WO2012010020A1 - 一种臂架系统的减振装置、臂架系统及泵送机械 - Google Patents

一种臂架系统的减振装置、臂架系统及泵送机械 Download PDF

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Publication number
WO2012010020A1
WO2012010020A1 PCT/CN2011/075669 CN2011075669W WO2012010020A1 WO 2012010020 A1 WO2012010020 A1 WO 2012010020A1 CN 2011075669 W CN2011075669 W CN 2011075669W WO 2012010020 A1 WO2012010020 A1 WO 2012010020A1
Authority
WO
WIPO (PCT)
Prior art keywords
vibration
boom system
damping device
boom
vibration damping
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2011/075669
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English (en)
French (fr)
Inventor
周翔
喻志平
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Sany Intelligent Control Equipment Co Ltd
Sany Heavy Industry Co Ltd
Original Assignee
Hunan Sany Intelligent Control Equipment Co Ltd
Sany Heavy Industry Co Ltd
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Filing date
Publication date
Application filed by Hunan Sany Intelligent Control Equipment Co Ltd, Sany Heavy Industry Co Ltd filed Critical Hunan Sany Intelligent Control Equipment Co Ltd
Publication of WO2012010020A1 publication Critical patent/WO2012010020A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms
    • 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
    • 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
    • F16F15/22—Compensation of inertia forces

Definitions

  • This invention relates to a technique for pumping viscous fluids such as concrete, and more particularly to a vibration damping device for a boom system, and a boom system, and to a pumping machine having the boom system.
  • Concrete pump trucks are one of the most widely used pumping machines.
  • Concrete pump trucks typically include a pumping device and a boom system.
  • the pumping device typically also includes a hopper, a delivery cylinder and a dispensing valve.
  • the boom system comprises a boom frame and a conveying pipe, and the boom frame comprises a pitch arm formed by a plurality of sections sequentially connected by a lateral hinge shaft, and the bottom end of the arm frame is connected to the chassis through a vertical hinge shaft, and the arm frame end extends to a predetermined position.
  • the conveying pipe comprises a plurality of sections connected in series, and the pipes are respectively fixed on the corresponding pitch arms.
  • the hopper is used for storing concrete; the distribution valve is capable of state switching under the driving of the oscillating cylinder, and the conveying cylinder is connected with the hopper for a predetermined time, and the conveying cylinder is connected to the conveying pipe of the boom system for a predetermined second time. through.
  • the piston of the conveying cylinder can be telescopically driven by the hydraulic cylinder; when the conveying cylinder is connected with the hopper, the piston of the conveying cylinder is retracted, and an appropriate amount of concrete is sucked to complete the suction; the conveying pipe in the conveying cylinder and the boom system When connected, the piston of the conveying cylinder is extended, and the sucked concrete slurry is pressed into the conveying pipe through the distribution valve to pump the material, and a predetermined pressure is applied to the concrete to flow the concrete along the conveying pipe; multiple suctions and pumps
  • the material can be made to reach the output port of the conveying pipe and flow out from the output port of the conveying pipe to reach a predetermined concrete working position. By changing the positional relationship between the arms in the boom, the position of the end of the boom can be changed, so that the output port of the duct corresponds to the predetermined position, which facilitates the concrete pouring operation.
  • the dispensing valve of the pumping device can be a skirt valve, a C-shaped valve, a gate valve or an S-valve.
  • the specific structure of the distribution valve is different, the working principle is basically the same.
  • the basic function of the distribution valve is that the pumping device can repeatedly perform the suction and pumping in a predetermined manner through the state transition, so that the pumping can be intermittently pumped. Concrete, pulsing concrete in the duct The way it flows.
  • the boom system in order to transport the concrete to a farther or higher position, the boom system is a long rod-like structure as a whole; the long rod-shaped boom system also amplifies the vibration generated by the boom system, so that the end of the boom Produces vibrations of large amplitude.
  • the frequency of the pulsed shock generated by pumping is close to or equal to the natural vibration frequency of the boom system, the boom system will generate strong resonance. In certain cases, the amplitude of the end of the boom may reach more than lm.
  • the vibration generated by the boom system with excessive amplitude and intensity not only makes it difficult for the concrete to reach the predetermined position, but also affects the quality and smooth operation of the concrete operation, and also causes fatigue damage of the pumping device and the boom system, thereby affecting the service life of the concrete pump truck. . Due to the complexity of the working condition of the concrete pump truck, there may be multiple vibration sources that cause vibration, which makes the vibration law of the boom system very complicated, and it is difficult to eliminate the vibration source.
  • a first object of the present invention is to provide a vibration damping device for a boom system to reduce vibration of the boom system.
  • a second object of the present invention is to provide a boom system including the above-described vibration damping device.
  • a third object of the present invention is to provide a pumping machine including the above-described boom system.
  • the vibration damping device of the boom system provided by the present invention comprises a body, a rotating body, a speed regulating motor and a control mechanism; the body is mounted on the boom system, and the rotating body is rotatably mounted In the body, the speed regulating motor drives the rotating body to rotate relative to the body about a rotation axis, the center of gravity of the rotating body is offset from the rotation axis;
  • the control mechanism comprises a vibration sensor and a processor; the vibration sensor An initial vibration signal indicative of an initial vibration of the boom system can be obtained, and the processor can command the speed control motor to operate according to the initial vibration signal. move.
  • the rotating body comprises a rotating base body and an eccentric weight
  • the eccentric weight is connected to the rotating base body by a distance adjusting mechanism to adjust a distance between a center of gravity of the rotating body and the rotating axis.
  • the pitch adjustment mechanism includes a screw rod, and the two ends of the screw rod are respectively connected to the rotating base body and the eccentric weight, and at least one end of the screw rod and the corresponding component pass through the transmission thread. Connected.
  • the auger is connected to the rotating base through a transmission thread; the distance adjusting mechanism further includes a distance adjusting motor mounted on the rotating base, and the pitching motor drives the auger to rotate around a center line of the driving thread .
  • the pitch adjustment mechanism comprises a screw rod, a matching worm wheel and a worm gear, wherein the worm wheel and the worm gear are respectively rotatably mounted on the rotating base body; one end of the screw rod is connected to the worm wheel through a transmission thread, and the other end is connected
  • the eccentric weights are connected, and the center line of the drive thread coincides with the center line of the worm wheel.
