CN112901890A - Concrete pump truck arm support concrete pipe support vibration damping device and vibration damping method - Google Patents
Concrete pump truck arm support concrete pipe support vibration damping device and vibration damping method Download PDFInfo
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- 238000013016 damping Methods 0.000 title claims abstract description 240
- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000000452 restraining effect Effects 0.000 claims abstract description 141
- 230000009467 reduction Effects 0.000 claims abstract description 40
- 230000001629 suppression Effects 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims description 49
- 239000013598 vector Substances 0.000 claims description 28
- 238000003825 pressing Methods 0.000 claims description 5
- 230000035939 shock Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 12
- 239000010720 hydraulic oil Substances 0.000 description 12
- 230000005764 inhibitory process Effects 0.000 description 10
- 239000003921 oil Substances 0.000 description 10
- 239000000463 material Substances 0.000 description 9
- 238000009434 installation Methods 0.000 description 8
- 230000002829 reductive effect Effects 0.000 description 8
- 238000005299 abrasion Methods 0.000 description 5
- 230000003139 buffering effect Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 230000002035 prolonged effect Effects 0.000 description 4
- 238000005086 pumping Methods 0.000 description 4
- 230000002401 inhibitory effect Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 1
- 238000010924 continuous production Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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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
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/02—Energy absorbers; Noise absorbers
- F16L55/033—Noise absorbers
- F16L55/035—Noise absorbers in the form of specially adapted hangers or supports
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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
- F16F15/0232—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 with at least one gas spring
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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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- On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
Abstract
The invention provides a concrete pump truck arm support concrete pipe support vibration damping device and a vibration damping method, and belongs to the field of engineering machinery. The support vibration damping device includes: the pipe hoop is used for fixing the concrete pipe; and the vibration reduction restraining force generating device is fixedly arranged on the pipe hoop and is used for generating vibration reduction restraining force required by restraining the vibration of the concrete pipe. A vibration impact detection device can be arranged for detecting vibration impact of the vibration damping restraining force generation device due to vibration of the concrete pipe; the control unit calculates a vibration damping suppression force required to be generated by the vibration damping suppression force generation device according to the detected vibration impact, and controls the vibration damping suppression force generation device to generate a corresponding vibration damping suppression force. The vibration direction and the vibration size can be determined through vibration detection, the vibration reduction restraining force generating devices in different directions are controlled to generate vibration reduction restraining force according to the actual vibration direction and the actual vibration size, vibration impact in the working process of the concrete pipe is restrained, vibration of the arm support is restrained from a vibration source head, and accurate vibration reduction is achieved.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a concrete pump truck cantilever crane concrete pipe supporting and damping device, a concrete pump truck cantilever crane concrete pipe supporting and damping method and a concrete pump truck.
Background
The concrete pump truck develops towards the direction of multi-arm sections, long arm frames and large displacement, and the dynamic performance of the concrete pump truck determines the performance of the whole concrete pump truck. The operation working conditions of the pump truck are generally severe, the load conditions are very complex, the angles of all joints of the arm support of the pump truck are uncertain parameters, the configuration changes variously, the system natural frequency of the arm support changes greatly, the dynamic response of each configuration has uncertainty, and when the external load frequency is close to the system natural frequency, resonance is generated and the structure fails rapidly. The vibration causes early cracks and even breakage of the arm support, so that the stability of the pump truck is deteriorated to cause rollover, the construction quality of pouring engineering is influenced, and the construction difficulty is increased to harm the safety of operators. Therefore, how to alleviate the vibration impact caused in the concrete conveying process is a problem to be solved urgently in the field.
Various studies have been made to alleviate the vibration impact caused during the concrete transportation process. The research and application of concrete pump truck comparative vibration suppression technology, Shenming and Fangyi, two-position, provide that the boom cylinder is equivalent to a cylinder with a spring and a damping device, the force at the boom cylinder is analyzed, the elastic coefficient and the damping coefficient can be determined when the boom cylinder is designed, the displacement sensor can measure the displacement of the boom cylinder, the movement direction of the piston can be judged according to the movement speed of the piston rod and the pressure of two piston cavities, and the ideal speed for effectively suppressing the vibration can be achieved by controlling the hydraulic cylinder operating valve through the speed controller. In practice, the boom cylinder belongs to a rigid-flexible coupling system, but in the scheme, the boom cylinder is only regarded as a flexible system. On the other hand, the elastic coefficient and the damping coefficient of the boom cylinder are not easy to determine.
The patent with the application number of 201820822382.X discloses an anti-seismic manifold base, which comprises a clamping hoop, a first assembly, a second assembly and a first elastic piece, wherein the second assembly is in a circular arc shape and is coaxially arranged in a ring of the first assembly, the second assembly and the first assembly are connected through a plurality of first elastic pieces arranged at intervals, the second assembly clamps a manifold in use, and the first elastic pieces provide a vibration damping function. According to the scheme, the elastic piece is used as a key part of vibration reduction, and the elastic piece can provide buffering to reduce the influence of vibration impact on the arm support during vibration. However, the scheme is still passive vibration reduction, and the vibration of the arm support cannot be completely eliminated by reducing the amplitude through the damping material.
