WO2013004100A1 - 臂架振动抑制方法、系统及臂架式工程机械 - Google Patents

臂架振动抑制方法、系统及臂架式工程机械 Download PDF

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Publication number
WO2013004100A1
WO2013004100A1 PCT/CN2012/074264 CN2012074264W WO2013004100A1 WO 2013004100 A1 WO2013004100 A1 WO 2013004100A1 CN 2012074264 W CN2012074264 W CN 2012074264W WO 2013004100 A1 WO2013004100 A1 WO 2013004100A1
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WIPO (PCT)
Prior art keywords
boom
frequency
amplitude
vibration
last
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PCT/CN2012/074264
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English (en)
French (fr)
Inventor
黄罡
高明
邓秋连
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Hunan Sany Intelligent Control Equipment Co Ltd
Sany Heavy Industry Co Ltd
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Hunan Sany Intelligent Control Equipment Co Ltd
Sany Heavy Industry Co Ltd
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Publication of WO2013004100A1 publication Critical patent/WO2013004100A1/zh
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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
    • 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
    • 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
    • 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

Definitions

  • the present invention relates to the field of boom-type construction machinery, and more particularly to a method for suppressing vibration of a boom.
  • the present invention also relates to a boom vibration suppression system and a boom type construction machine having the above-described boom vibration suppression system.
  • Concrete pump truck is a common boom type construction machine. Concrete pump truck is widely used in concrete construction site to transport concrete, especially for concrete transportation in large construction sites, which can greatly reduce the heavy physical strength of concrete transportation in construction sites. Labor, improve construction progress and work efficiency.
  • Concrete pump truck is a high-efficiency concrete conveying equipment that integrates concrete pumping mechanism, boom system and support mechanism on the chassis of the vehicle and integrates driving, pumping and fabric.
  • the boom system is the support and motion carrier of the concrete duct.
  • the boom system is composed of a plurality of booms and connecting rods through the pin mechanism.
  • the prior art In order to solve the problem of excessive vibration of the boom, the prior art generally adopts a method of adjusting the pumping frequency to minimize the pumping frequency away from the natural frequency of the boom, thereby preventing the boom from being excessively vibrated.
  • the method for suppressing the vibration of the boom limits the adjustment range of the pump displacement while adjusting the pumping frequency, and the natural frequency of the pump truck under different working conditions is difficult to obtain, thereby causing the suppression of the vibration of the boom by this method.
  • the effect is not good, and it is not portable and versatile.
  • a first object of the present invention is to provide a boom vibration suppressing method which can effectively suppress vibration of a boom without restricting an adjustment range of the pump displacement.
  • a second object of the present invention is to provide a boom vibration suppression system, and a third object of the present invention is to provide a boom type construction machine having the above-described boom vibration suppression system.
  • the present invention provides a method for suppressing vibration of a boom, which is characterized by comprising the following steps:
  • Step A detecting the amplitude of the end vibration of the last boom in real time, the frequency f;
  • Step B driving the boom cylinder on at least one boom to cause a motion component having an amplitude A1 and a frequency fl to be generated at an end of the last boom, and the amplitude A1 is smaller than the amplitude A, the frequency Fl is greater than the frequency f.
  • the step A is specifically:
  • Step A1 detecting the position of the end of the last boom in real time
  • step A2 the amplitude A and the frequency f of the end vibration of the last boom are calculated according to the change of the position.
  • the step A is specifically: directly detecting the amplitude and frequency f of the end vibration of the last boom in real time.
  • the boom cylinder is controlled by controlling the boom cylinder multi-way valve.
  • the boom vibration suppression method provided by the present invention firstly detects the amplitude A and the frequency f of the end vibration of the last boom in real time, and drives the boom cylinder on at least one boom to make the end of the last boom generate one
  • the amplitude A1, the motion component of the frequency fl, and the amplitude A1 is smaller than the amplitude A, and the frequency fl is greater than the frequency f.
  • the method for suppressing the vibration of the boom generates and analyzes the amplitude A and the frequency f of the end vibration of the last boom, and controls the boom cylinder on at least one of the booms to operate, so that the end of the last boom is generated.
  • a high-frequency, small-amplitude motion component that partially cancels the low-frequency, large-amplitude vibration at the end of the boom to achieve vibration reduction.
  • the vibration suppression method of the boom is to generate a high-frequency small-amplitude motion component at the end of the last boom by a single, two or more cylinder motions, thereby suppressing the low-frequency large-amplitude motion component of the distal boom, thereby achieving the reduction.