  • the distance adjusting mechanism further comprises a distance measuring motor mounted on the rotating base, the distance measuring motor driving the worm to rotate.
  • the processor is further capable of commanding the pitch motor to operate according to the amplitude of the initial vibration.
  • the method further includes a positioning sensor capable of detecting a phase of the rotating body weight; the processor is further capable of controlling the motor operation according to a phase command of the rotating body weight.
  • At least one damping device is mounted at the end of the boom.
  • the vibration sensor of the vibration damping device and the body are mounted at the same position, and the position has a predetermined distance from the bottom end of the arm frame.
  • the present invention provides a pumping machine comprising a chassis and a boom system, wherein the boom system is any one of the above-described boom systems, and the bottom end of the boom passes through a chassis A vertical hinged shaft is connected.
  • the body is fixed to the boom system, the rotating body is rotatable relative to the body about an axis of rotation, and the center of gravity of the rotating body is offset from the rotation axis, and has a predetermined eccentricity
  • the control mechanism of the vibration damping device includes a vibration sensor and a processor; the vibration sensor can acquire an initial vibration signal that characterizes the initial vibration of the boom system, and the processor can command the speed control motor to operate according to the initial vibration signal, rotate the rotating body, and generate vibration.
  • the flat vibration is opposite to the direction of vibration of the initial vibration; thus, at least a portion of the initial vibration of the boom system can be offset, and the vibration of the boom system can be reduced.
  • the vibration reducing device generates vibration by the rotation of the rotating body, which not only has a structural unit, but also has high operational reliability, and is very convenient to maintain and has a long service life.
  • the eccentric weight is connected to the rotating base body by a distance adjusting mechanism, and the distance between the eccentric weight and the rotation axis can be adjusted by the distance adjusting mechanism, thereby realizing the eccentricity of the rotating body weight Adjustment; so that the vibration can have different vibration energy, which can make the vibration of the suppression correspond to a variety of initial vibrations, and eliminate the various initial vibrations to meet the needs of different working conditions of the pumping machinery.
  • the pitch adjustment mechanism comprises a spiral rod; by rotating the auger, the distance between the eccentric weight and the rotating base body can be continuously adjusted, which provides a good premise for accurately adjusting the vibration energy of the vibration.
  • the distance adjusting mechanism further includes a distance adjusting motor mounted on the rotating base body to drive the auger rotation by the distance adjusting motor to adjust the eccentricity of the center of gravity of the rotating body; It is convenient to adjust the eccentricity of the rotating center of gravity, and more importantly, it can realize the automation and remote control of the eccentricity adjustment.
  • a matching worm wheel and a worm are also provided to adjust the eccentricity of the eccentric weight; thus, the self-locking performance of the worm wheel and the worm can be utilized, and the eccentric weight is made during the rotation of the rotating body.
  • the distance between the block and the axis of rotation remains unchanged, which improves the stability of the vibration and improves the vibration damping effect.
  • a positioning sensor for detecting the phase of the rotating body weight is also provided, so that the phase of the rotating body can be accurately determined, thereby selecting a suitable starting time, and forming a suitable smoothing vibration in a shorter time, which is faster. To offset the initial vibration and improve the response of the damping device Speed.
  • the provided boom system also has a corresponding technical effect; further, installing a plurality of vibration damping devices on the boom system can suppress the initial vibration of each position at a plurality of positions, thereby ensuring Overall stability of the boom system; Since the amplitude of the initial vibration at the end of the boom is the largest, in a further solution, at least one damping device is mounted at the end of the boom, which better compensates for the initial vibration of the boom system.
  • the vibration sensor in a vibration damping device, and compared with the installation position of the body, the vibration sensor is mounted closer to the bottom end of the boom, that is, closer to the vibration source; thus, the detection of the vibration sensor
  • the position is closer to the vibration source, and the initial vibration signal of the initial vibration can be obtained in advance; more redundant reaction time is provided for the processor processing, which not only can improve the reaction speed of the vibration damping device; but also can suppress the vibration and the body installation of the rotating body.
  • the initial vibration of the position is simultaneously performed, which in turn contributes to the improvement of the vibration damping effect.
  • the pumping mechanism including the boom system also has a corresponding technical effect.
  • FIG. 1 is a structural view of a vibration damping device of a boom system according to a first embodiment of the present invention
  • FIG. 2 is a structural view of a vibration damping device of a boom system according to a second embodiment of the present invention
  • Part II enlarged view is a structural view of a vibration damping device of a boom system according to a first embodiment of the present invention
  • the basic core of the invention lies in: according to the vibration law of the boom system itself, the corresponding mechanism is used to actively generate another vibration, and the vibration directions of the two vibrations are opposite at the same time, thereby canceling the vibration of the boom system itself. , to achieve the purpose of reducing the vibration of the boom system.
  • the vibration of the boom system itself is referred to as initial vibration
  • another vibration actively generated by the corresponding mechanism is referred to as smooth vibration.
  • FIG. 1 is a structural tube diagram of a vibration damping device of a boom system according to Embodiment 1 of the present invention.
  • the vibration damping device provided in the first embodiment includes a rotating body 100, a body 200, a speed regulating motor 300 and a control mechanism 400;
  • the body 200 is mounted on the boom system, specifically can be mounted on a corresponding pitch arm of the boom system;
  • the rotating body 100 Rotatingly mounted on the body 200 such that the rotating body 100 can be rotated relative to the body 200 about the axis of rotation 0-0;
  • the speed regulating motor 300 is fixed relative to the body 200, and its output shaft is coupled to the rotating body 100, thereby When the speed regulating motor 300 rotates, the rotating body 100 can be driven to rotate about the rotation axis 0-0 with respect to the body 200.
  • the rotating body 100 includes a disk-shaped rotating base 110 and an eccentric weight 120.
  • the central portion of the rotating base 110 forms a cavity, the eccentric weight 120 and the rotating base.
  • the 110 is fixed such that the center of gravity G is outside the rotating base 110.
  • the eccentric weight 120 may be made of a material having a relatively large specific gravity. For example, the weight of the eccentric weight 120 may be increased by filling the eccentric weight 120 with lead.
