CN112664131A - Aerial ladder vibration control system, aerial ladder vibration control method and fire fighting truck - Google Patents
Aerial ladder vibration control system, aerial ladder vibration control method and fire fighting truck Download PDFInfo
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- CN112664131A CN112664131A CN202011580717.XA CN202011580717A CN112664131A CN 112664131 A CN112664131 A CN 112664131A CN 202011580717 A CN202011580717 A CN 202011580717A CN 112664131 A CN112664131 A CN 112664131A
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000013016 damping Methods 0.000 claims abstract description 16
- 230000001133 acceleration Effects 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 18
- 230000000737 periodic effect Effects 0.000 claims description 10
- 239000000725 suspension Substances 0.000 claims description 3
- 230000009194 climbing Effects 0.000 description 5
- 230000010355 oscillation Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
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Abstract
The invention discloses an aerial ladder vibration control system, a vibration control method and a fire engine, wherein the aerial ladder vibration control system comprises a swinging assembly and a damper (200); the swinging assembly comprises a weight (110) and a rope (120), the weight (110) is hung on the top of the aerial ladder (500) through the rope (120), and the single pendulum period of the swinging assembly is the same as the vibration period of the aerial ladder (500); the damper (200) is configured to be able to absorb the swing energy of the weight (110) and to be able to adjust the damping coefficient. The aerial ladder vibration control system can effectively, sensitively and accurately reduce the vibration of the aerial ladder, and is low in cost.
Description
Technical Field
The invention relates to the technical field of fire trucks, in particular to an aerial ladder vibration control system, a vibration control method and a fire truck.
Background
When high-altitude operation is performed (for example, when a climbing fire truck performs a rescue task), the climbing workbench is prone to vibration under external interference (such as impact, strong wind and the like), and natural damping of the vibration usually takes a long time, which directly affects the safety and timeliness of climbing operators. Therefore, the climbing workbench needs to have stronger stability in high-altitude operation so as to resist the vibration caused by external interference to rescue operation. At present, in the prior art, various methods are adopted to improve the stability of the climbing workbench during aloft work, but the following problems still exist: 1. when the vibration control method of the intelligent cantilever beam is adopted, piezoelectric materials are required to be added for control, so that the practicability and the economy are not strong. 2. When the control method of increasing the vibration suppression oil cylinder is adopted, the oil cylinder needs to be controlled to perform pulse motion by an electromagnetic valve, the danger coefficient is large, and the control method is not suitable for the manned aerial ladder. 3. When the method of driving the oil cylinder to vibrate repeatedly to reduce vibration is adopted, large impact can be generated on the arm support and the oil cylinder, the process is not smooth, the pulse motion danger coefficient is large, and the method is not suitable for the manned aerial ladder. 4. When the method that the driving oil cylinder regularly moves to reduce the vibration of the working platform is adopted, the requirements on the precision and the sensitivity of the electromagnetic valve control oil cylinder are high, the economy is not strong, and the vibration can be reduced only after the vibration occurs.
Disclosure of Invention
The invention aims to overcome the problems in the prior art and provides an aerial ladder vibration control system, a vibration control method and a fire engine.
In order to achieve the above object, the present invention provides an aerial ladder vibration control system, comprising a swing assembly and a damper; the swinging assembly comprises a weight block and a rope, the weight block is suspended at the top of the aerial ladder through the rope, and the single-pendulum period of the swinging assembly is the same as the vibration period of the aerial ladder; the damper is configured to be able to absorb the swing energy of the weight and to be able to adjust the damping coefficient.
Optionally, the swing assembly is configured to be able to adjust a simple pendulum period; preferably, the swing assembly is configured to be able to adjust the length of the suspended portion of the rope; preferably, the swing assembly is configured to be able to adjust the weight or shape of the weight.
Optionally, the aerial ladder vibration control system includes a detection component configured to obtain a current vibration period of the aerial ladder and form a periodic signal.
Optionally, the detection assembly comprises an acceleration sensor for detecting a vibration acceleration of the aerial ladder.