Disclosure of Invention
The support device is provided with a vibration damping restraining force generating device which can actively generate vibration damping restraining force under the control of a control unit to restrain vibration impact in the working process of the concrete pipe, and restrain the vibration of the arm support from a vibration source head, so that the vibration damping can be realized only by controlling the generation restraining force of the vibration damping restraining force generating device without establishing a kinematic model of the arm support.
In order to achieve the above object, a first aspect of the present invention provides a concrete pipe support vibration damping device for an arm support of a concrete pump truck, the support vibration damping device comprising:
the pipe hoop is used for fixing the concrete pipe;
the vibration reduction restraining force generating device is fixedly arranged on the pipe hoop and used for generating vibration reduction restraining force required by restraining vibration of the concrete pipe;
a control unit for controlling the vibration damping suppression force generation device to generate a vibration damping suppression force.
Optionally, the support damping device further includes:
the vibration and impact detection device is arranged on the vibration damping restraining force generation device and is used for detecting the vibration and impact of the vibration damping restraining force generation device due to the vibration of the concrete pipe;
the control unit is used for calculating the vibration damping restraining force required to be generated by the vibration damping restraining force generation device according to the detected vibration impact and controlling the vibration damping restraining force generation device to generate the corresponding vibration damping restraining force. The vibration impact detection device detects the vibration impact received by the vibration damping restraining force generation device, the direction and the size of vibration can be determined, the vibration damping restraining force generation devices in different directions are controlled to generate vibration damping restraining force according to the direction and the size of actual vibration, accurate vibration damping is achieved, on the other hand, abrasion to the vibration damping restraining force generation device can be reduced to a certain extent, and certain energy is saved.
Optionally, the vibration and shock detection device comprises a pressure sensor or a displacement sensor. The pressure sensor detects the pressure applied to the vibration damping restraining force generation device, then the pressure can be converted into the displacement of the corresponding component of the vibration damping restraining force generation device according to a physical calculation formula, and then the control quantity of the control unit is calculated according to the parameters of the vibration damping restraining force generation device and the physical calculation formula. The displacement sensor detects the displacement of the corresponding component of the vibration damping restraining force generation device, and the control quantity of the control unit can be directly obtained through calculation.
Furthermore, the pipe hoop is of an annular structure and comprises two semicircular pipe hoop units which are oppositely arranged, one ends of the two pipe hoop units are hinged, and the other ends of the two pipe hoop units are locked through a locking unit; the tail end of the damping restraining force generating device is fixedly arranged on the pipe clamp, and the top end of the damping restraining force generating device faces to the center of the pipe clamp.
Further, the support vibration damping device further includes: the pipe hoop base is fixedly connected with the outer surface of any pipe hoop unit and is used for supporting the pipe hoop; the pipe hoop connecting plate is fixedly connected with the pipe hoop base and used for supporting the pipe hoop base and realizing the fixation of the supporting vibration damper. The supporting vibration damper can be installed on the concrete pump truck arm frame through the pipe hoop base and the pipe hoop connecting plate, and the fixing of the supporting vibration damper is realized.
Because a certain distance needs to be kept between the concrete pipe of the concrete pump truck and the arm support to avoid interference between the concrete pipe and the arm support in the unfolding and folding processes, the pipe hoop base needs to be designed with enough size.
Optionally, the support damping device further includes: the concrete pipe support plate is detachably connected with the pipe hoop connecting plate, one end of the concrete pipe support arm is fixedly connected with the concrete pipe support plate, and the other end of the concrete pipe support arm is fixedly connected with the concrete pipe support base; the concrete pipe supporting base is fixedly installed on the concrete pump truck arm frame. The concrete pipe is provided with the concrete pipe supporting arm for increasing the distance between the pipe hoop supporting the vibration damper and the arm support, so that the interference between the concrete pipe and the arm support in the unfolding and folding processes is avoided.
Optionally, the damping restraining force generating device comprises a hydraulic oil cylinder, an air cylinder or an electric push rod.
Optionally, the supporting and damping device further comprises:
and the concrete pipe base plate is fixedly arranged at the top end of the vibration reduction restraining force generating device and is used for contacting and pressing the concrete pipe when the vibration reduction restraining force generating device provides vibration reduction restraining force. The concrete pipe backing plate is made of flexible materials, can form buffering between the concrete pipe and the vibration reduction pressure generating device, provides passive damping, and simultaneously enables the concrete pipe backing plate to be suitable for concrete pipes with different diameters. The combination of the concrete pipe base plate and the vibration damping restraining force generating device realizes the combination of passive vibration damping and active vibration damping, can reduce vibration through a passive vibration damping material, and can detect the vibration direction and position through a sensor to realize accurate vibration damping.
Optionally, the number of the vibration damping suppression force generation devices and the vibration impact detection device is at least three. Three damping restraining power generating device has formed the triangle-shaped location, can realize the automation of concrete pipe location placed in the middle, and the concrete pipe installation of being convenient for, three and above damping restraining power generating device can effectively avoid the concrete pipe to slide, promotes concrete pipe installation stability.