  • Control mechanism 400 includes vibration sensor 410 and processor 420, and may also include a suitable power source (not shown).
  • the vibration sensor 410 is capable of detecting the vibration of the boom system, obtaining initial vibration data indicative of the initial vibration of the boom system, forming an initial vibration signal, and transmitting it to the processor 420; the signal transmission direction is as indicated by the arrow in the figure.
  • the vibration sensor 410 may be an acceleration sensor to determine initial vibration data such as a vibration direction, a frequency, and a phase of the boom system according to the acceleration signal; or an angle sensor to change an angle or a position according to the detected position and the set position. Determine the direction of vibration, frequency and phase, etc.; it can also be a piezoelectric vibration tester.
  • the processor 420 can generate a smoothing vibration command according to the initial vibration signal, instruct the speed regulating motor 300 to operate, and the speed regulating motor 300 drives the rotating body 100 to rotate, thereby rotating the rotating body 100 and generating a smoothing vibration.
  • the phase of the smoothing vibration can be adjusted, and the rotating speed of the speed regulating motor 300 can be changed, and the frequency and period of the smoothing vibration can be adjusted;
  • the parameters such as the whole phase and the rotation speed can make the smoothing vibration generated by the rotating body 100 opposite to the vibration direction of the initial vibration; thereby, at least a part of the initial vibration can be offset, the amplitude of the boom system can be reduced, and the vibration of the boom system can be reduced. the goal of.
  • the processor 420 can be a high speed data processing chip such as the TMS320F2811 or other processing chip.
  • the speed regulating motor 300 may be a variable frequency motor to adjust the rotational speed of the rotating body 100 by changing the frequency; in order to facilitate the adjustment of the period and phase of the smoothing vibration, the speed regulating motor 300 may also be stepping Motor.
  • the initial vibration is typically a superposition of multiple periodic vibrations.
  • the initial vibration signal acquired by the vibration sensor 410 can also be processed.
  • the vibration displacement law of the end of the boom can be described as:
  • the processor 420 can be a dedicated processing chip or a general-purpose processing chip with suitable computing capabilities.
  • the center of gravity of the rotating body 100 may be previously made G has a predetermined phase position, and can also obtain a predetermined smoothing vibration by repeated correction and multiple adjustments; a corresponding detecting and positioning device can also be provided to accurately and quickly determine the phase of the center of gravity G of the rotating body 100.
  • the vibration damping device further includes a positioning sensor 500 capable of detecting the phase G of the center of gravity of the rotating body 100.
  • the positioning sensor 500 can send the detection result to the processing after detecting the phase of the center of gravity G of the rotating body 100.
  • the processor 420 is also capable of controlling the rotational speed of the variable speed motor 300 based on the phase obtained by the position sensor 500, so that the iterative calculation process can be omitted, and a suitable smoothing vibration can be obtained relatively quickly.
  • the positioning sensor 500 has various options, which may be a travel switch, a photoelectric sensor; a proximity switch is preferred to improve the operational reliability of the positioning sensor 500; in order to improve the positioning adaptability, a plurality of proximity switches may be provided, that is, multiple settings are provided on the body 200.
  • the sensing device of the proximity switch is provided with the sensing piece at the G center of the center of gravity of the rotating body 100 or other predetermined position. When the center of gravity G of the rotating body 100 is different, different sensing devices generate corresponding signals, so that the rotating body can be determined in a wider range.
  • the phase of the center of gravity G of 100 it can be understood that the higher the accuracy requirement, the more sensing devices can be set.
  • a pitch adjustment mechanism may be provided between the rotating base 110 and the eccentric weight 120 to adjust the eccentricity.
  • the distance between the weight 120 and the rotation axis 0-0, that is, the eccentricity of the center of gravity G of the rotating body 100 is adjusted according to actual needs.
  • the pitching mechanism can be realized by the matching chute and the slide rail, and a locking mechanism is arranged between the chute and the slide rail to lock the chute and the slide rail at a predetermined position, so that the eccentric weight 120 is maintained at an appropriate position.
  • Position the locking mechanism can be a lock of the pin and the pin hole, or can be locked by friction, and the like. It is also realized by a cam mechanism and a lever mechanism.
  • the adjustment of the eccentricity is realized by means of screwing.
  • FIG. 2 and FIG. 3 which is a structural view of a vibration damping device of a boom system according to a second embodiment of the present invention
  • FIG. 3 is an enlarged view of a portion I-I of FIG.
  • the pitch adjustment mechanism of the rotating body 100 includes a screw 130, a worm wheel 140, a worm 150, and a pitch motor 160.
  • the worm wheel 140 and the worm 150 are matched, and the two are respectively rotatable Mounted on the rotating base 110.
  • the output shaft of the pitch motor 160 is coupled to the worm 150 to drive the worm gear 140 to rotate by the worm 150.
  • One end of the auger 130 is connected to the worm wheel 140 through a transmission thread, and the other end is connected to the eccentric weight 120; the center line of the transmission thread between the auger 130 and the worm wheel 140 coincides with the center line of the worm wheel 140.
  • the pitch motor 160 when the pitch motor 160 is started, when the worm wheel 150 can drive the worm wheel 140 to rotate, the worm wheel 140 can drive the screw rod 130 to move in the axial direction thereof, thereby changing the distance between the eccentric weight 120 and the rotation axis 0-0.
  • the adjustment of the position of the center of gravity G of the rotating body 100 is realized, and the eccentricity of the center of gravity G of the rotating body 100 is changed.
  • the distance measuring motor 160 can be connected to an appropriate power source by a brush or a rotary joint.
  • the pitch motor 160 can select a stepper motor, or other type of motor, depending on actual needs.
  • the auger 130 and the eccentric weight 110 can be connected in different ways; in the rotating base 110, the eccentric weight 120 is allowed to wrap around the auger 130.
  • the auger 130 can be fixedly coupled to the eccentric weight 120.
  • the rotating base 110 does not allow the eccentric weight 120 to rotate about the axis of the auger 130, the auger 130 can be rotatably coupled to the eccentric weight 120; at this time, it can also be disposed between the auger 130 and the eccentric weight 120.
