support-type engineering machinery |
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| CN101550984A (en) * | 2009-04-03 | 2009-10-07 | 哈尔滨工程大学 | Active vibration absorption control method based on mechanical vibration absorption actuating mechanism |
| 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 |
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