CN115182957B - Active electromagnetic softening device and method for vibration suppression of grouting hose - Google Patents
Active electromagnetic softening device and method for vibration suppression of grouting hose Download PDFInfo
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- CN115182957B CN115182957B CN202210729300.8A CN202210729300A CN115182957B CN 115182957 B CN115182957 B CN 115182957B CN 202210729300 A CN202210729300 A CN 202210729300A CN 115182957 B CN115182957 B CN 115182957B
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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
- F16F15/03—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 magnetic or electromagnetic means
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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
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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
- F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
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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
- F16F15/04—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 elastic means
- F16F15/06—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 elastic means with metal springs
- F16F15/067—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 elastic means with metal springs using only wound springs
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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
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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
- F16F2230/00—Purpose; Design features
- F16F2230/08—Sensor arrangement
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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
- F16F2230/00—Purpose; Design features
- F16F2230/18—Control arrangements
Abstract
The invention discloses an active electromagnetic compliance device and method for vibration suppression of grouting hoses, which are suitable for the field of intelligent construction robot equipment. The device comprises a 3RPS parallel connection module, an active electromagnetic damping vibration attenuation module and a linear spring amplitude limiting module. Based on the 3RPS parallel connection module and the concrete grouting hose, the active electromagnetic damping vibration reduction module actively conforms to the pulsation vibration of the concrete grouting hose based on electromagnetic acting force, and the linear spring limiting module limits the regulation and control range of the active electromagnetic compliant device so as to ensure the safety of the device. The device has perfect functions, can be widely applied to concrete pouring engineering, liberates manpower and provides guarantee for man-machine safety cooperation of concrete grouting operation.
Description
Technical Field
The invention relates to an active electromagnetic softening device and method for vibration suppression of grouting hoses, which are particularly suitable for the use of concrete grouting hoses in the construction industry, and belong to the field of intelligent construction robot equipment.
Background
With the development of the economy in China, the domestic building industry rapidly advances, and the number of high-rise buildings is increasing. However, the high-rise buildings mostly adopt reinforced concrete structures, so that the application of concrete is increasing. In the high-rise building construction process, because the required concrete quantity is large, concrete is pumped to a high-rise through a boom system to perform pouring operation through a concrete pump truck, and because the boom system of the pump truck is large in movement range and high in movement speed, a grouting hose is required to be arranged at the tail end of the boom system, and grouting uniformity is guaranteed in a manual dragging mode. However, under the concrete pumping impact, the grouting hose is easy to generate the pulse impact, the manual dragging control difficulty is high, the personal injury is easy to be caused, and the report is frequently generated.
The problem of accurate positioning and moving of grouting hoses has been studied, for example, chinese patent CN201310563846.1 discloses a hose follower, which uses four groups of driving cylinders as the main body of the actuator, the tail ends of the four groups of driving cylinders are fixed at the tail end of the conveying hose through a mounting base, the cylinder ends of the four groups of driving cylinders are mounted on a guide ring capable of sliding relative to the grouting hose, and the purpose of driving the grouting hose to move is achieved through the movement of the four groups of driving cylinders. The device can restrain the vibration of the grouting hose to a certain extent, but the concrete pumping impact frequency is high, so that the grouting hose vibration frequency band is higher, and the response speed of the oil cylinder is low, so that the vibration control effect is limited. On the other hand, the pump truck cantilever crane system consists of a plurality of mechanical arms, the length of the mechanical arms can reach tens of meters or even hundreds of meters, and in order to avoid the influence on the motion stability of the cantilever crane system, the related equipment required by the integrated related device at the tail end of the mechanical arm system for driving the grouting hose has the characteristics of light weight and strong recombinability, and the hose follow-up device based on hydraulic cylinder driving provided by the invention does not have the requirements, so the scheme has the problems of limited control effect and the like.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides an active electromagnetic compliance device and an active electromagnetic compliance method for vibration suppression of grouting hoses, which can quickly respond and overcome the vibration problem of the concrete grouting hoses by adopting an electromagnetic active adjustment mode, and the inner diameter of a circular arc soft clamping plate in the device is adjustable, so that the device is applicable to the concrete grouting hoses with different sizes.