  • the threads are driven and the drive threads at both ends of the auger 130 are rotated in opposite directions; thus, when the auger 130 is rotated, the eccentric weights 120 can be moved relative to the rotating base 110 at a faster speed.
  • the purpose of using the worm gear transmission is to improve the reliability of the vibration reducing device by utilizing the reverse locking function of the worm gear.
  • a driving sleeve connected to the screw 130 through the driving thread may be disposed, and the driving sleeve is rotatably connected to the rotating base 110, and the driving sleeve is rotated by the distance adjusting motor 160, and the screw 130 is driven by the driving sleeve. Rotation around the center line of the drive screw also achieves the purpose of adjusting the eccentricity of the center of gravity G of the rotating body 100.
  • the pitching motor 160 can also be coupled to the processor 420 of the control mechanism 400 to enable the processor 420 to control the pitching motor 160.
  • the processor 420 can command the pitch motor 160 to operate according to the amplitude of the initial vibration, and obtain the sway vibration of different vibration energy by changing the eccentricity of the center of gravity G of the rotating body 100; specifically, it may be:
  • the pitch motor 160 is rotated in a predetermined direction to increase the eccentricity of the center of gravity G of the rotating body 100, and when the amplitude of the initial vibration is less than a predetermined value, the distance measuring motor 160 is rotated in the opposite direction. , the center of gravity G eccentricity of the rotating body 100 is reduced; the magnitude of the predetermined value may be determined according to the size of the actual eccentricity or preset.
  • the pitch adjustment mechanism can also be provided with a corresponding shifting mechanism, and the pitching motor 160 can also be driven by other means; in appropriate occasions, the pitching motor 160 can also be omitted, and the spiral can be adjusted by other means.
  • Rod 130 or other pitching mechanism At the same time, it can be understood that the above object can be achieved by adjusting at least one end of the auger 130 and the corresponding member through the transmission thread when adjusting by the auger 130.
  • the present invention also provides a boom system comprising a boom formed by a plurality of sections of a joint arm hingedly connected by a lateral hinge shaft, and further comprising any of the above Vibration damping device Since the vibration damping device has the above technical effects, the boom system having the vibration damping device also has a corresponding technical effect.
  • the body 200 of the vibration damping device can be fixed to the arm frame, or can be hinged and ball-joined with the arm frame in an appropriate manner to change the vibration direction of the vibration by changing the position between the body 200 and the arm frame according to actual needs. It is necessary to meet more kinds of working conditions of the boom system; at this time, it is also necessary to provide a locking mechanism to keep the vibration damping device and the boom system relatively fixed at predetermined positions.