The invention provides a concrete pump truck arm support concrete pipe support vibration damping method, which adopts the concrete pump truck arm support concrete pipe support vibration damping device to damp and restrain the vibration of a concrete pipe.
Optionally, the method includes:
detecting the vibration impact of the vibration damping restraining force generating device due to the vibration of the concrete pipe by using a vibration impact detecting device;
and calculating the vibration damping restraining force required to be generated by the vibration damping restraining force generating device through a control unit according to the detected vibration impact, and controlling the vibration damping restraining force generating device to generate corresponding vibration damping restraining force to act on the concrete pipe so as to damp and restrain the concrete pipe. The vibration impact detection device detects the vibration impact received by the vibration damping restraining force generation device, the direction and the size of vibration can be determined, the vibration damping restraining force generation devices in different directions are controlled to generate vibration damping restraining force according to the direction and the size of actual vibration, accurate vibration damping is achieved, on the other hand, abrasion to the vibration damping restraining force generation device can be reduced to a certain extent, and certain energy is saved.
Further, the calculating of the vibration damping suppression force that needs to be generated by the vibration damping suppression force generation device based on the detected vibration impact includes:
calculating the displacement vector sum of the vibration impact according to a parallelogram rule;
determining a displacement vector of vibration damping restraining force according to the sum of the displacement vectors of the vibration impacts;
and decomposing the displacement vector of the vibration damping restraining force into the displacement vectors of the vibration damping restraining force generation devices, wherein different displacement vectors correspond to different vibration damping restraining forces.
The third aspect of the invention provides a concrete pump truck, which is provided with the concrete pump truck cantilever crane concrete pipe supporting and damping device. The concrete pipe support vibration damping device for the arm support of the concrete pump truck is used for damping vibration, so that the time of generating cracks or fracture of the arm support can be greatly prolonged, the service life of the arm support is prolonged, the stability of the concrete pump truck is improved, and the construction quality of pouring engineering is guaranteed.
In another aspect, the present invention provides a computer-readable storage medium having instructions stored thereon for causing a machine to execute the concrete pump truck boom concrete pipe support vibration damping method.
Through the technical scheme, on one hand, the supporting device is provided with the vibration reduction restraining force generating device, so that vibration reduction restraining force can be actively generated under the control of the control unit to restrain vibration impact in the working process of the concrete pipe, the vibration of the arm support is restrained from the vibration source head, a kinematic model of the arm support is not required to be established, and vibration reduction can be realized only by controlling the generation restraining force of the vibration reduction restraining force generating device.
On the other hand, the concrete pipe is provided with a vibration impact detection device to detect vibration reduction dynamic impact, and the vibration reduction restraining force generation device is controlled to generate corresponding vibration reduction restraining force according to the vibration impact, so that accurate vibration reduction is realized.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a schematic structural view of a concrete pump truck boom concrete pipe support damping device according to a first embodiment of the present invention;
FIG. 2 is a schematic view of a concrete pump truck boom concrete pipe support damping device according to a first embodiment of the present invention;
FIG. 3 is a schematic structural view of a concrete pump truck boom concrete pipe support damping device according to a second embodiment of the present invention;
FIG. 4 is a schematic view of a concrete pump truck boom concrete pipe support damping device according to a second embodiment of the present invention;
FIG. 5 is a schematic structural view of a concrete pump truck boom concrete pipe support damping device according to a third embodiment of the present invention;
FIG. 6 is a schematic view of a concrete pump truck boom concrete pipe support damping device according to a third embodiment of the present invention;
FIG. 7 is a flow chart of the concrete pipe support damping method of the concrete pump truck arm support of the present invention.
Description of the reference numerals
1-damping inhibition force generation device, 2-concrete pipe base plate, 3-locking unit, 4-pipe hoop, 5-connecting bolt, 6-concrete pipe support plate, 7-concrete pipe support arm, 8-concrete pipe support base, 9-pipe hoop connecting plate, 10-pipe hoop base, 11-vibration impact detection device and 12-pipe hoop connecting pin shaft.
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.
Example one
As shown in fig. 1 and 2, a concrete pump truck boom concrete pipe supporting and damping device according to a first embodiment of the present invention includes:
the pipe hoop 4 is used for fixing a concrete pipe;
the damping inhibition force generating device 1 is fixedly arranged on the pipe hoop 4 and used for generating damping inhibition force required by inhibiting the vibration of the concrete pipe;
a control unit for controlling the vibration damping suppression force generation device 1 to generate vibration damping suppression force.
