DK2347988T3 - Indretning til aktiv styring af vibrationerne af en leddelt arm til pumpning af beton - Google Patents

Indretning til aktiv styring af vibrationerne af en leddelt arm til pumpning af beton

Info

Publication number
DK2347988T3
DK2347988T3 DK11151972.4T DK11151972T DK2347988T3 DK 2347988 T3 DK2347988 T3 DK 2347988T3 DK 11151972 T DK11151972 T DK 11151972T DK 2347988 T3 DK2347988 T3 DK 2347988T3
Authority
DK
Denmark
Prior art keywords
vibrations
articulated arm
active control
pumping concrete
pumping
Prior art date
Application number
DK11151972.4T
Other languages
English (en)
Inventor
Nicola Pirri
Gennaro Paolo Bottino
Original Assignee
Cifa Spa
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cifa Spa filed Critical Cifa Spa
Application granted granted Critical
Publication of DK2347988T3 publication Critical patent/DK2347988T3/da

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • E02F9/2207—Arrangements for controlling the attitude of actuators, e.g. speed, floating function for reducing or compensating oscillations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/008—Reduction of noise or vibration
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20576—Systems with pumps with multiple pumps
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/315—Directional control characterised by the connections of the valve or valves in the circuit
    • F15B2211/3157—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line
    • F15B2211/31582—Directional control characterised by the connections of the valve or valves in the circuit being connected to a pressure source, an output member and a return line having multiple pressure sources and a single output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50563—Pressure control characterised by the type of pressure control means the pressure control means controlling a differential pressure
    • F15B2211/50581—Pressure control characterised by the type of pressure control means the pressure control means controlling a differential pressure using counterbalance valves
    • F15B2211/5059—Pressure control characterised by the type of pressure control means the pressure control means controlling a differential pressure using counterbalance valves using double counterbalance valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6652—Control of the pressure source, e.g. control of the swash plate angle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/60—Circuit components or control therefor
    • F15B2211/665—Methods of control using electronic components
    • F15B2211/6653—Pressure control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8613—Control during or prevention of abnormal conditions the abnormal condition being oscillations
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/8616—Control during or prevention of abnormal conditions the abnormal condition being noise or vibration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/80—Other types of control related to particular problems or conditions
    • F15B2211/86—Control during or prevention of abnormal conditions
    • F15B2211/863—Control during or prevention of abnormal conditions the abnormal condition being a hydraulic or pneumatic failure
    • F15B2211/8636—Circuit failure, e.g. valve or hose failure

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Architecture (AREA)
  • Mining & Mineral Resources (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Combustion & Propulsion (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Analytical Chemistry (AREA)
  • Fluid Mechanics (AREA)
  • Manipulator (AREA)
  • Operation Control Of Excavators (AREA)
  • Fluid-Pressure Circuits (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
DK11151972.4T 2010-01-26 2011-01-25 Indretning til aktiv styring af vibrationerne af en leddelt arm til pumpning af beton DK2347988T3 (da)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
ITUD2010A000012A IT1397794B1 (it) 2010-01-26 2010-01-26 Dispositivo per il controllo attivo delle vibrazioni di un braccio articolato per il pompaggio di calcestruzzo.

Publications (1)

Publication Number Publication Date
DK2347988T3 true DK2347988T3 (da) 2013-02-11

Family

ID=42711752

Family Applications (1)

Application Number Title Priority Date Filing Date
DK11151972.4T DK2347988T3 (da) 2010-01-26 2011-01-25 Indretning til aktiv styring af vibrationerne af en leddelt arm til pumpning af beton

Country Status (8)

Country Link
US (1) US8925310B2 (da)
EP (1) EP2347988B1 (da)
CN (1) CN102134909B (da)
DK (1) DK2347988T3 (da)
ES (1) ES2398940T3 (da)
IT (1) IT1397794B1 (da)
PL (1) PL2347988T3 (da)
PT (1) PT2347988E (da)

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CN103104451B (zh) * 2011-12-23 2013-11-20 中联重科股份有限公司 泵送排量控制器、泵车及泵送排量控制方法
CN103217989B (zh) * 2012-01-20 2016-12-14 杨世祥 一种全数字控制的工程机械臂架系统及控制方法
ITMI20120362A1 (it) * 2012-03-07 2013-09-08 Cifa Spa Procedimento per il controllo delle vibrazioni di un braccio articolato e relativo apparato
CN102730202A (zh) * 2012-06-28 2012-10-17 浙江理工大学 太阳翼关节铰可重复折展锁解机构
CN102828621B (zh) * 2012-08-06 2015-07-15 中联重科股份有限公司 一种工程机械臂架控制方法、装置及系统
CN102826036B (zh) * 2012-09-04 2015-03-11 卡特彼勒（郑州）有限公司 搬运支架用防摆动系统
ITMI20121903A1 (it) * 2012-11-08 2014-05-09 Cifa Spa Apparato, e relativo metodo, per il controllo delle vibrazioni di un braccio articolato
CN103015730B (zh) * 2012-12-19 2015-01-21 中联重科股份有限公司 臂架漂移控制设备、系统、方法及泵送设备
US9810242B2 (en) 2013-05-31 2017-11-07 Eaton Corporation Hydraulic system and method for reducing boom bounce with counter-balance protection
WO2015031821A1 (en) 2013-08-30 2015-03-05 Eaton Corporation Control method and system for using a pair of independent hydraulic metering valves to reduce boom oscillations
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US20190048864A1 (en) * 2016-03-24 2019-02-14 Hydronit S.R.L. Hydraulic system, smart power unit and operation method of the system
DE102016106616B4 (de) * 2016-04-11 2023-07-06 Schwing Gmbh Elektrohydraulischer Steuerkreis für einen Großmanipulator
DE102016106595A1 (de) * 2016-04-11 2017-10-12 Schwing Gmbh Großmanipulator mit dezentraler Hydraulik
DE102016123160A1 (de) * 2016-11-30 2018-05-30 Schwing Gmbh Großmanipulator mit schnell ein- und ausfaltbarem Knickmast
EP3615813A4 (en) 2017-04-28 2021-01-27 Eaton Intelligent Power Limited MOTION SENSOR SYSTEM FOR DAMPING MASS-INDUCED VIBRATIONS IN MACHINES
WO2018200700A1 (en) * 2017-04-28 2018-11-01 Eaton Intelligent Power Limited System for damping mass-induced vibration in machines having hydraulically controlled booms or elongate members
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ITUD20080057A1 (it) 2008-03-17 2009-09-18 Cifa Spa Procedimento di controllo delle vibrazioni di un braccio articolato per il pompaggio di calcestruzzo, e relativo dispositivo

Also Published As

Publication number Publication date
US8925310B2 (en) 2015-01-06
CN102134909A (zh) 2011-07-27
PL2347988T3 (pl) 2013-03-29
ITUD20100012A1 (it) 2011-07-27
EP2347988A1 (en) 2011-07-27
EP2347988B1 (en) 2012-10-31
CN102134909B (zh) 2015-12-09
IT1397794B1 (it) 2013-01-24
ES2398940T3 (es) 2013-03-22
PT2347988E (pt) 2013-02-06
US20110179783A1 (en) 2011-07-28

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