  • a plurality of vibration damping devices can be arranged on the boom to generate a flat vibration at a plurality of positions.
  • the tube control process can also use a vibration damping device.
  • the preferred installation position of the vibration reduction device is the end of the boom; since the amplitude of the end of the boom is the largest, the vibration reduction device can be installed at this position. The initial vibration of the boom system.
  • the vibration sensor 410 and the body 120 of the vibration damping device may be respectively mounted at the same position of the boom system, that is, as close as possible between the two, and the position and the bottom end of the boom have The predetermined distance; thus, the vibration data detected by the vibration sensor 410 can accurately characterize the vibration of the position of the body 120, so that the smoothing vibration generated by the rotating body 100 more accurately corresponds to the initial vibration of the mounting position of the body 200, preferably 4th generation eliminates initial vibration and improves vibration damping effect.
  • a pumping machine is also provided, the pumping machine A chassis and any of the above-described boom systems are included, the bottom end of the boom being coupled to the chassis by a vertical hinge axis. Since the boom system has the above technical effects, the corresponding pumping machine also has a corresponding technical effect.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Vibration Prevention Devices (AREA)

Description

一种臂架系统的减振装置、 臂架系统及泵送才 本申请要求于 2010 年 7 月 21 日提交中国专利局、 申请号为 201010235324.5、 发明名称为"一种臂架系统的减振装置、 臂架系统及泵送 机械"的中国专利申请的优先权， 其全部内容通过引用结合在本申请中。 技术领域
本发明涉及一种泵送混凝土等粘稠流体的技术， 特别涉及一种臂架系 统的减振装置， 及臂架系统， 还涉及到具有该臂架系统的泵送机械。
背景技术
混凝土泵车是当前应用广泛的泵送机械之一。 混凝土泵车一般包括泵 送装置和臂架系统。 泵送装置一般又包括料斗， 输送缸和分配阀。 臂架系 统包括臂架和输送管， 臂架包括由多节通过横向铰接轴顺序铰接相连形成 的节臂， 臂架底端通一个竖向铰接轴与底架相连， 臂架末端伸向预定的位 置； 输送管包括多节顺序相连的管道， 管道分别固定在相应的节臂上。 料 斗用于存放混凝土； 分配阀能够在摆动油缸驱动下进行状态转换， 在预定 第一时间内使输送缸与料斗相连通， 在预定的第二时间内使输送缸与臂架 系统的输送管相连通。 输送缸的活塞能够在液压缸驱动下进行伸缩运动； 在输送缸与料斗相连通时， 使输送缸的活塞后缩， 吸入适量的混凝土， 完 成吸料； 在输送缸与臂架系统的输送管相连通时， 使输送缸的活塞外伸， 将吸入的混凝土泥浆通过分配阀压入输送管中， 进行泵料， 并对混凝土施 加预定压力， 使混凝土沿输送管流动； 多次吸料和泵料， 可以使混凝土到 达输送管的输出口， 从输送管输出口流出， 到达预定的混凝土作业位置。 改变臂架中节臂之间的位置关系， 可以改变臂架末端的位置， 使输送管的 输出口与预定的位置相对应， 方便混凝土浇注作业的进行。
根据具体结构的不同， 泵送装置的分配阀可以是裙阀、 C形阀、 闸板 阀或 S阀。 虽然分配阀的具体结构形式存在不同，但其工作原理基本相同， 既其基本功能在于通过状态转换， 使泵送装置能够以预定的方式反复地进 行吸料与泵料， 进而能够间断地泵送混凝土， 使混凝土在输送管内以脉动 的方式流动。
以脉动方式流动的混凝土必然对臂架系统产生脉沖式沖击， 使臂架系 统产生振动。 另外， 为了将混凝土输送到较远或较高的位置， 臂架系统在 整体上为长杆状结构； 长杆状结构的臂架系统还会将臂架系统产生的振动 放大， 使臂架末端产生很大振幅的振动。 当泵送产生的脉沖式沖击的频率 与臂架系统的固有振动频率接近或相等时， 臂架系统将产生强烈的共振， 在特定情况下， 臂架末端的振幅可能达到 lm以上。
臂架系统产生振幅、强度过大的振动不仅使混凝土难以到达预定位置， 影响混凝土作业的质量和顺利进行， 还会造成泵送装置、 臂架系统的疲劳 损伤， 进而影响混凝土泵车的使用寿命。 由于混凝土泵车工作状况的复杂 性， 引起振动的振动源可能有多个， 这就使得臂架系统的振动规律非常复 杂， 4艮难消除其振动源。
为了减小臂架末端的振幅， 平抑臂架系统的振动， 如 JP3040592B2、 动的技术方案。 在实际应用中， 上述技术方案的减振效果并不理想， 而且 运动方式和结构也非常复杂。 因此， 如何减小臂架系统的振动仍然是本领 域技术人员需要解决的技术问题。 发明内容