Optionally, aerial ladder vibration control system is including being used for installing driving motor on the aerial ladder, the both ends of rope respectively with driving motor with the weight is connected.
Optionally, the aerial ladder vibration control system includes a controller, the damper, the detection assembly and the driving motor are respectively electrically connected to the controller, and the controller is configured to be able to receive the periodic signal of the detection assembly and control the operation of the damper and the driving motor according to the periodic signal.
According to the technical scheme, as the simple pendulum period of the swing assembly is the same as the vibration period of the aerial ladder, the aerial ladder which vibrates can transmit the energy in the vibration to the swing assembly, so that the aim of reducing the self amplitude is achieved, and then the damper can effectively absorb the energy of the weight block of the swing assembly by adjusting the damping coefficient of the damper to a proper value, so that the vibration of the aerial ladder is reduced.
The invention further provides a fire fighting truck which comprises the aerial ladder and the aerial ladder vibration control system.
The invention also provides an aerial ladder vibration control method, which comprises the following steps: s1, hanging a weight on the top of the aerial ladder and installing a damper capable of absorbing the swinging energy of the weight; s2, obtaining the current vibration period of the aerial ladder according to the extension and retraction amount of the aerial ladder; and S3, adjusting the swing period of the weight block and the damping coefficient of the damper according to the vibration period.
Optionally, step S2 includes: s2-1, detecting the vibration acceleration of the aerial ladder through an acceleration sensor; and S2-2, calculating the current vibration period of the aerial ladder through the vibration acceleration.
Optionally, step S3 includes: s3-1, adjusting the swing period of the weight by adjusting the suspension height of the weight; or, S3-1, adjusting the period of oscillation of the weight by adjusting the weight or shape of the weight.
Compared with the prior art, the fire fighting truck and the aerial ladder vibration control system and method have the same advantages, and are not described again.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
Fig. 1 is a schematic diagram of one embodiment of an aerial ladder vibration control system of the present invention.
Description of the reference numerals
110-weight, 120-rope, 200-damper, 300-detection assembly 400-driving motor, 500-aerial ladder
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
As shown in fig. 1, the aerial ladder vibration control system of the present invention includes a swing assembly and a damper 200; the swinging assembly comprises a weight 110 and a rope 120, the weight 110 is suspended at the top of the aerial ladder 500 through the rope 120, and the single pendulum period of the swinging assembly is the same as the vibration period of the aerial ladder 500; the damper 200 is configured to be able to absorb the swing energy of the weight 110 and to be able to adjust the damping coefficient.
In the present invention, since the simple pendulum period of the oscillating assembly is the same as the oscillation period of the aerial ladder 500, which vibrates, transfers the energy of the oscillation to the oscillating assembly, thereby achieving the purpose of reducing its own amplitude, and then, by adjusting the damping coefficient of the damper 200 to a proper value, the damper 200 effectively absorbs the energy from the weight 110 of the oscillating assembly, thereby reducing the oscillation of the aerial ladder 500.
It should be noted that, for different vibration periods of the aerial ladder 500 and single pendulum periods of the pendulum assembly, the damping coefficients of the damper 200 matched with the vibration periods are different, and the suitable damping coefficient of the damper 200 can be obtained by calculation and experiments, which is a known technology, and the invention is not further described.
The key point that the aerial ladder vibration control system can effectively, sensitively and accurately reduce the vibration of the aerial ladder is as follows: the aerial ladder 500 which is stressed to vibrate and the swing component which swings under the influence of the aerial ladder 500 have the characteristic of periodic motion, and the periods of the aerial ladder 500 and the swing component are equal, namely the single swing period of the swing component is equal to the vibration period of the aerial ladder 500. In addition, when the swing assembly vibrates, a proper damping coefficient is required to absorb and dissipate energy, so that the aerial ladder 500 does not vibrate greatly.