  • the purpose of the vibration this method does not need to change the mechanical structure of the boom and the hydraulic system of the pumping and booming, only need to know the vibration of the boom, and the vibration of the driving boom cylinder can be adjusted without limiting the displacement of the pumping truck. In this case, the vibration of the boom is effectively suppressed.
  • the boom vibration suppression method can suppress the vibration of the boom in the case of variable displacement, variable attitude, and shift pump feeding, and has high intelligence and adaptability.
  • the present invention also provides a boom vibration suppression system, comprising:
  • a detecting device for detecting the position of the end of the last boom in real time
  • the controller calculates an amplitude A and a frequency f of the end vibration of the last boom according to the change of the position;
  • the controller sends a driving signal to drive the boom cylinder on at least one of the booms such that the end of the last boom produces a motion component having an amplitude Al, a frequency fl, and the amplitude A1 is smaller than the amplitude A.
  • the frequency fl is greater than the frequency f.
  • the detecting device is a tilt sensor disposed on each boom.
  • the detecting device is a rotary encoder provided on each boom or a displacement sensor for detecting the displacement of each boom cylinder.
  • the controller calculates the amount of motion and the frequency of movement of the respective boom cylinder such that the end of the last boom produces a motion component having the amplitude Al and the frequency fl.
  • the utility model further comprises a boom cylinder multi-way valve, wherein the controller sends a driving signal to the boom cylinder multi-way valve to drive the boom cylinder to operate.
  • the boom vibration suppression system comprises a detecting device and a controller; the detecting device detects the position of the end of the last boom in real time; and the controller calculates the end of the last boom according to the change of the position The amplitude A of the vibration, the frequency f; the controller sends a driving signal to drive the boom cylinder on at least one of the booms, so that the end of the last boom produces a motion component having an amplitude of Al and a frequency fl, and The amplitude A1 is smaller than the amplitude A, and the frequency fl is greater than the frequency f.
  • the boom vibration suppression system controls the boom cylinder on at least one boom to operate on the basis of the amplitude A and the frequency f of the end vibration of the last boom, so that the end of the last boom is generated.
  • a high-frequency, small-amplitude motion component that partially cancels the low-frequency, large-amplitude vibration at the end of the boom to achieve vibration reduction.
  • the boom vibration suppression system generates a high-frequency small-amplitude motion component at the end of the last boom by a single, two or more cylinder motions, thereby suppressing the low-frequency large-amplitude motion component of the end boom, thereby reducing
  • this system does not need to change the mechanical knot of the boom Structure and pumping, boom hydraulic system, only need to know the vibration of the boom, drive the boom cylinder to achieve vibration reduction, can effectively suppress the vibration of the boom without limiting the adjustment range of the pump displacement.
  • the boom vibration suppression method can suppress the vibration of the boom in the case of variable displacement, variable attitude, and shift pump feeding, and has high intelligence and adaptability.
  • the present invention also provides a boom type construction machine provided with the above-described boom vibration suppression system, and the above-described boom vibration suppression system has the above technical effects,
  • the boom type construction machine having the boom vibration suppression system should also have corresponding technical effects.
  • FIG. 1 is a flow block diagram of a specific embodiment of a method for suppressing vibration of a boom provided by the present invention
  • Figure 2 is a schematic view of the coordinate position of the boom system
  • Fig. 3 is a structural schematic view showing a specific embodiment of a boom vibration suppression system according to the present invention.
  • the first core of the present invention is to provide a boom vibration suppressing method which can effectively suppress the vibration of the boom without restricting the adjustment range of the pump displacement.
  • a second core of the present invention is to provide a boom vibration suppression system, and a third core of the present invention is to provide a boom type construction machine having the above-described boom vibration suppression system.
  • FIG. 1 is a flow chart of a specific implementation manner of a method for suppressing vibration of a boom provided by the present invention.
  • the boom vibration suppression method provided by the present invention includes the following steps.
  • step S101 the position of the end of the last boom is detected in real time.
  • the inclination value of the end of the distal boom can be detected in real time by using a tilt sensor disposed on each boom to determine the position of the end of the last boom, and the boom system with four booms is taken as an example. As shown in FIG.
  • the four-section booms are respectively the boom 11, the boom 12, the boom 13, and the boom 14, and the lengths of the boom 11, the boom 12, the boom 13, and the boom 14 are respectively 1 2 , 1 3 , 1 4 , the angle between the boom 11 and the horizontal plane is e t , the angle between the boom 11 and the boom 12 is ⁇ 2 , and the angle between the boom 12 and the boom 13 is ⁇ 3 , The angle between the boom 13 and the boom 14 is ⁇ 4 .