In order to achieve the above object, the present invention provides an active electromagnetic compliance device for vibration suppression of grouting hoses, which is characterized in that: the device comprises a suppressing structure and an electric control system, wherein the suppressing structure comprises a shell with a columnar structure, the shell comprises a left shell and a right shell which are connected through bolts or buckles, an upper plate, a middle partition plate and a lower plate with annular structures are arranged in the shell around the grouting hose, the upper plate, the middle partition plate and the lower plate are arranged around the grouting hose, three groups of connecting and fixing devices which are connected with each other are arranged between the upper plate, the middle partition plate and the lower plate in a central symmetry manner, 3RPS parallel connection modules used for clamping the grouting hose are arranged above the upper plate and below the lower plate, and an acceleration sensor used for detecting an acceleration state is also arranged above the upper plate; the middle partition plate is provided with an active electromagnetic damping vibration attenuation module, and the acceleration sensor is sequentially connected with a data acquisition module, a signal processing module, a control module, a D/A conversion module and a power supply module, wherein the power supply module supplies power to the active electromagnetic damping vibration attenuation module;
the active electromagnetic damping vibration attenuation module comprises a plurality of groups of iron core units which are symmetrically arranged on the upper surface and the lower surface of the middle partition plate and are arranged along the middle partition plate, each group of iron core units comprises three iron cores which are arranged in a fan-shaped manner and are closely arranged, coil units are wound on each iron core, a space is reserved between each group of iron core units, fan-shaped permanent magnets are respectively arranged at the corresponding positions below the upper plate and above the lower plate above each group of iron core units, and the fan-shaped permanent magnets are not contacted with the iron core units;
three groups of linear spring amplitude limiting modules are respectively arranged between the upper plate and the middle baffle plate and between the middle baffle plate and the lower plate, and each group of linear spring amplitude limiting modules is arranged in a gap between two groups of iron core units.
Further, three holes are arranged on the middle partition plate at equal included angles, the connecting and fixing device comprises guide posts arranged in the holes, a bearing seat is arranged on the holes of the middle partition plate through screws, a linear bearing is arranged on the bearing seat, and the three guide posts penetrate through the linear bearing and are fixedly connected with the upper plate and the lower plate through screws.
Further, the left shell is fixedly connected with the right shell through bolts, four hanging rings which are convenient for connecting ropes to hang are uniformly arranged on the left shell and the right shell through bolts, and the middle partition plate is connected with the left shell and the right shell through bolts.
Further, the 3RPS parallel connection module comprises a spring damper, one end of the spring damper is connected with the upper plate through a revolute pair and a spring damping bracket, and the other end of the spring damper is connected with a clamping circular arc soft plate used for clamping a grouting hose through a spherical hinge.
Further, the coil units on the active electromagnetic damping vibration attenuation module arranged on the same surface of the middle partition plate are formed by sequentially winding a wire, and the winding mode of the coil units on the iron core unit is symmetrical with respect to the middle partition plate;
further, the linear spring amplitude limiting module comprises a spring baffle cylinder, the spring baffle cylinder is connected with a linear spring through a spring guide rod, one end of the spring guide rod penetrates into a central round hole of the spring baffle cylinder, and the linear spring is sleeved on the spring guide rod and fixedly connected with the other end of the spring guide rod; the linear spring limiting module is arranged between the upper plate and the middle partition plate, a spring blocking cylinder of the linear spring limiting module is connected with the upper surface of the middle partition plate, and a linear spring is connected with the lower surface of the upper plate; the linear spring amplitude limiting module is arranged between the middle partition plate and the lower plate, a spring baffle cylinder of the linear spring amplitude limiting module is connected with the lower surface of the middle partition plate, and a linear spring is connected with the upper surface of the lower plate; the upper and lower groups of spring retaining cylinders are arranged at intervals with the three groups of iron core units.
Further, the winding direction of the coil units on each iron core on the same surface of the middle partition plate is consistent.
An active electromagnetic compliance method for vibration suppression of grouting hoses, comprising the steps of:
and 4, in the grouting operation process, connecting the hanging ring by using a rope to hang and drag the active electromagnetic compliance device, and driving two channels of the power supply module by using the D/A conversion module based on the linear action range of the active electromagnetic compliance device determined in the step 3 by using the control module according to the vibration displacement signal in the vertical direction of the grouting hose converted by actual measurement: the channel I and the channel II are respectively connected with and control the active electromagnetic damping vibration reduction modules positioned on the upper surface and the lower surface of the middle partition plate to generate an induction magnetic field, and the generated induction magnetic field interacts with the inherent magnetic field of the sector permanent magnet to generate electromagnetic acting force, so that the vibration displacement of the concrete grouting hose in the vertical direction is effectively compensated, and the vibration of the grouting hose in the concrete grouting operation process is effectively inhibited.