In practical applications, since the aerial ladder 500 can be extended and retracted, the aerial ladder 500 has a length that changes after being extended and retracted, and thus a vibration period thereof changes. In order to adapt the aerial ladder vibration control system of the present invention to the telescopic action of the aerial ladder 500 to reduce the vibration of the aerial ladder 500 more effectively, sensitively and precisely, in one embodiment of the present invention, the swing assembly is configured to be able to adjust the simple pendulum period. When the vibration period of the aerial ladder 500 changes, the simple pendulum period of the swing assembly is adjusted to be consistent with the current vibration period of the aerial ladder 500, and the damping coefficient of the damper 200 is adjusted to achieve the purpose of reducing the vibration of the aerial ladder 500.
It should be understood that the simple pendulum period of the pendulum assembly can be adjusted in various ways, for example, the purpose of adjusting the simple pendulum period of the weight 110 can be achieved by adjusting the length L of the suspended portion of the rope 120, and the purpose of adjusting the simple pendulum period of the weight 110 can also be achieved by adjusting the weight or shape of the weight 110.
In some cases, the operator can effectively obtain the current vibration period of the aerial ladder 500 by recording the relationship between the extension amount and the vibration period of the aerial ladder in advance. In order to enable the operator to more conveniently obtain the current vibration period of the aerial ladder 500, in one embodiment of the invention, the aerial ladder vibration control system comprises a detection assembly 300, and the detection assembly 300 is configured to obtain the current vibration period of the aerial ladder 500 and form a periodic signal.
It should be understood that the detection assembly 300 may obtain the current vibration period of the aerial ladder 500 in various ways, for example, vibration period values corresponding to different expansion amounts of the aerial ladder 500 may be pre-stored in the detection assembly 300, and the detection assembly 300 further includes a length sensing device capable of detecting the expansion amount of the aerial ladder 500, so as to obtain the vibration period corresponding to the current expansion amount by detecting the expansion amount of the aerial ladder 500 in real time. In order to obtain the current vibration cycle of the aerial ladder 500 more conveniently and quickly, in an embodiment of the present invention, the detecting assembly 300 includes an acceleration sensor for detecting the vibration acceleration of the aerial ladder 500, so that the detecting assembly 300 does not need to store a large number of vibration cycle values corresponding to different expansion and contraction amounts of the aerial ladder 500 in advance, and only needs to obtain the current vibration cycle conveniently and quickly through a formula of the acceleration and the vibration cycle.
To save costs, the length L of the suspended portion of the rope 120 may be manually adjusted to make the simple pendulum period of the weight 110 coincide with the current vibration period of the aerial ladder 500. In one embodiment of the present invention, in order to adjust the length L of the suspended portion of the rope 120 more easily and precisely, the aerial ladder vibration control system further includes a driving motor 400 for being mounted on the aerial ladder, and both ends of the rope 120 are connected to the driving motor 400 and the weight 110, respectively. That is, the rope 120 is contracted by controlling the operation of the driving motor 400, thereby achieving the purpose of adjusting the length L of the suspended portion of the rope 120.
In order to effectively, sensitively and precisely reduce the vibration of the aerial ladder, in one embodiment of the present invention, the aerial ladder vibration control system of the present invention further includes a controller, the damper 200, the detection assembly 300 and the driving motor 400 are electrically connected to the controller respectively, and the controller is configured to receive a periodic signal of the detection assembly 300 and control the operation of the damper 200 and the driving motor 400 according to the periodic signal. In the above embodiment, specifically, the acceleration sensor detects the vibration acceleration of the aerial ladder 500, the detection assembly 300 calculates the current vibration period of the aerial ladder 500 and transmits the vibration period to the controller, the controller receives the period signal and recognizes the period signal, and controls the operation of the driving motor 400 and the damper 200 according to the period signal to adjust the length L of the suspended portion of the rope 120 and the damping coefficient of the damper 200, so that the single pendulum period of the weight block 110 coincides with the current vibration period of the aerial ladder 500, and the damping coefficient of the damper 200 is adjusted to a value suitable for the single pendulum period of the weight block 110, thereby effectively, sensitively and accurately reducing the vibration of the aerial ladder 500.