It should be noted that the control unit is used for sending a control signal, a generating device of the specific damping inhibition force generating device 1 needs to be driven by corresponding auxiliary equipment, if the damping inhibition force generating device is a hydraulic oil cylinder, a corresponding oil circuit, an oil pump, an oil tank and a valve are needed to drive the hydraulic oil cylinder to generate damping inhibition force, and the control signal sent by the control unit is used for controlling the oil pump and the valve to feed oil or discharge oil, so that the thrust of the hydraulic oil cylinder is increased or reduced; if the damping restraining force generating device is an air cylinder, the corresponding air path, air source and valve are needed to drive the air cylinder to generate damping restraining force, and the control signal sent by the control unit is used for controlling the air source and the valve to increase air supply or decrease air supply so as to increase thrust or decrease thrust of the air cylinder; if the vibration damping restraining force generating device is an electric push rod, the motor is required to drive the push rod to generate vibration damping restraining force, and a control signal sent by the control unit is used for controlling the motor to positively transmit or reversely rotate so as to increase thrust or decrease thrust of the electric push rod.
The number of the vibration damping suppression force generation devices 1 is at least three. Three damping restraining power generating device has formed the triangle location, can realize the automation of concrete pipe location placed in the middle, and the concrete pipe installation of being convenient for, three damping restraining power generating device 1 more than and can effectively avoid the concrete pipe to slide, promotes concrete pipe installation stability.
The top end of the vibration reduction restraining force generating device 1 is fixedly provided with a concrete pipe base plate 2, and the concrete pipe base plate 2 is used for contacting and pressing the concrete pipe when the vibration reduction restraining force generating device 1 provides vibration reduction restraining force. The concrete pipe backing plate 2 is made of flexible materials, so that buffering can be formed between the concrete pipe and the vibration reduction pressure generating device, passive damping is provided, and the concrete pipe backing plate 2 can be suitable for concrete pipes with different diameters.
The pipe hoop 4 is of an annular structure and comprises two semicircular pipe hoop units which are oppositely arranged, one ends of the two pipe hoop units are hinged through a pipe hoop connecting pin shaft 12, and the other ends of the two pipe hoop units are locked through a locking unit 3; the tail end of the damping restraining force generating device (1) is fixedly arranged on the pipe hoop (4), and the top end of the damping restraining force generating device faces to the center of the pipe hoop (4). In some embodiments the locking unit 3 is a locking bolt. The outer surface of one of the pipe hoop units is fixedly connected with a pipe hoop base 10, and the pipe hoop base 10 is used for supporting the pipe hoop 4; the other end of the pipe hoop base 10 is connected with a pipe hoop connecting plate 9, and the pipe hoop connecting plate 9 is used for supporting the pipe hoop base 10 and fixing the supporting vibration damper on the arm support. It should be noted that, since a certain distance needs to be kept between the concrete pipe of the concrete pump truck and the boom to avoid interference between the concrete pipe and the boom during the unfolding and folding processes, the pipe hoop base 10 needs to be designed with a sufficient size.
When the concrete pump truck cantilever crane concrete pipe support vibration damper in the embodiment is used, firstly, the concrete pipe support vibration damper is fixedly installed on a cantilever through the pipe hoop connecting plate 9, then the locking bolt is opened, the pipe hoop unit is rotated by taking the pipe hoop connecting pin shaft 12 as an axis, the pipe hoop 4 is opened, the concrete pipe is placed into the pipe hoop 4, the locking bolt is locked, and the control unit adjusts the vibration damping restraining force generation device 1 to enable the concrete pipe base plate 2 to tightly press the concrete pipe, so that the concrete pipe is fixed. In order to alleviate the impact of the vibration damping suppressing force generating device 1 and avoid the occurrence of a collision, the vibration damping suppressing force generating device 1 needs to have a certain displacement when the concrete pipe is fixedly installed.
When the concrete pipe starts to convey concrete, the control unit controls the vibration damping restraining force generating device 1 to provide vibration damping restraining force, so that vibration of the arm support caused by impact of the concrete on the concrete pipe is restrained.
Example two
As shown in fig. 3 and 4, a concrete pump truck boom concrete pipe supporting and damping device according to a second embodiment of the present invention includes:
the pipe hoop 4 is used for fixing a concrete pipe;
the damping inhibition force generating device 1 is fixedly arranged on the pipe hoop 4 and used for generating damping inhibition force required by inhibiting the vibration of the concrete pipe;
a vibration impact detection device 11 mounted on the vibration damping suppression force generation device 1 for detecting vibration impact of the vibration damping suppression force generation device 1 caused by vibration of the concrete pipe;
and the control unit is used for calculating the vibration damping restraining force required to be generated by the vibration damping restraining force generation device 1 according to the vibration impact detected by the vibration damping restraining force generation device 1 and controlling the vibration damping restraining force generation device 1 to generate the corresponding vibration damping restraining force. The vibration impact detection device 11 detects the vibration impact received by the vibration damping restraining force generation device, the direction and the magnitude of the vibration can be determined, the vibration damping restraining force generation devices in different directions are controlled to generate vibration damping restraining force according to the direction and the magnitude of actual vibration, accurate vibration damping is achieved, on the other hand, abrasion to the vibration damping restraining force generation devices can be reduced to a certain extent, and certain energy is saved.