  • the calculation formula of the end of the last boom can be derived:
  • c cose sl means sine ⁇ cl2 means cos ( ⁇ ⁇ ), sl2 means sin ( ⁇ , + ⁇ 2 ), cl23 means cos ( + ), sl23 means sin ( + ), cl234 means cos ( ⁇ ⁇ + ⁇ 2 + ⁇ 3 + ⁇ 4 ), sl234 represents sin ( ⁇ ⁇ + ⁇ 2 + ⁇ 3 + ⁇ 4 ).
  • Step S102 calculating an amplitude VIII and a frequency f of the end vibration of the last boom according to the change of the position.
  • Step S103 driving the boom cylinder on at least one boom to cause a motion component having an amplitude A1 and a frequency fl to be generated at an end of the distal boom, and the amplitude A1 is smaller than the amplitude A, the frequency Fl is greater than the frequency f.
  • the method for suppressing the vibration of the boom is controlled to control the boom cylinder on at least one boom to operate, so that the end of the boom is generated.
  • a high-frequency, small-amplitude motion component that partially cancels the low-frequency, large-amplitude vibration at the end of the boom to achieve vibration reduction.
  • the vibration suppression method of the boom is to generate a high-frequency small amplitude motion component at the end of the last boom by a single, two or more oil rainbow motions, thereby suppressing the low-frequency large-amplitude motion component of the distal boom.
  • this method does not need to change the mechanical structure of the boom and the hydraulic system of the pumping and boom. It only needs to know the vibration of the boom, and the vibration of the driving boom cylinder can be adjusted without limiting the displacement of the pumping truck. In the case of the range, the vibration of the boom is effectively suppressed.
  • the boom vibration suppression method can suppress the vibration of the boom in the case of variable displacement, variable attitude, and shift pump feeding, and is highly intelligent and adaptive.
  • the boom cylinder can be controlled by controlling the boom cylinder multi-way valve.
  • the movement of the boom cylinder is usually controlled by the boom cylinder multi-way valve in the boom hydraulic system.
  • the valve opening degree and the duration of the boom cylinder multi-way valve By controlling the valve opening degree and the duration of the boom cylinder multi-way valve, the magnitude of the movement of the boom cylinder and the movement frequency can be controlled. the size of.
  • the valve opening degree and the duration of action of the multi-way valve of the boom cylinder can be calculated to determine the magnitude of the movement of the corresponding boom cylinder and the magnitude of the movement frequency.
  • the multi-way valve of the boom cylinder is usually a solenoid valve, and the valve opening degree of the multi-way valve of the boom cylinder can be determined by controlling the amount of current required for the multi-way valve of the boom cylinder.
  • the amount of current required for the multi-way valve of the boom cylinder is determined; in a more specific scheme, the energization time of the boom multi-way valve can be further determined to determine the multi-way valve of the boom cylinder The duration of action.
  • the inclination value sensor provided on each of the booms is used to detect the change of the coordinate value of the end of the last boom in real time, and then the amplitude A and the frequency f of the end vibration of the last boom of the last boom are obtained by calculation.
  • the present invention is not limited thereto, and the amplitude A and the frequency f of the end vibration of the distal boom of the last boom can be directly detected by the corresponding sensors, such as a tilt sensor that can directly detect the amplitude VIII and the frequency f.
  • the present invention also provides a boom vibration suppression system which will be described in detail in the following embodiments.
  • FIG. 3 is a schematic structural view of a specific embodiment of a boom vibration suppression system according to the present invention.
  • the boom vibration suppression system includes a detecting device and a controller.
  • the detecting device is configured to detect the position of the end of the last boom in real time; the controller calculates the amplitude and frequency f of the end vibration of the last boom according to the change of the position; the controller sends a driving signal to drive at least
  • the boom cylinder on one of the booms is operated such that the end of the last boom generates a motion component having an amplitude A1 and a frequency fl, and the amplitude A1 is smaller than the amplitude A, and the frequency fl is greater than the frequency f.
  • the boom vibration suppression system controls the boom cylinder on at least one boom to operate on the basis of the amplitude A and the frequency f of the end vibration of the last boom, so that the end of the last boom is generated.
  • a high-frequency, small-amplitude motion component that partially cancels the low-frequency, large-amplitude vibration at the end of the boom to achieve vibration reduction.
  • the boom vibration suppression system generates a high-frequency small-amplitude motion component at the end of the last boom by a single, two or more cylinder motions, thereby suppressing the low-frequency large-amplitude motion component of the end boom, thereby reducing
  • this system does not need to change the mechanical structure of the boom and the hydraulic system of the pumping and boom. It only needs to know the vibration of the boom, and the vibration of the driving cylinder can achieve the adjustment range without limiting the displacement of the pump. In this case, the vibration of the boom is effectively suppressed.