为此， 本发明的第一个目的在于， 提供一种臂架系统的减振装置， 以 减小臂架系统的振动。
本发明的第二个目的在于， 提供一种包括上述减振装置的臂架系统。 本发明的第三个目的在于， 提供一种包括上述臂架系统的泵送机械。 为了实现上述第一个目的， 本发明提供的臂架系统的减振装置包括本 体、 旋转体、 调速电机和控制机构； 所述本体安装在臂架系统上， 所述旋 转体可旋转地安装在本体上， 所述调速电机驱动旋转体相对于所述本体绕 一旋转轴线旋转， 所述旋转体的重心偏离所述旋转轴线； 所述控制机构包 括振动传感器和处理器； 所述振动传感器能够获取表征臂架系统初始振动 的初始振动信号， 所述处理器能够根据初始振动信号指令调速电机运转， 动。
可选的， 所述旋转体包括旋转基体和偏心重块， 所述偏心重块与旋转 基体之间通过调距机构相连， 以调节旋转体的重心与所述旋转轴线之间的 距离。
可选的， 所述调距机构包括螺旋杆， 所述螺旋杆两端分别与所述旋转 基体和偏心重块相连， 且螺旋杆两端中， 至少有一端与对应的部件之间通 过传动螺纹相连。
可选的， 所述螺旋杆通过传动螺纹与旋转基体相连； 所述调距机构还 包括安装在旋转基体上的调距电机， 所述调距电机驱动螺旋杆绕所述传动 螺纹的中心线旋转。
可选的， 所述调距机构包括螺旋杆、 相配合的蜗轮和蜗杆， 所述蜗轮 和蜗杆分别可旋转地安装在旋转基体上； 所述螺旋杆一端通过传动螺纹与 蜗轮相连， 另一端与偏心重块相连， 该传动螺纹的中心线与所述蜗轮的中 心线重合。
可选的， 所述调距机构还包括安装在旋转基体上的调距电机， 所述调 距电机驱动所述蜗杆旋转。
可选的， 所述处理器还能够根据初始振动的振幅指令调距电机运转。 可选的， 还包括能够检测旋转体重心相位的定位传感器； 所述处理器 还能够根据旋转体重心的相位指令调速电机运转。
为了实现上述第二个目的， 本发明提供的臂架系统包括由多节通过横 向铰接轴顺序铰接相连的节臂形成的臂架， 还包括至少一个减振装置， 所 述减振装置为上述任一种臂架系统的减振装置， 所述减振装置的本体与臂 架系统的节臂铰接或固定。
可选的， 至少一个减振装置安装在臂架末端。
可选的， 所述减振装置的振动传感器和本体安装在同一位置， 且该位 置与臂架底端之间具有预定的距离。
为了实现上述第三个目的， 本发明提供的泵送机械包括底架和臂架系 统， 所述臂架系统为上述任一种臂架系统， 所述臂架的底端与底架通过一 个竖向铰接轴相连。
本发明提供的臂架系统的减振装置中， 本体与臂架系统固定， 旋转体 可以绕一旋转轴线相对于本体旋转， 且所述旋转体的重心偏离所述旋转轴 线， 具有预定的偏心距； 减振装置的控制机构包括振动传感器和处理器； 振动传感器能够获取表征臂架系统初始振动的初始振动信号， 处理器能够 根据初始振动信号指令调速电机运转， 使旋转体旋转， 并产生振动方向与 所述初始振动的振动方向相反的平抑振动； 这样就可以至少抵消臂架系统 的一部分初始振动， 减小臂架系统振动。 与现有的减振技术方案相比， 该 减振动装置通过旋转体旋转产生平抑振动， 不仅结构筒单， 工作可靠性也 比较高， 维护非常方便且使用寿命较长。
在进一步的技术方案中， 所述偏心重块与旋转基体之间通过调距机构 相连， 通过调距机构可以调节偏心重块与所述旋转轴线之间的距离， 实现 对旋转体重心偏心距的调节； 从而能够使平抑振动具有不同的振动能量， 这样可以使平抑振动与多种初始振动相对应， 4氏消多种初始振动， 满足泵 送机械不同工况的需要。
进一步的技术方案中， 调距机构包括螺旋杆； 通过旋转螺旋杆， 可以 连续地调节偏心重块与旋转基体之间的距离， 为精确调整平抑振动的振动 能量提供良好前提。
在进一步的技术方案中， 所述调距机构还包括安装在旋转基体上的调 距电机， 以通过调距电机驱动螺旋杆旋转， 对旋转体的重心的偏心距进行 调节； 该技术方案不仅能够为调节旋转体重心的偏心距提供方便， 更重要 的是可以实现对偏心距调整的自动化和远距离控制。
在进一步的技术方案中， 调距机构中， 还设置相配合的蜗轮和蜗杆来 调节偏心重块的偏心距； 这样可以利用蜗轮和蜗杆的自锁性能， 在旋转体 旋转过程中， 使偏心重块与旋转轴线的距离保持不变， 提高平抑振动的稳 定性， 提高减振效果。
在进一步的技术方案中，还设置有检测旋转体重心相位的定位传感器， 这样可以准确地确定旋转体的相位， 从而选择合适的启动时刻， 在较短的 时间内形成合适的平抑振动， 更快地抵消初始振动， 提高减振装置的反应 速度。
在提供上述减振装置的基础上， 提供的臂架系统也具有相对应的技术 效果； 进一步地， 在臂架系统上安装多个减振装置可以在多个位置平抑各 位置的初始振动， 保证臂架系统整体的稳定性； 由于臂架末端的初始振动 的振幅最大，在进一步的技术方案中， 至少一个减振装置安装在臂架末端， 这样可以更好地抵消臂架系统的初始振动。
在进一步的技术方案中， 在一个减振装置中， 且与本体的安装位置相 比， 振动传感器的安装位置更靠近于臂架的底端， 也就是更靠近振动源； 这样， 振动传感器的检测位置与振动源更近， 可以提前获得初始振动的初 始振动信号； 为处理器处理提供更富余的反应时间， 不仅可以提高减振装 置的反应速度； 还可以使旋转体产生的平抑振动与本体安装位置的初始性 振动同时进行， 进而有利于提高减振效果。
由于具有该减振装置的臂架系统具有上述技术效果， 包括该臂架系统 的泵送机械也具有相对应的技术效果。
附图说明
图 1是本发明实施例一提供的臂架系统的减振装置的结构筒图； 图 2是本发明实施例二提供的臂架系统的减振装置的结构筒图； 图 3是图 2中 I-I部分放大图。
具体实施方式
下面结合附图对本发明进行详细描述， 本部分的描述仅是示范性和解 释性， 不应对本发明的保护范围有任何的限制作用。
应当说明的是：本发明的提供的技术方案不限于应用在混凝土泵车中， 也可以应用于输送灰渣、泥浆等其他粘稠性物料的泵送机械的臂架系统上。
本发明的基本核心在于： 根据臂架系统本身振动的规律， 再利用相应 的机构主动产生另一个振动，在相同的时间，使两个振动的振动方向相反， 进而可以抵消臂架系统的本身振动， 实现减小臂架系统振动的目的。 基于 该基本核心， 以下对本发明提供的技术方案进行详细描述。 为了便于区分和描述， 将臂架系统本身的振动称为初始振动， 利用相 应机构主动产生的另一振动称为平抑振动。
请参考图 1 , 该图是本发明实施例一提供的臂架系统的减振装置的结 构筒图。
实施例一提供的减振装置包括旋转体 100、 本体 200、 调速电机 300 和控制机构 400; 本体 200安装在臂架系统上， 具体可以安装在臂架系统 的相应节臂上；旋转体 100可旋转地安装在本体 200上，这样，旋转体 100 就可以相对于本体 200绕旋转轴线 0-0旋转；调速电机 300与本体 200相 对固定， 且其输出轴与旋转体 100相连， 从而， 在调速电机 300旋转时， 可以驱动旋转体 100相对于本体 200绕旋转轴线 0-0旋转。 同时， 旋转体 100的重心 G偏离旋转轴线 0-0,形成适合的偏心距； 这样，在旋转体 100 旋转过程中， 会产生对本体 200的脉动式沖击， 产生相应的振动， 即形成 上述的平抑振动。 为了使旋转体 100的重心具有适合的偏心距， 本例中， 旋转体 100包括盘状的旋转基体 110和偏心重块 120, 旋转基体 110中心 部分形成一个空腔， 偏心重块 120与旋转基体 110固定， 使重心 G位于旋 转基体 110之外。 同时， 为了减小旋转体 100体积， 可以采用比重比较大 的材料制成偏心重块 120, 比如可以采用在偏心重块 120中灌铅的方式增 加偏心重块 120的重量。