In the present embodiment, the vibration/impact detection device 11 is a pressure sensor, and the vibration damping suppression force generation device 1 is a hydraulic cylinder. The pressure sensor detects the pressure applied to the hydraulic oil cylinder, then the pressure can be converted into the displacement of the corresponding piston of the hydraulic oil cylinder according to a physical calculation formula, and then the control quantity of the control unit is calculated according to the parameters of the hydraulic oil cylinder and the physical calculation formula. The control unit sends out control signal control oil pump and valve and carry out oil feed or oil discharge to make hydraulic cylinder piston advance or retreat corresponding displacement.
In some embodiments there are three hydraulic rams. Three hydraulic cylinder has formed the triangle location, can realize the automation of concrete pipe location placed in the middle, and the concrete pipe installation of being convenient for can effectively avoid the concrete pipe to slide, promotes concrete pipe installation stability. In some embodiments, one of the three hydraulic rams is located in the upper portion of the pipe clamp 4 and the other two hydraulic rams are located in the lower portion of the pipe clamp 4. In other embodiments, two of the three hydraulic rams are arranged in a direction of greater vibrational shock and the other is arranged in the opposite direction. In other embodiments, three hydraulic rams are evenly spaced at 120 ° angles on the pipe clamp 4.
The top end of the vibration reduction restraining force generating device 1 is fixedly provided with a concrete pipe base plate 2, and the concrete pipe base plate 2 is used for contacting and pressing the concrete pipe when the vibration reduction restraining force generating device 1 provides vibration reduction restraining force. The concrete pipe backing plate 2 is made of flexible materials, so that buffering can be formed between the concrete pipe and the vibration reduction pressure generating device, passive damping is provided, and the concrete pipe backing plate 2 can be suitable for concrete pipes with different diameters. The combination of the concrete pipe base plate 2 and the vibration damping restraining force generating device 1 realizes the combination of passive vibration damping and active vibration damping, can reduce vibration through a passive vibration damping material, and can detect the vibration direction and position through a sensor to realize accurate vibration damping.
The pipe hoop 4 is of an annular structure and comprises two semicircular pipe hoop units which are oppositely arranged, one ends of the two pipe hoop units are hinged through a pipe hoop connecting pin shaft 12, and the other ends of the two pipe hoop units are locked through a locking unit 3; the damping restraining force generating device 1 is fixedly mounted at the rear end of the pipe clamp 4, and the top end faces the center of the pipe clamp 4. In some embodiments the locking unit 3 is a locking bolt. The outer surface of one of the pipe hoop units is fixedly connected with a pipe hoop base 10, and the pipe hoop base 10 is used for supporting the pipe hoop 4; the other end of the pipe hoop base 10 is connected with a pipe hoop connecting plate 9, and the pipe hoop connecting plate 9 is used for supporting the pipe hoop base 10 and fixing the supporting vibration damper on the arm support. It should be noted that, since a certain distance needs to be kept between the concrete pipe of the concrete pump truck and the boom to avoid interference between the concrete pipe and the boom during the unfolding and folding processes, the pipe hoop base 10 needs to be designed with a sufficient size.
In this embodiment, the support vibration damping device further includes: the concrete pipe support comprises a concrete pipe support plate 6, a concrete pipe support arm 7 and a concrete pipe support base 8, wherein the concrete pipe support plate 6 is detachably connected with a pipe hoop connecting plate 9, one end of the concrete pipe support arm 7 is fixedly connected with the concrete pipe support plate 6, and the other end of the concrete pipe support arm is fixedly connected with the concrete pipe support base 8; and the concrete pipe supporting base 8 is fixedly installed on the concrete pump truck arm frame. The concrete pipe supporting plate 6 is connected with the pipe hoop connecting plate 9 through a connecting bolt 5. The concrete pipe is provided with the concrete pipe supporting arm 7 for increasing the distance between the pipe hoop 4 supporting the vibration damper and the arm support, so that the size of the pipe hoop base 10 can be reduced, and meanwhile, the interference between the concrete pipe and the arm support in the unfolding and folding processes can be avoided.
When the concrete pump truck cantilever crane concrete pipe support vibration damper in this embodiment is used, at first, the concrete pipe support base 8 is fixedly installed on the cantilever crane through the pipe hoop connecting plate 9, then the locking bolt is opened, the pipe hoop unit is rotated by taking the pipe hoop connecting pin shaft 12 as the axis, the pipe hoop 4 is opened, the concrete pipe is placed into the pipe hoop 4, the locking bolt is locked, and the control unit adjusts the hydraulic oil cylinder, so that the concrete pipe backing plate 2 compresses the concrete pipe, and the concrete pipe is fixed. It should be noted that, in order to alleviate the impact of the hydraulic cylinder and avoid the collision, when the concrete pipe is fixed, the hydraulic cylinder needs to have a certain displacement.
When the concrete pipe begins to convey concrete, the pressure sensors detect vibration-damping dynamic impact on each hydraulic oil cylinder and transmit the vibration-damping dynamic impact to the control unit, the control unit calculates a displacement vector for reducing the vibration impact according to the pressure of the three pressure sensors, then decomposes the displacement vector for the vibration impact into the directions of the three hydraulic oil cylinders, calculates vibration-damping restraining force required to be exerted by the three hydraulic oil cylinders respectively, and the control unit controls the oil pump and the valve to act according to the calculation result, so that the hydraulic oil cylinders provide the vibration-damping restraining force to restrain the arm frame vibration caused by the impact of the concrete on the concrete pipe.