  • the method for suppressing the vibration of the boom can be performed in the case of variable displacement, variable attitude, and shift pump feeding. The vibration of the boom can be suppressed, which is highly intelligent and adaptive.
  • the detecting device may be a tilting sensor disposed on each boom, and a boom system having a four-section boom is taken as an example. As shown in FIG. 2, the four-armed boom is respectively a boom 11 and a boom. 12.
  • the length of the boom 13, the boom 14, the boom 11, the boom 12, the boom 13, and the boom 14 are respectively 1 2 , 1 3 , and 1 4 , and the angle between the boom 11 and the horizontal plane is the boom 11
  • the angle between the boom 12 and the boom 12 is ⁇ 2
  • the angle between the boom 12 and the boom 13 is ⁇ 3
  • the angle between the boom 13 and the boom 14 is ⁇ 4 , according to each boom
  • the length and the angle between the adjacent booms can be derived from the calculation formula for the end of the last boom:
  • cl denotes cos e si denotes sine ⁇ cl2 denotes cos ( ⁇ ⁇ ) , sl2 denotes sin ( ⁇ , + ⁇ 2 ), cl23 denotes cos ( + ), sl23 denotes sin ( + ), cl234 denotes cos ( ⁇ ⁇ + ⁇ 2 + ⁇ 3 + ⁇ 4 ), sl234 represents sin ( ⁇ ⁇ + ⁇ 2 + ⁇ 3 + ⁇ 4 ).
  • the boom cylinder can be controlled by controlling the boom cylinder multi-way valve.
  • the movement of the boom cylinder is usually controlled by the boom cylinder multi-way valve in the boom hydraulic system.
  • the valve opening degree and the duration of the boom cylinder multi-way valve By controlling the valve opening degree and the duration of the boom cylinder multi-way valve, the magnitude of the movement of the boom cylinder and the movement frequency can be controlled. the size of.
  • valve opening degree and the acting time of the multi-way valve of the boom cylinder can be calculated to determine the magnitude of the movement of the corresponding boom cylinder and the magnitude of the moving frequency.
  • the multi-way valve of the boom cylinder is usually a solenoid valve, and the valve opening degree of the multi-way valve of the boom cylinder can be determined by controlling the amount of current required for the multi-way valve of the boom cylinder.