The power supply module outputs current signals through the channel I and the channel II, wherein the current signals are equal in size and opposite in direction.
The beneficial effects are that: the active electromagnetic compliance device has high response speed, and can quickly inhibit vibration generated by a grouting hose in the concrete pumping process; the active electromagnetic compliance device can be connected with the existing concrete grouting hoses with different sizes by changing the center radius of the clamping circular arc soft board, and has strong reorganization capability and wide application range; the concrete grouting hose can move at a constant speed by dragging the rope connected with the active electromagnetic compliance device, so that the concrete casting quality is ensured while safe operation is performed.
Drawings
FIG. 1 is a schematic structural view of an active electromagnetic compliance device for vibration suppression of grout hoses of the present invention;
FIG. 2 is a schematic view of the external structure of the active electromagnetic compliance device of the present invention;
FIG. 3 is a schematic view of the overall internal structure of the active electromagnetic compliance device of the present invention;
FIG. 4 is a side view of the internal structure of the active electromagnetic compliance device of the present invention;
FIG. 5 is a schematic diagram of a 3RPS parallel connection module in the active electromagnetic compliance device of the present invention;
FIG. 6 is a schematic diagram of an active electromagnetic damping vibration attenuation module in an active electromagnetic compliance device of the present invention;
FIG. 7 is a schematic diagram of a linear spring limiter module of the active electromagnetic compliance device of the present invention;
FIG. 8 is a schematic view of an embodiment of an active electromagnetic compliance device for grout hose vibration suppression of the present invention;
FIG. 9 is a control flow diagram of an active electromagnetic compliance device for grout hose vibration inhibition of the present invention.
In the figure: the device comprises a left shell, a right shell, a 3-upper plate, a 4-middle partition plate, a 5-lower plate, a 6-guide post, a 7-bearing seat, an 8-linear bearing, a 9-spring damping support, a 10-3RPS parallel connection module, an 11-active electromagnetic damping vibration attenuation module, a 12-linear spring amplitude limiting module, a 13-acceleration sensor, a 14-data acquisition module, a 15-signal processing module, a 16-control module, a 17-D/A conversion module, a 18-power module, a 19-active electromagnetic compliance device, a 20-grouting hose, a 21-hanging ring, a 10-1-spring damper, a 10-2-clamping arc soft plate, a 11-1-iron core unit, an 11-1-1-iron core, an 11-2-sector permanent magnet, an 11-3-coil unit, a 12-1-linear spring, a 12-2-spring baffle cylinder and a 12-3-spring guide rod.
Detailed Description
Embodiments of the invention are further described below with reference to the accompanying drawings:
as shown in fig. 1,2 and 3, the active electromagnetic compliance device for vibration suppression of grouting hoses of the present invention comprises a left housing 1, a right housing 2, an upper plate 3, a middle partition plate 4, a lower plate 5, 2 groups of 3RPS parallel connection modules 10,6 groups of active electromagnetic damping vibration reduction modules 11,2 groups of parallel linear spring limiting modules 12,3 guide posts 6, an acceleration sensor 13, a data acquisition module 14, a signal processing module 15, a control module 16, a d/a conversion module 17 and a power module 18. The left shell 1 is fixedly connected with the right shell 2 through bolts, four hanging rings 21 are uniformly arranged on the left shell 1 and the right shell 2 through bolts, the middle partition plate 4 is connected with the left shell 1 and the right shell 2 through bolts, three holes are uniformly arranged on the middle partition plate 4, three bearing seats 7 are internally arranged through bolts, three linear bearings 8 are matched in the three bearing seats 7, and three guide posts 6 penetrate through the linear bearings 8 and are fixedly connected with the upper plate 3 and the lower plate 5 through bolts; the upper plate 3 is uniformly and fixedly connected with 3 groups of spring damping brackets 9 through screws; the acceleration sensor 13 is mounted on the upper plate 3, the acceleration sensor 13 is sequentially connected with the power supply module 18 through the data acquisition module 14, the signal processing module 15 and the D/A conversion module 17, the power supply module 18 supplies power to the coil unit 11-3 in the active electromagnetic damping vibration attenuation module 11, and current signals output by the channel I and the channel II of the power supply module 18 are equal in size and opposite in direction.