EXAMPLE III
As shown in fig. 5 and 6, the concrete pump truck arm concrete pipe supporting and damping device according to a third embodiment of the present invention includes:
the pipe hoop 4 is used for fixing a concrete pipe;
the damping inhibition force generating device 1 is fixedly arranged on the pipe hoop 4 and used for generating damping inhibition force required by inhibiting the vibration of the concrete pipe;
a vibration impact detection device 11 mounted on the vibration damping suppression force generation device 1 for detecting vibration impact of the vibration damping suppression force generation device 1 caused by vibration of the concrete pipe;
and a control unit configured to calculate a vibration damping suppression force that needs to be provided by the vibration damping suppression force generation device 1 based on the vibration impact detected by the vibration impact detection device 11, and control the vibration damping suppression force generation device 1 to generate a corresponding vibration damping suppression force. The vibration impact detection device 11 detects the vibration impact received by the vibration damping restraining force generation device, the direction and the magnitude of the vibration can be determined, the vibration damping restraining force generation devices in different directions are controlled to generate vibration damping restraining force according to the direction and the magnitude of actual vibration, accurate vibration damping is achieved, on the other hand, abrasion to the vibration damping restraining force generation devices can be reduced to a certain extent, and certain energy is saved.
In the present embodiment, the vibration-shock detecting device 11 is a displacement sensor, and the vibration-damping suppression-force generating device 1 is a cylinder. The displacement sensor detects the displacement of the air cylinder which is subjected to vibration impact movement, then the total displacement vector is obtained through calculation, the displacement vector is decomposed to the direction of each air cylinder, and the control quantity of the control unit is obtained through calculation according to the air cylinder parameters. The control unit sends out control signals to control the air source and the valve to supply air so as to enable the cylinder piston to move forward or backward by corresponding displacement.
In some embodiments there are three cylinders. Three cylinder has formed the triangle location, can realize the automation of concrete pipe location placed in the middle, and the concrete pipe installation of being convenient for can effectively avoid the concrete pipe to slide, promotes concrete pipe installation stability. In some embodiments, three cylinders, one cylinder located in the upper portion of the pipe clamp 4 and two cylinders located in the lower portion of the pipe clamp 4. In other embodiments, two of the three cylinders are arranged in a direction in which the vibratory impulse is large, and the other cylinder is arranged in the opposite direction. In other embodiments, the three cylinders are uniformly distributed on the pipe clamp 4 at 120 ° included angles.
The top end of the vibration reduction restraining force generating device 1 is fixedly provided with a concrete pipe base plate 2, and the concrete pipe base plate 2 is used for contacting and pressing the concrete pipe when the vibration reduction restraining force generating device 1 provides vibration reduction restraining force. The concrete pipe backing plate 2 is made of flexible materials, so that buffering can be formed between the concrete pipe and the vibration reduction pressure generating device, passive damping is provided, and the concrete pipe backing plate 2 can be suitable for concrete pipes with different diameters. In some embodiments, the concrete pipe liner 2 is made of polyurethane. The combination of the concrete pipe base plate 2 and the vibration damping restraining force generating device 1 realizes the combination of passive vibration damping and active vibration damping, can reduce vibration through a passive vibration damping material, and can detect the vibration direction and position through a sensor to realize accurate vibration damping.
The pipe hoop 4 is of an annular structure and comprises two semicircular pipe hoop units which are oppositely arranged, one ends of the two pipe hoop units are hinged through a pipe hoop connecting pin shaft 12, and the other ends of the two pipe hoop units are locked through a locking unit 3; the damping restraining force generating device 1 is fixedly mounted at the rear end of the pipe clamp 4, and the top end faces the center of the pipe clamp 4. In some embodiments the locking unit 3 is a locking bolt. The outer surface of one of the pipe hoop units is fixedly connected with a pipe hoop base 10, and the pipe hoop base 10 is used for supporting the pipe hoop 4; the other end of the pipe hoop base 10 is connected with a pipe hoop connecting plate 9, and the pipe hoop connecting plate 9 is used for supporting the pipe hoop base 10 and fixing the supporting vibration damper on the arm support. It should be noted that, since a certain distance needs to be kept between the concrete pipe of the concrete pump truck and the boom to avoid interference between the concrete pipe and the boom during the unfolding and folding processes, the pipe hoop base 10 needs to be designed with a sufficient size.
In some other embodiments, the support and vibration damping apparatus further comprises: the concrete pipe support comprises a concrete pipe support plate 6, a concrete pipe support arm 7 and a concrete pipe support base 8, wherein the concrete pipe support plate 6 is detachably connected with a pipe hoop connecting plate 9, one end of the concrete pipe support arm 7 is fixedly connected with the concrete pipe support plate 6, and the other end of the concrete pipe support arm is fixedly connected with the concrete pipe support base 8; and the concrete pipe supporting base 8 is fixedly installed on the concrete pump truck arm frame. The concrete pipe supporting plate 6 is connected with the pipe hoop connecting plate 9 through a connecting bolt 5. The concrete pipe is provided with the concrete pipe supporting arm 7 for increasing the distance between the pipe hoop 4 supporting the vibration damper and the arm support, so that the size of the pipe hoop base 10 can be reduced, and meanwhile, the interference between the concrete pipe and the arm support in the unfolding and folding processes can be avoided.