  • the amount of current required for the multi-way valve of the boom cylinder is determined; in a more specific scheme, the energization time of the boom multi-way valve can be further determined to determine the multi-way valve of the boom cylinder The duration of action.
  • the detecting device adopts a tilting sensor disposed on each of the booms, and the coordinate value of the end of the last boom is obtained by detecting the tilting angle of each of the booms and corresponding calculations, and the present invention is not limited thereto.
  • the device can also use a rotary encoder on each boom or a displacement sensor for detecting the displacement of each boom cylinder, and then use the corresponding calculation method to calculate the coordinate value of the end of the last boom.
  • the present invention also provides a boom type construction machine, which is provided with the above The boom vibration suppression system, since the above-described boom vibration suppression system has the above technical effects, the boom type construction machine having the boom vibration suppression system should also have corresponding technical effects, and will not be described in detail herein.

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Abstract

一种臂架振动抑制方法、臂架振动抑制系统及具有上述臂架振动抑制系统的臂架式工程机械，所述臂架振动抑制方法包括以下步骤：步骤A，实时检测末节臂架的末端振动的振幅A、频率f；步骤B，驱动至少一节臂架上的臂架油缸动作，使得所述末节臂架的末端产生一个具有振幅A1、频率f1的运动分量，且所述振幅A1小于所述振幅A、所述频率f1大于所述频率f。

Description

臂架振动抑制方法、 系统及臂架式工程机械 本申请要求于 2011 年 07 月 01 日提交中国专利局、 申请号为 201110183675.0、发明名称为"臂架振动抑制方法、系统及臂架式工程机械" 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
本发明涉及臂架式工程机械技术领域， 尤其涉及一种臂架振动抑制方 法。 本发明还涉及一种臂架振动抑制系统及具有上述臂架振动抑制系统的 臂架式工程机械。
背景技术
混凝土泵车是一种常见的臂架式工程机械， 混凝土泵车广泛用在基本 建设工地上输送混凝土， 特别是用于大型施工工地的混凝土输送作业， 可 大大的减轻施工工地混凝土输送的繁重体力劳动， 提高施工进度和工作效 率。
混凝土泵车是将混凝土泵送机构、 臂架系统、 支撑机构等集成在汽车 底盘上， 集行驶、 泵送、 布料于一体的高效混凝土输送设备。 臂架系统是 混凝土输送管的支撑和运动载体， 臂架系统是由多个臂架、 连杆通过销轴 机构。
混凝土泵车在泵送过程中， 泵送油缸与摆缸的配合不协调使得混凝土 在输送管道中流动不连续， 导致臂架末端产生振动和摆动， 使得施工时臂 架末端的定位性较差； 另外， 由于臂架振动， 容易导致臂架局部位置早期 疲劳损坏而出现裂纹， 直接影响混凝土泵车的使用寿命， 带来安全隐患。
为了解决臂架振动过大的问题， 现有技术中通常采用调节泵送频率的 方法来实现， 尽量的使得泵送频率远离臂架固有频率， 从而防止臂架振动 过大。 这种臂架振动抑制方法， 在调节泵送频率的同时限制了泵车排量的 调节范围， 而且泵车在不同工况下的固有频率难以获得， 从而导致这种方 法对臂架振动的抑制效果不佳， 而且不具备移植性及通用性。