As shown in fig. 4 and 5, the 3RPS parallel connection module 10 includes a spring damper 10-1 and a clamping circular arc soft board 10-2, one end of the spring damper 10-1 is connected with a spring damping bracket 9 through a revolute pair, the other end of the spring damper 10-1 is connected with the clamping circular arc soft board 10-2 through a ball joint,
as shown in fig. 4 and 6, the active electromagnetic damping vibration attenuation module 11 includes an iron core unit 11-1, a sector permanent magnet 11-2, and a coil unit 11-3, wherein the iron core unit 11-1 is composed of three iron cores 11-1-1, and the coil unit 11-3 is wound on the iron core 11-1-1 composed of silicon steel sheets; the face of the middle partition plate 4 opposite to the upper plate 3 is uniformly provided with 3 groups of active electromagnetic damping vibration attenuation modules 11, iron core units 11-1 of the 3 groups of active electromagnetic damping vibration attenuation modules 11 are uniformly arranged on the middle partition plate 4, fan-shaped permanent magnets 11-2 of the 3 groups of active electromagnetic damping vibration attenuation modules 11 are uniformly arranged on the face of the upper plate 3 opposite to the middle partition plate 4 and are opposite to the iron core units 11-1, the 3 groups of fan-shaped permanent magnets 11-2 and the 3 groups of linear springs 12-1 are alternately and symmetrically arranged, coil units 11-3 on the 3 groups of active electromagnetic damping vibration attenuation modules 11 arranged on the same face of the middle partition plate 4 are formed by winding one wire sequentially, and winding directions of the coil units 11-3 on each iron core 11-1-1 on the same face of the middle partition plate 4 are consistent.
As shown in fig. 4 and 7, the parallel linear spring limiting module 12 includes 3 groups of linear springs 12-1, 3 groups of spring blocking barrels 12-2, 3 groups of spring guide rods 12-3,3 groups of spring blocking barrels 12-2 are fixed on the surface of the upper plate 3 opposite to the middle partition plate 4 through screws, one end of each linear spring 12-1 is fixed on the surface of the middle partition plate 4 opposite to the upper plate 3, each spring guide rod 12-3 passes through each linear spring 12-1 and is fixed on each spring blocking barrel 12-2 through screws, 3 groups of linear springs 12-1 are arranged in a central symmetry manner on the surface of the upper plate 3 opposite to the middle partition plate 4, and the 3 groups of spring blocking barrels 12-2 and 3 groups of iron core units 11-1 are arranged in an inter-phase symmetry manner.
As shown in fig. 4, the whole structure of the active electromagnetic compliance device is symmetrically arranged about the middle partition board 4.
As shown in fig. 8 and 9, an embodiment of the active electromagnetic compliance device 19 for vibration suppression of a grout hose 20 of the present invention, the workflow is:
in the grouting operation process, a worker pulls the active electromagnetic compliance device 19 through cooperation of a rope connected with the hanging ring 21, according to vibration displacement signals in the vertical direction of the grouting hose 20, which are actually measured and converted, the control module 16 obtains input control current values of the coil units 11-3 based on the linear acting range of the active electromagnetic compliance device 19 determined in the step 3, drives the power module 18 through the D/A conversion module 17 through the channel I and the channel II, controls the coil units 11-3 of the 2 groups of active electromagnetic compliance devices 19, generates an induction magnetic field, interacts with the inherent magnetic field of the sector permanent magnet 11-2, generates electromagnetic acting force, compensates vibration displacement in the vertical direction of the grouting hose 20, and inhibits vibration of the grouting hose 20 in the grouting operation process by utilizing the active electromagnetic compliance device 19.
The control flow is shown in fig. 9, the acceleration sensor 13 detects the acceleration signal of the grouting hose 20 in real time, the data acquisition module 14 acquires the output signal of the acceleration sensor 13, and obtains the vibration displacement signal of the grouting hose 20 in the vertical direction through the signal processing module 15, then the control module 16 drives the power module 18 through the D/A conversion module 17 to control the coil units 11-3 of the 2 groups of active electromagnetic compliance devices 19 through the channel I and the channel II, and generates an induction magnetic field, interacts with the inherent magnetic field of the sector permanent magnet 11-2, generates electromagnetic acting force, and compensates the vibration displacement of the grouting hose 20 in the vertical direction.