The aerial ladder vibration control system can effectively reduce the vibration of the aerial ladder 500 caused by external interference force under different frequencies on the premise of low cost, and avoid the resonance phenomenon of the arm support of the aerial ladder 500 under the action of external driving force. Compared with the control of a hydraulic system, the aerial ladder vibration control system has the advantages that the system response controlled by the driving motor 400 is more sensitive, more accurate and lower in cost. In addition, the energy dissipation of the aerial ladder vibration control system is realized by reducing the swing energy of the weight block 110 through the damper 200, the vibration reduction is convenient, and the structural design is simple.
The invention also provides an aerial ladder vibration control method, which comprises the following steps:
s1, hanging the weight 110 on the top of the aerial ladder 500 and installing a damper 200 capable of absorbing the swing energy of the weight 110;
s2, obtaining the current vibration period of the aerial ladder 500 according to the telescopic amount of the aerial ladder 500;
and S3, adjusting the swing period of the weight 110 and the damping coefficient of the damper 200 according to the vibration period.
Further, step S2 includes:
s2-1, detecting the vibration acceleration of the aerial ladder 500 through an acceleration sensor;
and S2-2, calculating the current vibration period of the aerial ladder 500 through the vibration acceleration.
Further, step S3 includes:
s3-1, adjusting the swing period of the weight 110 by adjusting the suspension height of the weight 110;
alternatively, S3-1, the period of oscillation of the weight 110 is adjusted by adjusting the weight or shape of the weight 110.
The invention also provides a fire fighting truck, which comprises the aerial ladder 500 and the aerial ladder vibration control system.
Compared with the prior art, the fire fighting truck and the aerial ladder vibration control system and method have the same advantages, and are not described again.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, many simple modifications may be made to the technical solution of the invention, and in order to avoid unnecessary repetition, various possible combinations of the invention will not be described further. Such simple modifications and combinations should be considered within the scope of the present disclosure as well.
Claims (10)
1. An aerial ladder vibration control system, comprising a swing assembly and a damper (200);
the swinging assembly comprises a weight (110) and a rope (120), the weight (110) is hung on the top of the aerial ladder (500) through the rope (120), and the single pendulum period of the swinging assembly is the same as the vibration period of the aerial ladder (500);
the damper (200) is configured to be able to absorb the swing energy of the weight (110) and to be able to adjust the damping coefficient.
2. The aerial ladder vibration control system of claim 1, wherein the pendulum assembly is configured to be capable of adjusting a simple pendulum period;
preferably, the swinging assembly is configured to be able to adjust the length of the suspended portion of the rope (120);
preferably, the swing assembly is configured to be able to adjust the weight or shape of the weight block (110).
3. Aerial ladder vibration control system as claimed in claim 2, characterized in that it comprises a detection assembly (300), said detection assembly (300) being configured to be able to obtain a current vibration period of the aerial ladder (500) and to form a periodic signal.
4. Aerial ladder vibration control system as claimed in claim 3, characterized in that the detection assembly (300) comprises an acceleration sensor for detecting a vibration acceleration of the aerial ladder (500).
5. Aerial ladder vibration control system as claimed in claim 3 or 4, characterized in that the aerial ladder vibration control system comprises a drive motor (400) for mounting on the aerial ladder, both ends of the rope (120) being connected with the drive motor (400) and the weight block (110), respectively.
6. The aerial ladder vibration control system as claimed in claim 5, comprising a controller to which the damper (200), the detection assembly (300) and the drive motor (400) are electrically connected, respectively, the controller being configured to receive the periodic signal of the detection assembly (300) and to control the operation of the damper (200) and the drive motor (400) in accordance with the periodic signal.
7. A fire fighting vehicle, characterized in that it comprises an aerial ladder and an aerial ladder vibration control system as claimed in any one of claims 1-6.
8. The aerial ladder vibration control method is characterized by comprising the following steps:
s1, hanging a weight (110) on the top of the aerial ladder (500) and installing a damper (200) capable of absorbing the swinging energy of the weight (110);
s2, obtaining the current vibration period of the aerial ladder (500) according to the telescopic amount of the aerial ladder (500);
s3, adjusting the swing period of the weight block (110) and the damping coefficient of the damper (200) according to the vibration period.