因此， 如何在不限制泵车排量的调节范围的情况下， 有效抑制臂架的 振动， 成为本领域技术人员亟待解决的技术难题。
发明内容 本发明的第一个目的是提供一种臂架振动抑制方法， 该臂架振动抑制 方法可在不限制泵车排量的调节范围的情况下， 有效抑制臂架的振动。 本 发明的第二个目的是提供一种臂架振动抑制系统， 本发明的第三个目的是 提供一种具有上述臂架振动抑制系统的臂架式工程机械。
为了实现上述第一个目的， 本发明提供了一种臂架振动抑制方法， 其 特征在于， 包括以下步骤：
步骤 A, 实时检测末节臂架的末端振动的振幅八、 频率 f;
步骤 B, 驱动至少一节臂架上的臂架油缸动作， 使得所述末节臂架的 末端产生一个具有振幅 Al、频率 fl的运动分量，且所述振幅 A1小于所述 振幅 A、 所述频率 fl大于所述频率 f。
优选的， 所述步骤 A具体为：
步骤 A1 , 实时检测末节臂架的末端的位置；
步骤 A2,根据所述位置的变化，计算所述末节臂架的末端振动的振幅 A、 频率 f。
优选的， 所述步骤 A具体为： 直接实时检测末节臂架的末端振动的振 幅 、 频率 f。
优选的， 通过控制臂架油缸多路阀来控制所述臂架油缸动作。
本发明提供的臂架振动抑制方法， 首先实时检测末节臂架的末端振动 的振幅 A、 频率 f, 驱动至少一节臂架上的臂架油缸动作， 使得所述末节臂 架的末端产生一个具有振幅 Al、频率 fl的运动分量，且所述振幅 A1小于 所述振幅 A、 所述频率 fl大于所述频率 f。
这种臂架振动抑制方法， 在采集及分析了末节臂架的末端振动的振幅 A、 频率 f的基础上， 控制至少一节臂架上的臂架油缸进行动作， 使得末节 臂架的末端产生一个高频率、 小振幅的运动分量， 该高频率、 小振幅的运 动分量部分抵消臂架末端的低频大振幅振动， 从而达到减振的目的。
这种臂架振动抑制方法是通过单个、 两个或多个油缸运动使得末节臂 架的末端产生一个高频小振幅的运动分量， 进而抑制末节臂架的末端低频 大振幅运动分量， 从而达到减振的目的， 这种方法不用改动臂架的机械结 构和泵送、 臂架液压系统， 仅仅需要知道臂架振动情况， 驱动臂架油缸实 现减振，可在不限制泵车排量的调节范围的情况下，有效抑制臂架的振动。 而且这种臂架振动抑制方法可在变排量、 变姿态、 变换泵送料的情况下均 可抑制臂架的振动， 其具有高度的智能性和自适应性。
为了实现上述第二个目的， 本发明还提供了一种臂架振动抑制系统， 包括：
检测装置， 用于实时检测末节臂架的末端的位置；
控制器， 所述控制器根据所述位置的变化， 计算所述末节臂架的末端 振动的振幅 A、 频率 f;
所述控制器发出驱动信号， 驱动至少一节臂架上的臂架油缸动作， 使 得所述末节臂架的末端产生一个具有振幅 Al、 频率 fl的运动分量， 且所 述振幅 A1小于所述振幅 A、 所述频率 fl大于所述频率 f。
优选的， 所述检测装置为设置于各臂架上的倾角传感器。
优选的， 所述检测装置为设置在各臂架上的旋转编码器或用于检测各 臂架油缸位移的位移传感器。
优选的， 所述控制器计算相应臂架油缸的运动量及运动频率， 以使得 所述末节臂架的末端产生一个具有所述振幅 Al、所述频率 fl的运动分量。
优选的， 还包括臂架油缸多路阀， 所述控制器向所述臂架油缸多路阀 发送驱动信号， 驱动所述臂架油缸动作。
本发明提供的臂架振动抑制系统包括检测装置、 控制器； 检测装置实 时检测末节臂架的末端的位置；控制器，所述控制器根据所述位置的变化， 计算所述末节臂架的末端振动的振幅 A、频率 f;所述控制器发出驱动信号， 驱动至少一节臂架上的臂架油缸动作， 使得所述末节臂架的末端产生一个 具有振幅 Al、 频率 fl的运动分量， 且所述振幅 A1小于所述振幅 A、 所述 频率 fl大于所述频率 f。
这种臂架振动抑制系统， 在采集及分析了末节臂架的末端振动的振幅 A、 频率 f的基础上， 控制至少一节臂架上的臂架油缸进行动作， 使得末节 臂架的末端产生一个高频率、 小振幅的运动分量， 该高频率、 小振幅的运 动分量部分抵消臂架末端的低频大振幅振动， 从而达到减振的目的。
这种臂架振动抑制系统是通过单个、 两个或多个油缸运动使得末节臂 架的末端产生一个高频小振幅的运动分量， 进而抑制末节臂架的末端低频 大振幅运动分量， 从而达到减振的目的， 这种系统不用改动臂架的机械结 构和泵送、 臂架液压系统， 仅仅需要知道臂架振动情况， 驱动臂架油缸实 现减振，可在不限制泵车排量的调节范围的情况下，有效抑制臂架的振动。 而且这种臂架振动抑制方法可在变排量、 变姿态、 变换泵送料的情况下均 可抑制臂架的振动， 其具有高度的智能性和自适应性。
为了实现上述第三个目的， 本发明还提供了一种臂架式工程机械， 该 臂架式工程机械设有上述的臂架振动抑制系统， 由于上述的臂架振动抑制 系统具有上述技术效果， 具有该臂架振动抑制系统的臂架式工程机械也应 具有相应的技术效果。
附图说明
图 1为本发明提供的臂架振动抑制方法的一种具体实施方式的流程框 图；
图 2为臂架系统的坐标位置示意图；
图 3为本发明所提供的臂架振动抑制系统的一种具体实施方式的结构 示意图。
具体实施方式