Claims (6)
1. An initiative electromagnetism compliance device for grout hose vibration suppression, its characterized in that: the device comprises a restraining structure and an electric control system, wherein the restraining structure comprises a shell with a columnar structure, the shell comprises a left shell (1) and a right shell (2) which are connected through bolts or buckles, an upper plate (3), a middle partition plate (4) and a lower plate (5) which are of annular structures are arranged in the shell around the grouting hose, the upper plate (3), the middle partition plate (4) and the lower plate (5) are arranged around the grouting hose, three groups of connecting and fixing devices which are connected with each other are symmetrically arranged between the upper plate (3), the middle partition plate (4) and the lower plate (5) in a central symmetry mode, a 3RPS parallel connection module (10) which is used for clamping the grouting hose (20) is arranged above the upper plate (3) and below the lower plate (5), and an acceleration sensor (13) which is used for detecting an acceleration state is also arranged above the upper plate (3); an active electromagnetic damping vibration attenuation module (11) is arranged on the middle partition board (4), and the acceleration sensor (13) is sequentially connected with a data acquisition module (14), a signal processing module (15), a control module (16), a D/A conversion module (17) and a power supply module (18), wherein the power supply module (18) supplies power to the active electromagnetic damping vibration attenuation module (11);
the active electromagnetic damping vibration attenuation module (11) comprises a plurality of groups of iron core units (11-1) symmetrically arranged on the upper surface and the lower surface of the middle partition plate (4) and arranged along the middle partition plate (4), each group of iron core units (11-1) comprises three iron cores (11-1-1) which are arranged in a fan-shaped manner and are adjacent to each other, each iron core (11-1) is wound with a coil unit (11-3), a space is reserved between each group of iron core units (11-1), fan-shaped permanent magnets (11-2) are arranged above and below each group of iron core units (11-1) at corresponding positions below the upper plate (3) and above the lower plate (5), and the fan-shaped permanent magnets (11-2) are not contacted with the iron core units (11-1);
three groups of linear spring amplitude limiting modules (12) are respectively arranged between the upper plate (3) and the middle partition plate (4) and between the middle partition plate (4) and the lower plate (5), and each group of linear spring amplitude limiting modules (12) is arranged in a gap between two groups of iron core units (11-1);
three holes are formed in the middle partition plate (4) at equal included angles, the connecting and fixing device comprises guide posts (6) arranged in the holes, a bearing seat (7) is arranged on the holes of the middle partition plate (4) through screws, a linear bearing (8) is arranged on the bearing seat (7), and the three guide posts (6) penetrate through the linear bearing (8) and are fixedly connected with the upper plate (3) and the lower plate (5) through screws;
the left shell (1) is fixedly connected with the right shell (2) through bolts, four hanging rings (21) which are convenient for connecting ropes to hang are uniformly arranged on the left shell (1) and the right shell (2) through bolts, and the middle partition plate (4) is connected with the left shell (1) and the right shell (2) through bolts;
the 3RPS parallel connection module (10) comprises a spring damper (10-1), one end of the spring damper (10-1) is connected with a spring damping bracket (9) through a revolute pair, and the other end of the spring damper (10-1) is connected with a clamping circular arc soft plate (10-2) for clamping a grouting hose through a spherical hinge.
2. The active electromagnetic compliance device for grout hose vibration inhibition of claim 1 wherein: the coil units (11-3) on the active electromagnetic damping vibration attenuation module (11) which are arranged on the same surface of the middle partition plate (4) are formed by sequentially winding one wire, and the winding mode of the coil units (11-3) on the iron core unit (11-1) is symmetrical with respect to the middle partition plate (4).
3. The active electromagnetic compliance device for grout hose vibration inhibition of claim 1 wherein: the linear spring amplitude limiting module (12) comprises a spring baffle cylinder (12-2), the spring baffle cylinder (12-2) is connected with a linear spring (12-1) through a spring guide rod (12-3), one end of the spring guide rod (12-3) penetrates into a central round hole of the spring baffle cylinder (12-2), and the linear spring (12-1) is sleeved on the spring guide rod (12-3) and fixedly connected with the other end of the spring guide rod (12-3); a linear spring limiting module (12) is arranged between the upper plate (3) and the middle partition plate (4), a spring blocking cylinder (12-2) is connected with the upper surface of the middle partition plate (4), and a linear spring (12-1) is connected with the lower surface of the upper plate (3); a linear spring limiting module (12) arranged between the middle partition plate (4) and the lower plate (5) is characterized in that a spring blocking cylinder (12-2) of the linear spring limiting module is connected with the lower surface of the middle partition plate (4), and a linear spring (12-1) is connected with the upper surface of the lower plate (5); the upper and lower groups of spring retaining barrels (12-2) are arranged at intervals with the three groups of iron core units (11-1).
4. The active electromagnetic compliance device for grout hose vibration inhibition of claim 1 wherein: the winding direction of the coil units (11-3) on each iron core (11-1-1) on the same surface of the middle partition plate (4) is consistent.