When the concrete pump truck cantilever crane concrete pipe support vibration damper in this embodiment is used, at first, through pipe hoop connecting plate 9 or concrete pipe support base 8 fixed mounting on the cantilever crane, then open the locking bolt, use pipe hoop connecting pin 12 as the axle center rotatory pipe hoop unit, open pipe hoop 4, put into pipe hoop 4 with the concrete pipe in, locking bolt, the control unit adjusts the cylinder, makes concrete pipe backing plate 2 compress tightly the concrete pipe, realizes that the concrete pipe is fixed. It should be noted that, in order to alleviate the impact of the cylinder and avoid the collision, when the concrete pipe is fixed, the cylinder needs to have a certain displacement.
When the concrete pipe begins to convey concrete, the displacement sensors detect vibration-damping dynamic impact on each air cylinder and transmit the vibration-damping dynamic impact to the control unit, the control unit calculates the displacement vector of the vibration-damping dynamic impact according to the displacement of the three displacement sensors, then decomposes the displacement vector of the vibration impact into the directions of the three air cylinders, calculates vibration-damping restraining force required to be exerted by the three air cylinders respectively, and the control unit controls the air source and the valve to act according to the calculation result, so that the air cylinders provide the vibration-damping restraining force to restrain the arm support vibration caused by the impact of the concrete on the concrete pipe.
In other embodiments, the vibration damping suppression force generation device 1 may also use an electric push rod.
The application also provides a concrete pump truck arm support concrete pipe support vibration damping method, and the method adopts the concrete pump truck arm support concrete pipe support vibration damping device to damp and restrain the concrete pipe.
Optionally, the method includes:
detecting the vibration impact of the vibration damping restraining force generating device due to the vibration of the concrete pipe by using a vibration impact detecting device;
and calculating the vibration damping restraining force required to be generated by the vibration damping restraining force generating device through a control unit according to the detected vibration impact, and controlling the vibration damping restraining force generating device to generate corresponding vibration damping restraining force to act on the concrete pipe so as to damp and restrain the concrete pipe. The vibration impact detection device detects the vibration impact received by the vibration damping restraining force generation device, the direction and the size of vibration can be determined, the vibration damping restraining force generation devices in different directions are controlled to generate vibration damping restraining force according to the direction and the size of actual vibration, accurate vibration damping is achieved, on the other hand, abrasion to the vibration damping restraining force generation device can be reduced to a certain extent, and certain energy is saved.
Further, the calculating of the vibration damping suppression force that needs to be generated by the vibration damping suppression force generation device based on the detected vibration impact includes:
calculating the sum of the displacement vectors of the vibration impacts on the vibration damping restraining force generating device according to a parallelogram rule;
determining a displacement vector of the damping restraining force according to the displacement vector sum of the vibration impact;
and decomposing the displacement vector of the vibration damping restraining force into the displacement vectors of the vibration damping restraining force generation devices, wherein different displacement vectors correspond to different vibration damping restraining forces.
Specifically, as shown in fig. 7, when the concrete pump truck arm concrete pipe support vibration damping device works, whether a concrete pipe performs pumping action is detected, and if the concrete pipe does not perform pumping action, vibration damping restraining force does not need to be generated; if the pumping action is carried out, the vibration impact detection device acquires signals; then the control unit calculates the sum of the displacement vectors of the vibration impact on the vibration damping restraining force generating device according to the acquired signals; decomposing the sum of the displacement vectors of the vibration impacts into the displacement vectors of the vibration damping restraining force generating devices; the control unit controls the vibration reduction restraining force generating device to generate corresponding displacement, so as to generate vibration reduction restraining force and restrain the amplitude of the concrete pipe. In the continuous process of pumping action, the concrete pipe supporting vibration damper continuously adopts a closed-loop control mode (the vibration impact detection device collects signals and transmits the signals to the control unit, and the control unit controls the vibration damping restraining force generation device to generate corresponding vibration damping restraining force according to the collected signals) to restrain the vibration amplitude of the concrete pipe, so that the aim of damping the vibration of the concrete pipe is fulfilled.
It should be noted that, when the sum of the displacement vectors collected by the vibration impact detection device is zero, it indicates that the vibration damping restraining force generated by the current vibration damping restraining force generation device and the vibration impact of the concrete pipe reach a balance, that is, the optimal vibration damping is realized at the current moment.
The third aspect of the invention provides a concrete pump truck, which is provided with the concrete pump truck cantilever crane concrete pipe supporting and damping device. The concrete pipe support vibration damping device for the arm support of the concrete pump truck is used for damping vibration, so that the time of generating cracks or fracture of the arm support can be greatly prolonged, the service life of the arm support is prolonged, the stability of the concrete pump truck is improved, and the construction quality of pouring engineering is guaranteed.