本发明的第一个核心是提供一种臂架振动抑制方法， 该臂架振动抑制 方法可在不限制泵车排量的调节范围的情况下， 有效抑制臂架的振动。 本 发明的第二个核心是提供一种臂架振动抑制系统， 本发明的第三个核心是 提供一种具有上述臂架振动抑制系统的臂架式工程机械。
为了使本领域的技术人员更好地理解本发明的技术方案， 下面结合附 图和具体实施例对本发明作进一步的详细说明。
请参看图 1 , 图 1为本发明提供的臂架振动抑制方法的一种具体实施 方式的流程框图。
如图 1所示， 本发明所提供的臂架振动抑制方法包括以下步骤。
步骤 S101 , 实时检测末节臂架的末端的位置。 具体的方案中， 可采用 设置在各节臂架上的倾角传感器实时检测末节臂架的末端的坐标值， 以确 定末节臂架的末端的位置， 以具有四节臂架的臂架系统为例，如图 2所示， 四节臂架分别为臂架 11、 臂架 12、 臂架 13、 臂架 14, 臂架 11、 臂架 12、 臂架 13、 臂架 14的长度分别为 12、 13、 14 , 臂架 11与水平面的夹角为 et，臂架 11与臂架 12之间的夹角为 θ2，臂架 12与臂架 13之间的夹角为 θ3 , 臂架 13与臂架 14之间的夹角为 θ4 , 根据各臂架的长度和相邻臂架之间的 角度， 可以推导出末节臂架的末端的计算公式：
X = -/4cl234 + /3cl23 - /2cl2 + l c\
y = -l4sl234 + l3sl23 - l2sl2 + 1^1
其中, cl表示 cose sl表示 sine^ cl2表示 cos ( θ^ θζ ) , sl2表示 sin ( θ, + θ2 ) ,cl23表示 cos ( + ), sl23表示 sin ( + ), cl234 表示 cos ( θι + θ2 + θ3 + θ4 ), sl234表示 sin ( θι + θ2 + θ3 + θ4 )。
步骤 S102, 根据所述位置的变化， 计算所述末节臂架的末端振动的振 幅八、 频率 f。 通过实施计算末节臂架的末端在臂架平面内的 x、 y坐标值 的变化， 即可得出末节臂架末端振动的振幅 A、 频率 f。
步骤 S103, 驱动至少一节臂架上的臂架油缸动作， 使得所述末节臂架 的末端产生一个具有振幅 Al、频率 fl的运动分量，且所述振幅 A1小于所 述振幅 A、 所述频率 fl大于所述频率 f。
这种臂架振动抑制方法， 在采集及分析了末节臂架的末端振动的振幅 A、 频率 f的基础上，控制至少一节臂架上的臂架油缸进行动作， 使得末节 臂架的末端产生一个高频率、 小振幅的运动分量， 该高频率、 小振幅的运 动分量部分抵消臂架末端的低频大振幅振动， 从而达到减振的目的。
这种臂架振动抑制方法是通过单个、 两个或多个油虹运动使得末节臂 架的末端产生一个高频小振幅的运动分量， 进而抑制末节臂架的末端低频 大振幅运动分量， 从而达到减振的目的， 这种方法不用改动臂架的机械结 构和泵送、 臂架液压系统， 仅仅需要知道臂架振动情况， 驱动臂架油缸实 现减振，可在不限制泵车排量的调节范围的情况下，有效抑制臂架的振动。 而且这种臂架振动抑制方法可在变排量、 变姿态、 变换泵送料的情况下均 可抑制臂架的振动， 其具有高度的智能性和自适应性。
具体的方案中，可通过控制臂架油缸多路阀来控制所述臂架油缸动作。 臂架油缸的动作通常由臂架液压系统中的臂架油缸多路阀来控制， 通过控 制臂架油缸多路阀的阀门开度及作用时长可控制臂架油缸的运动幅度的大 小及运动频率的大小。
优选方案中， 可通过计算臂架油缸多路阀的阀门开度及作用时长， 以 确定相应的臂架油缸的运动幅度的大小及运动频率的大小。 进一步的方案中， 臂架油缸多路阀通常为电磁阀， 可通过控制臂架油 缸多路阀所需电流量的大小确定臂架油缸多路阀的阀门开度， 更具体的方 案中， 可根据上述臂架油缸所需的运动量， 确定臂架油缸多路阀所需电流 量的大小； 更具体的方案中， 可进一步确定臂架多路阀的通电时间， 以确 定臂架油缸多路阀的作用时长。
上述实施例中， 采用设置在各节臂架上的倾角传感器实时检测末节臂 架的末端的坐标值的变化， 然后在通过计算得到末节臂架的末节臂架的末 端振动的振幅 A、频率 f, 本发明并不局限于此， 还可以通过相应的传感器 直接检测得到末节臂架的末节臂架的末端振动的振幅 A、频率 f,如可直接 检测振幅八、 频率 f的倾角传感器等。
本发明还提供了一种臂架振动抑制系统， 以下实施例对其进行详细阐 述。
请参看图 3, 图 3为本发明所提供的臂架振动抑制系统的一种具体实 施方式的结构示意图。
如图 3所示，本发明提供的臂架振动抑制系统包括检测装置、控制器。 检测装置用于实时检测末节臂架的末端的位置； 所述控制器根据所述 位置的变化， 计算所述末节臂架的末端振动的振幅 、 频率 f; 所述控制器 发出驱动信号， 驱动至少一节臂架上的臂架油缸动作， 使得所述末节臂架 的末端产生一个具有振幅 Al、频率 fl的运动分量，且所述振幅 A1小于所 述振幅 A、 所述频率 fl大于所述频率 f。
这种臂架振动抑制系统， 在采集及分析了末节臂架的末端振动的振幅 A、 频率 f的基础上， 控制至少一节臂架上的臂架油缸进行动作， 使得末节 臂架的末端产生一个高频率、 小振幅的运动分量， 该高频率、 小振幅的运 动分量部分抵消臂架末端的低频大振幅振动， 从而达到减振的目的。