控制机构 400包括振动传感器 410和处理器 420, 还可以包括适当的 电源（图中未示出）。 振动传感器 410能够检测臂架系统振动， 获取表征臂 架系统初始振动的初始振动数据， 形成初始振动信号， 并传送给处理器 420;信号传输方向如图中箭头所示。振动传感器 410可以是加速度传感器， 以根据加速度信号确定臂架系统的振动方向、频率和相位等初始振动数据； 也可以是角度传感器， 以根据所检测位置与设定位置之间的角度或位置变 化确定振动方向、 频率和相位等等； 也可以是压电式振动测试仪等。
处理器 420能够根据初始振动信号产生平抑振动指令， 指令调速电机 300运转， 调速电机 300驱动旋转体 100旋转， 使旋转体 100旋转并产生 平抑振动。 改变调速电机 300的启动时刻， 可以调整平抑振动的相位， 改 变调速电机 300的旋转速度， 就可以调整平抑振动的频率和周期； 通过调 整相位和旋转速度等参数， 就可以使旋转体 100产生的平抑振动与初始振 动的振动方向相反； 进而可以至少抵消一部分初始振动， 使臂架系统的振 幅减小， 实现减小臂架系统振动的目的。
为了保证处理器 420的处理速度， 处理器 420可以为高速数据处理芯 片， 如 TMS320F2811或者其他处理芯片。 为了便于调整调速电机 300的 旋转速度，调速电机 300可以是变频电机，以通过改变频率调整旋转体 100 旋转速度； 为了便于调整平抑振动的周期及相位， 调速电机 300还可以是 步进电机。
由于导致臂架系统产生初始振动的振动源可能有多个， 因此， 初始振 动通常是由多个周期性振动的叠加。 为更好地产生平抑振动， 抵消初始振 动， 还可以对振动传感器 410获取的初始振动信号进行处理。
在设定初始振动由多个周期性振动叠加的前提下， 可以将臂架末端的 振动位移规律筒单的描述为：
n
S = j Ai sin((¾.i + ^. ) i = 1, 2, 3 - - · , η 式中： S一一臂架末端的振动总振幅
A;——第 i阶振动的振幅 ω ί——第 i阶振动的频率 t——时间 φ,——第 i阶振动的相位 这样， 臂架系统的初始振动就可以由 n 个周期性正弦波振动表达， n 趋向于无穷大。 在实际应用中， 可以在上述的 n个周期性正弦流中选择振 幅较大的几个正弦波或一个正弦波作为关键初始振动数据， 并以该关键初 始振动数据为基础， 通过控制调速电机 300, 获得振动方向相反的平抑振 动。 关键初始振动可以通过 FFT计算获得， 因此， 处理器 420可以为专用 的处理芯片， 也可以为具有适合运算能力的通用处理芯片。
为了准确地确定平抑振动的振动相位， 可以预先使旋转体 100的重心 G具有预定的相位位置， 也可以通过反复校正， 多次调整的方式逐渐获得 预定的平抑性振动； 也可以设置相应的检测定位装置， 以准确快速地确定 旋转体 100重心 G的相位。
请再参考图 1 , 实施例一中， 减振装置还包括能够检测旋转体 100重 心 G相位的定位传感器 500; 定位传感器 500能够在检测旋转体 100重心 G的相位后， 将检测结果发送给处理器 420。 处理器 420还能够根据定位 传感器 500检测获得的相位控制调速电机 300的转速， 这样可以省略反复 计算的过程， 进而较快地获得适合的平抑振动。
定位传感器 500有多种选择， 可以是行程开关、 光电传感器； 优选接 近开关， 以提高定位传感器 500的工作可靠性； 为了提高定位适应性， 可 以设置多个接近开关， 即在本体 200上设置多个接近开关的感应器件， 在 旋转体 100重心 G位置或其他预定位置设置感应片， 在旋转体 100重心 G 相位不同时， 不同感应器件产生相应的信号， 这样可以在更大范围内确定 旋转体 100重心 G的相位； 可以理解， 精确度要求越高， 可以设置越多的 感应器件。
在实际应用中， 臂架系统初始振动的振幅及振动能量也存在不同， 为 使平抑振动抵消不同的初始振动， 还可以在旋转基体 110和偏心重块 120 之间设置调距机构， 以调节偏心重块 120与旋转轴线 0-0之间的距离， 即 根据实际需要调节旋转体 100重心 G的偏心距。
调距机构可以有多种选择。 比如说： 可以通过配合的滑槽与滑轨实现， 并在滑槽与滑轨之间设置锁止机构， 以在预定的位置锁止滑槽与滑轨， 使 偏心重块 120保持在适当的位置； 锁止机构可以是销与销孔的锁止， 也可 以依赖摩擦力锁止， 等等。 还是通过凸轮机构、 杠杆机构实现。
为实现旋转体 100重心偏心距调整的自动化， 本发明实施例二提供的 臂架系统的减振装置中， 通过螺紋传动的方式实现偏心距的调节。
请参考图 2和图 3 , 该图是本发明实施例二提供的臂架系统的减振装 置的结构筒图， 图 3是图 2中 I-I部分放大图。
实施例二中， 旋转体 100的调距机构包括螺旋杆 130、蜗轮 140、蜗杆 150和调距电机 160。蜗轮 140和蜗杆 150相配合，且二者分别可旋转地安 装在旋转基体 110上。 调距电机 160的输出轴与蜗杆 150相连， 能够通过 蜗杆 150驱动蜗轮 140旋转。 螺旋杆 130一端通过传动螺纹与蜗轮 140相 连， 另一端与偏心重块 120相连； 螺旋杆 130与蜗轮 140之间的传动螺纹 的中心线与蜗轮 140的中心线重合。 这样， 调距电机 160启动时， 通过蜗 杆 150可以驱动蜗轮 140旋转时， 蜗轮 140能够通过传动螺纹驱动螺旋杆 130在其轴线方向运动，进而改变偏心重块 120与旋转轴线 0-0之间距离， 实现对旋转体 100重心 G位置的调节，使旋转体 100重心 G的偏心距产生 改变。
由于旋转体 100本身相对于本体 200旋转， 为了保证调距电机 160工 作稳定性， 可以通过电刷或旋转接头使调距电机 160与适当的电源相连。 与调速电机 300相同， 调距电机 160可以在根据实际需要选择步进电机， 或其他类型的电机。
可以理解， 根据偏心重块 120与旋转基体 110之间的位置关系， 可以 使螺旋杆 130与偏心重块 110之间以不同的方式相连； 在旋转基体 110容 许偏心重块 120绕螺旋杆 130的轴线旋转时， 可以使螺旋杆 130与偏心重 块 120固定相连。 在旋转基体 110不容许偏心重块 120绕螺旋杆 130的轴 线旋转时， 可以使螺旋杆 130与偏心重块 120可旋转相连； 此时， 还可以 在螺旋杆 130与偏心重块 120之间设置传动螺纹， 并使螺旋杆 130两端的 传动螺紋旋向相反； 这样， 在旋转螺旋杆 130时， 可以使偏心重块 120以 更快的速度相对于旋转基体 110移动。