In another aspect, the present disclosure provides a computer-readable storage medium having instructions stored thereon for causing a machine to perform the concrete pump truck boom concrete pipe support vibration reduction method described herein.
It should be noted that the concrete pipe supporting and vibration damping device provided by the application is not only applicable to the concrete pipe, but also applicable to the vibration damping of other tubular conveying devices for conveying materials.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
While the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications are within the scope of the embodiments of the present invention. It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.
Claims (14)
1. The utility model provides a concrete pump truck cantilever crane concrete pipe supports damping device which characterized in that, it includes to support damping device:
the pipe hoop (4) is used for fixing a concrete pipe;
the vibration damping restraining force generating device (1) is fixedly arranged on the pipe hoop (4) and is used for generating vibration damping restraining force required by restraining vibration of a concrete pipe;
a control unit for controlling the vibration damping suppression force generation device (1) to generate the vibration damping suppression force.
2. The support and vibration damping apparatus as claimed in claim 1, further comprising:
the vibration and impact detection device (11) is arranged on the vibration damping restraining force generation device (1) and is used for detecting the vibration and impact of the vibration damping restraining force generation device (1) due to the vibration of the concrete pipe;
the control unit is used for calculating the vibration damping restraining force required to be generated by the vibration damping restraining force generation device (1) according to the detected vibration impact.
3. Support and vibration damping device according to claim 2, characterized in that said vibration shock detection means (11) comprise a pressure sensor or a displacement sensor.
4. The support and vibration damping device according to claim 1, characterized in that the pipe hoop (4) is of an annular structure and comprises two opposite semicircular pipe hoop units, one end of each pipe hoop unit is hinged, and the other end of each pipe hoop unit is locked by a locking unit (3); the tail end of the damping restraining force generating device (1) is fixedly arranged on the pipe hoop (4), and the top end of the damping restraining force generating device faces to the center of the pipe hoop (4).
5. The support and vibration damping apparatus as claimed in claim 4, further comprising: the pipe hoop base (10) is fixedly connected with the outer surface of any pipe hoop unit and is used for supporting the pipe hoop (4); the pipe hoop connecting plate (9) is fixedly connected with the pipe hoop base (10) and used for supporting the pipe hoop base (10) and realizing the fixation of the supporting vibration damper.
6. The support and vibration damping apparatus as set forth in claim 5, further comprising: the concrete pipe supporting plate (6), the concrete pipe supporting arm (7) and the concrete pipe supporting base (8) are detachably connected, one end of the concrete pipe supporting arm (7) is fixedly connected with the concrete pipe supporting plate (6), and the other end of the concrete pipe supporting arm is fixedly connected with the concrete pipe supporting base (8); and the concrete pipe supporting base (8) is fixedly arranged on the concrete pump truck arm frame.
7. Support vibration damping device according to claim 1, characterized in that the vibration damping restraining force generating device (1) comprises a hydraulic cylinder, an air cylinder or an electric push rod.
8. The support and vibration damping apparatus as claimed in claim 1, further comprising:
and the concrete pipe base plate (2) is fixedly arranged at the top end of the vibration reduction restraining force generating device (1) and is used for contacting and pressing the concrete pipe when the vibration reduction restraining force generating device (1) provides vibration reduction restraining force.
9. The support and vibration damping device according to claim 2, characterized in that said vibration damping suppressing force generating means (1) and said vibration impact detecting means (11) are at least three.
10. A concrete pump truck arm support concrete pipe support vibration damping method is characterized in that the concrete pump truck arm support concrete pipe support vibration damping device of any one of claims 1-9 is adopted to damp and restrain a concrete pipe.
11. The method of damping vibration according to claim 10, comprising:
detecting the vibration impact of the vibration damping restraining force generating device (1) caused by the vibration of the concrete pipe through a vibration impact detecting device (11);
the vibration damping restraining force required to be generated by the vibration damping restraining force generating device (1) is calculated through a control unit according to the detected vibration impact, and the vibration damping restraining force generating device (1) is controlled to generate corresponding vibration damping restraining force to act on the concrete pipe so as to damp and restrain the concrete pipe.
12. The vibration damping method according to claim 11, wherein said calculating the vibration damping suppression force that needs to be generated by the vibration damping suppression force generation device (1) from the detected vibration impact includes:
calculating the displacement vector sum of the vibration impact according to a parallelogram rule;
determining a displacement vector of vibration damping restraining force according to the sum of the displacement vectors of the vibration impacts;
and decomposing the displacement vector of the vibration damping restraining force into the displacement vectors of the vibration damping restraining force generation devices (1), wherein different displacement vectors correspond to different vibration damping restraining forces.
13. A concrete pump truck characterized in that the concrete pump truck is provided with the concrete pump truck cantilever crane concrete pipe support vibration damping device of any one of claims 1 to 9.
14. A computer-readable storage medium having stored thereon instructions for causing a machine to execute the concrete pump truck boom concrete pipe support vibration reduction method of any one of claims 10-12.
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