5. A method of using the active electromagnetic compliance device for vibration suppression of grout hoses of any of the above claims, characterized by comprising the steps of:
step 1, a grouting hose (20) connected with a concrete pump truck arm support system passes through an active electromagnetic compliance device (19), the grouting hose (20) is held by a clamping circular arc soft board (10-2), a matching bolt for clamping the circular arc soft board (10-2) is screwed, the grouting hose (20) is fixedly matched with the clamping circular arc soft board (10-2), the matching bolt between a left shell (1) and a right shell (2) is screwed, and a matching bolt between a middle partition board (4) and the left shell (1) and the right shell (2) is screwed;
step 2, after the concrete pump truck works, a data acquisition module (14) is used for acquiring an output signal of an acceleration sensor (13), and a vibration displacement signal in the vertical direction of a grouting hose (20) is obtained through a signal processing module (15);
step 3, applying alternating current with linearly changed size to the coil unit (11-3) by using the power module (18), detecting acceleration signals of the grouting hose (20) in real time by using the acceleration sensor (13), obtaining vibration displacement signals of the grouting hose (20) in the vertical direction according to the signal processing module (15), drawing a relation curve of current values input into the active electromagnetic damping vibration attenuation module (11) by using the power module (18) and the vibration displacement signals of the grouting hose (20) by using the control module (16), and obtaining algebraic relation between input current values and the vibration displacement signals of the grouting hose (20) by using least squares data fitting, thereby determining the linear action range of the active electromagnetic compliance device (19);
step 4, in the grouting operation process, a rope is used for connecting a hanging ring (21) so as to hang and pull an active electromagnetic compliance device (19), according to an actual measurement converted grouting hose (20) vertical direction vibration displacement signal, a control module (16) obtains an input control current value of a coil unit (11-3) based on the linear acting range of the active electromagnetic compliance device (19) determined in step 3, and drives two channels of a power supply module (18) through a D/A conversion module (17): the channel I and the channel II are respectively connected with and control the active electromagnetic damping vibration reduction modules (11) positioned on the upper surface and the lower surface of the middle partition plate (4) to generate an induction magnetic field, and the generated induction magnetic field interacts with the inherent magnetic field of the sector permanent magnet (11-2) to generate an electromagnetic acting force, so that the vibration displacement of the concrete grouting hose (20) in the vertical direction is effectively compensated, and the vibration of the grouting hose (20) in the concrete grouting operation process is effectively inhibited.
6. The method according to claim 5, wherein: the power supply module (18) outputs current signals through the channel I and the channel II, which are equal in magnitude and opposite in direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210729300.8A CN115182957B (en) | 2022-06-24 | 2022-06-24 | Active electromagnetic softening device and method for vibration suppression of grouting hose |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210729300.8A CN115182957B (en) | 2022-06-24 | 2022-06-24 | Active electromagnetic softening device and method for vibration suppression of grouting hose |
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| Publication Number | Publication Date |
|---|---|
| CN115182957A CN115182957A (en) | 2022-10-14 |
| CN115182957B true CN115182957B (en) | 2023-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210729300.8A Active CN115182957B (en) | 2022-06-24 | 2022-06-24 | Active electromagnetic softening device and method for vibration suppression of grouting hose |
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| CN113847384A (en) * | 2021-09-15 | 2021-12-28 | 山东大学 | Combined type multidimensional vibration damping device with damping amplification function |
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| EP1803966A2 (en) * | 2005-12-30 | 2007-07-04 | Integrated Dynamics Engineering GmbH | Reduced-noise air bearing |
| JP2007302194A (en) * | 2006-05-15 | 2007-11-22 | Toyota Motor Corp | Vehicular suspension system |
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| CN110513422A (en) * | 2019-08-01 | 2019-11-29 | 浙江理工大学 | A kind of non-linear eddy current damper of new lever type |
| WO2021253169A1 (en) * | 2020-06-15 | 2021-12-23 | 大连理工大学 | Non-linear dynamic vibration absorber having double-ringed strong magnet arrays for suspender vibration damping, and design method |
| CN113708595A (en) * | 2021-08-27 | 2021-11-26 | 安徽工程大学 | Wheel-side permanent-magnet direct-drive transmission device with torsional vibration active suppression function and working method |
| CN113847384A (en) * | 2021-09-15 | 2021-12-28 | 山东大学 | Combined type multidimensional vibration damping device with damping amplification function |
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| CN115182957A (en) | 2022-10-14 |
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