实施例二中， 利用蜗轮蜗杆传动的目的在于利用蜗轮蜗杆的反向锁止 功能，提高减振动装置的可靠性。在特定情况下， 也可以设置与螺旋杆 130 通过传动螺紋相连的驱动套， 并使驱动套与旋转基体 110可旋转相连， 用 调距电机 160带动驱动套旋转， 再通过驱动套驱动螺旋杆 130绕所述传动 螺纹的中心线旋转， 也能够实现调节旋转体 100重心 G的偏心距的目的。
在调距机构包括调距电机 160时， 还可以使调距电机 160与控制机构 400的处理器 420相连， 以使处理器 420能够控制调距电机 160。 此时， 处 理器 420可以根据初始振动的振幅指令调距电机 160运转， 通过改变旋转 体 100重心 G的偏心距获得不同振动能量的平抑振动； 具体可以是： 在初 始振动的振幅大于预定值时， 使调距电机 160向预定的方向旋转， 使旋转 体 100重心 G的偏心距增加， 在初始振动的振幅小于预定值时， 使调距电 机 160向反方向旋转， 使旋转体 100重心 G偏心距减小； 预定值的大小可 以根据实际偏心距的大小确定或预先设定。
根据上述描述， 可以理解， 调距机构还可以设置相应的变速机构， 调 距电机 160还可以通过其他方式进行传动； 在适当的场合， 也可以将调距 电机 160省去， 通过其他方式调节螺旋杆 130或其他调距机构。 同时可以 理解， 在利用螺旋杆 130调节时， 螺旋杆 130两端中， 至少有一端与对应 的部件之间通过传动螺紋相连， 就可以实现上述目的。
在提供上述减振装置的基础上， 本发明还提供了一种臂架系统， 该臂 架系统包括由多节通过横向铰接轴顺序铰接相连的节臂形成的臂架， 还包 括上述任一种减振装置， 由于减振装置具有上述技术效果， 具有该减振装 置的臂架系统也具有相对应的技术效果。 减振装置的本体 200可以与臂架 固定，也可以通过适当方式与臂架进行轴铰接和球铰接， 以根据实际需要， 通过改变本体 200与臂架之间的位置， 改变平抑振动的振动方向， 满足臂 架系统更多种工况需要； 此时， 还需要设置锁止机构， 以在预定的位置使 减振装置与臂架系统保持相对固定。
根据臂架系统本身刚性、 输送物料比重等因素， 可以在臂架上设置多 个减振装置， 以在多个位置产生平抑振动。 为降低成本， 筒化控制过程， 也可以使用一个减振装置， 减振动装置优选的安装位置为臂架末端； 由于 臂架末端的振幅最大， 将减振动装置安装在该位置可以更好地氏消臂架系 统的初始振动。
为了提高减振动效果， 可以将减振装置的振动传感器 410和本体 120 分别安装在臂架系统的同一位置， 也就是使二者之间尽可能地接近， 并使 该位置与臂架底端具有预定的距离； 这样， 振动传感器 410检测的振动数 据能够准确地表征本体 120所在位置的振动， 使旋转体 100产生的平抑振 动与本体 200安装位置的初始性振动更准确地相对应， 更好地 4氏消初始性 振动， 提高减振效果。
在提供上述臂架系统的基础上， 还提供了一种泵送机械， 该泵送机械 包括底架和上述任一种臂架系统， 所述臂架的底端与底架通过一个竖向铰 接轴相连。 由于臂架系统具有上述技术效果， 相应的泵送机械也具有相对 应的技术效果。
以上所述仅是本发明的优选实施方式， 应当指出， 对于本技术领域的 普通技术人员来说， 在不脱离本发明原理的前提下， 还可以做出若干改进 和润饰， 比如， 可以根据具体应用时臂架系统初始振动的具体数据， 选择 重量合适， 重心 G偏心距合适的旋转体， 这些改进和润饰也应视为本发明 的保护范围。

Claims

权 利 要 求
1、 一种臂架系统的减振装置， 其特征在于， 包括本体（200)、 旋转体 (100)、 调速电机（ 300)和控制机构 （400); 所述本体 (200)安装在臂 架系统上， 所述旋转体（100)可旋转地安装在本体（200)上， 所述调速 旋转， 所述旋转体（100) 的重心 （G)偏离所述旋转轴线（0-0);
所述控制机构 （400) 包括振动传感器（410)和处理器（420); 所述 振动传感器（410)能够获取表征臂架系统初始振动的初始振动信号， 所述 处理器（420) 能够根据初始振动信号指令调速电机（300)运转， 使旋转
2、根据权利要求 1所述的臂架系统的减振装置， 其特征在于， 所述旋 转体（ 100 )包括旋转基体 ( 110 )和偏心重块（ 120 ), 所述偏心重块（ 120 ) 与旋转基体 ( 110)之间通过调距机构相连， 以调节旋转体（100) 的重心
(G) 与所述旋转轴线（0-0)之间的距离。
3、根据权利要求 2所述的臂架系统的减振装置， 其特征在于， 所述调 距机构包括螺旋杆（ 130),所述螺旋杆（ 130)两端分别与所述旋转基体（ 110) 和偏心重块（120)相连， 且螺旋杆 ( 130) 两端中， 至少有一端与对应的 部件之间通过传动螺紋相连。
4、根据权利要求 3所述的臂架系统的减振装置， 其特征在于， 所述螺 旋杆 ( 130)通过传动螺纹与旋转基体 ( 110)相连； 所述调距机构还包括 安装在旋转基体 (110)上的调距电机（160), 所述调距电机（160)驱动 螺旋杆 (130)绕所述传动螺纹的中心线旋转。
5、根据权利要求 2所述的臂架系统的减振装置， 其特征在于， 所述调 距机构包括螺旋杆 ( 130 )、 相配合的蜗轮（ 140 )和蜗杆（ 150 ), 所述蜗轮
( 140 )和蜗杆（ 150 )分别可旋转地安装在旋转基体 ( 110 )上； 所述螺旋 杆（ 130)—端通过传动螺纹与蜗轮（ 140)相连， 另一端与偏心重块（ 120) 相连， 该传动螺纹的中心线与所述蜗轮（ 140) 的中心线重合。
6、根据权利要求 5所述的臂架系统的减振装置， 其特征在于， 所述调 距机构还包括安装在旋转基体（ 110 )上的调距电机（ 160 ), 所述调距电机 ( 160 )驱动所述蜗杆（ 150 )旋转。
7、根据权利要求 4或 6所述的臂架系统的减振装置， 其特征在于， 所 述处理器（420 )还能够根据初始振动的振幅指令调距电机（160 )运转。
8、根据权利要求 1-6任一项所述的臂架系统的减振装置，其特征在于， 还包括能够检测旋转体（200 )重心（G )相位的定位传感器； 所述处理器
( 420 )还能够根据旋转体（100 )重心 （G ) 的相位指令调速电机（ 300 ) 运转。
9、一种臂架系统， 包括由多节通过横向铰接轴顺序铰接相连的节臂形 成的臂架， 其特征在于， 还包括至少一个减振装置， 所述减振装置为权利 要求 1-8任一项所述的臂架系统的减振装置， 所述减振装置的本体（200 ) 与臂架系统的节臂铰接或固定。
10、 根据权利要求 9所述的臂架系统， 其特征在于， 至少一个减振装 置安装在臂架末端。
11、 根据权利要求 9所述的臂架系统， 其特征在于， 所述减振装置的 振动传感器（410 )和本体（200 )安装在同一位置， 且该位置与臂架底端 之间具有预定的距离。
12、 一种泵送机械， 包括底架和臂架系统， 其特征在于， 所述臂架系 统为权利要求 9、 10或 11所述的臂架系统， 所述臂架的底端与底架通过一 个竖向铰接轴相连。
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