9. The aerial ladder vibration control method as claimed in claim 8, wherein the step S2 includes:
s2-1, detecting the vibration acceleration of the aerial ladder (500) through an acceleration sensor;
and S2-2, calculating the current vibration period of the aerial ladder (500) through the vibration acceleration.
10. The aerial ladder vibration control method as claimed in claim 8 or 9, wherein the step S3 includes:
s3-1, adjusting the swing period of the weight (110) by adjusting the suspension height of the weight (110);
or the like, or, alternatively,
s3-1, adjusting the swing period of the weight (110) by adjusting the weight or the shape of the weight (110).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011580717.XA CN112664131A (en) | 2020-12-28 | 2020-12-28 | Aerial ladder vibration control system, aerial ladder vibration control method and fire fighting truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011580717.XA CN112664131A (en) | 2020-12-28 | 2020-12-28 | Aerial ladder vibration control system, aerial ladder vibration control method and fire fighting truck |
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| CN112664131A true CN112664131A (en) | 2021-04-16 |
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| CN202011580717.XA Pending CN112664131A (en) | 2020-12-28 | 2020-12-28 | Aerial ladder vibration control system, aerial ladder vibration control method and fire fighting truck |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201281100Y (en) * | 2008-02-27 | 2009-07-29 | 中国科学院长春应用化学研究所 | Gradient damping piece |
| CN102444684A (en) * | 2011-11-14 | 2012-05-09 | 江苏宇杰钢机有限公司 | Vibration absorber for cycloid type wind driven generator tower |
| CN103003182A (en) * | 2010-07-30 | 2013-03-27 | 奥的斯电梯公司 | Elevator system with rope sway detection |
| CN103383572A (en) * | 2013-08-07 | 2013-11-06 | 中联重科股份有限公司 | Engineering machinery and vibration control method, control device and control system of arm support of engineering machinery |
| CN204041852U (en) * | 2014-08-13 | 2014-12-24 | 同济大学建筑设计研究院(集团)有限公司 | A kind of pendulum length changable type tuned mass damper |
| CN106989130A (en) * | 2017-05-09 | 2017-07-28 | 同济大学 | A kind of half active mono-pendulum type eddy current tuned mass damper |
-
2020
- 2020-12-28 CN CN202011580717.XA patent/CN112664131A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201281100Y (en) * | 2008-02-27 | 2009-07-29 | 中国科学院长春应用化学研究所 | Gradient damping piece |
| CN103003182A (en) * | 2010-07-30 | 2013-03-27 | 奥的斯电梯公司 | Elevator system with rope sway detection |
| CN102444684A (en) * | 2011-11-14 | 2012-05-09 | 江苏宇杰钢机有限公司 | Vibration absorber for cycloid type wind driven generator tower |
| CN103383572A (en) * | 2013-08-07 | 2013-11-06 | 中联重科股份有限公司 | Engineering machinery and vibration control method, control device and control system of arm support of engineering machinery |
| CN204041852U (en) * | 2014-08-13 | 2014-12-24 | 同济大学建筑设计研究院(集团)有限公司 | A kind of pendulum length changable type tuned mass damper |
| CN106989130A (en) * | 2017-05-09 | 2017-07-28 | 同济大学 | A kind of half active mono-pendulum type eddy current tuned mass damper |
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| CB02 | Change of applicant information |
Address after: 410200 No. 997, Section 2, Tengfei Road, Wangcheng District, Changsha City, Hunan Province Applicant after: Hunan Zoomlion emergency equipment Co.,Ltd. Address before: No.997 Jinxing Road, Wangcheng District, Changsha City, Hunan Province Applicant before: Changsha Zhonglian Fire-Fighting Machinery Co.,Ltd. |
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Application publication date: 20210416 |
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| RJ01 | Rejection of invention patent application after publication |