这种臂架振动抑制系统是通过单个、 两个或多个油缸运动使得末节臂 架的末端产生一个高频小振幅的运动分量， 进而抑制末节臂架的末端低频 大振幅运动分量， 从而达到减振的目的， 这种系统不用改动臂架的机械结 构和泵送、 臂架液压系统， 仅仅需要知道臂架振动情况， 驱动臂架油缸实 现减振，可在不限制泵车排量的调节范围的情况下，有效抑制臂架的振动。 而且这种臂架振动抑制方法可在变排量、 变姿态、 变换泵送料的情况下均 可抑制臂架的振动， 其具有高度的智能性和自适应性。
具体的方案中， 检测装置可以为设置于各臂架上的倾角传感器， 以具 有四节臂架的臂架系统为例， 如图 2所示， 四节臂架分别为臂架 11、 臂架 12、 臂架 13、 臂架 14, 臂架 11、 臂架 12、 臂架 13、 臂架 14的长度分别 为 12、 13、 14 , 臂架 11与水平面的夹角为 臂架 11与臂架 12之间的 夹角为 θ2 , 臂架 12与臂架 13之间的夹角为 θ3 , 臂架 13与臂架 14之间的 夹角为 θ4 , 根据各臂架的长度和相邻臂架之间的角度， 可以推导出末节臂 架的末端的计算公式：
X = -l4cl234 + l3cl23 - l2cl2 + 1^1
y = -l4sl234 + l3sl23 - l2sl2 + 1^1
其中, cl表示 cos e si表示 sine^ cl2表示 cos ( θ^ θζ ) , sl2表示 sin ( θ, + θ2 ) ,cl23表示 cos ( + ), sl23表示 sin ( + ), cl234 表示 cos ( θι + θ2 + θ3 + θ4 ), sl234表示 sin ( θι + θ2 + θ3 +θ4 )。
具体的方案中，可通过控制臂架油缸多路阀来控制所述臂架油缸动作。 臂架油缸的动作通常由臂架液压系统中的臂架油缸多路阀来控制， 通过控 制臂架油缸多路阀的阀门开度及作用时长可控制臂架油缸的运动幅度的大 小及运动频率的大小。
优选方案中， 可通过计算臂架油缸多路阀的阀门开度及作用时长， 以 确定相应的臂架油缸的运动幅度的大小及运动频率的大小。
进一步的方案中， 臂架油缸多路阀通常为电磁阀， 可通过控制臂架油 缸多路阀所需电流量的大小确定臂架油缸多路阀的阀门开度， 更具体的方 案中， 可根据上述臂架油缸所需的运动量， 确定臂架油缸多路阀所需电流 量的大小； 更具体的方案中， 可进一步确定臂架多路阀的通电时间， 以确 定臂架油缸多路阀的作用时长。
上述实施例中， 检测装置采用设置于各臂架上的倾角传感器， 通过检 测各节臂架的倾斜角度及相应的计算得到末节臂架的末端的坐标值， 本发 明并不局限于此， 检测装置还可采用在各臂架上的旋转编码器或用于检测 各臂架油缸位移的位移传感器等， 进而采用相应的计算方法可计算出末节 臂架的末端的坐标值。
本发明还提供了一种臂架式工程机械， 该臂架式工程机械设有上述的 臂架振动抑制系统， 由于上述的臂架振动抑制系统具有上述技术效果， 具 有该臂架振动抑制系统的臂架式工程机械也应具有相应的技术效果， 在此 不再做详细介绍。
以上所述仅是发明的优选实施方式的描述， 应当指出， 由于文字表达 的有限性， 而在客观上存在无限的具体结构， 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， 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、 一种臂架振动抑制方法， 其特征在于， 包括以下步骤：
步骤 A, 实时检测末节臂架的末端振动的振幅八、 频率 f;
步骤 B, 驱动至少一节臂架上的臂架油缸动作， 使得所述末节臂架的 末端产生一个具有振幅 Al、频率 fl的运动分量，且所述振幅 A1小于所述 振幅 A、 所述频率 fl大于所述频率 f。
2、根据权利要求 1所述的臂架振动抑制方法， 其特征在于， 所述步骤 A具体为：
步骤 A1 , 实时检测末节臂架的末端的位置；
步骤 A2,根据所述位置的变化，计算所述末节臂架的末端振动的振幅
A、 频率 f。
3、根据权利要求 1所述的臂架振动抑制方法， 其特征在于， 所述步骤 A具体为： 直接实时检测末节臂架的末端振动的振幅 A、 频率 f。
4、根据权利要求 1所述的臂架振动抑制方法， 其特征在于， 通过控制 臂架油缸多路阀来控制所述臂架油缸动作。
5、 一种臂架振动抑制系统， 其特征在于， 包括：
检测装置， 用于实时检测末节臂架的末端的位置；
控制器， 所述控制器根据所述位置的变化， 计算所述末节臂架的末端 振动的振幅 A、 频率 f;
所述控制器发出驱动信号， 驱动至少一节臂架上的臂架油缸动作， 使 得所述末节臂架的末端产生一个具有振幅 Al、 频率 fl的运动分量， 且所 述振幅 A1小于所述振幅 A、 所述频率 fl大于所述频率 f。
6、根据权利要求 5所述的臂架振动抑制系统， 其特征在于， 所述检测 装置为设置于各臂架上的倾角传感器。
7、根据权利要求 5所述的臂架振动抑制系统， 其特征在于， 所述检测 装置为设置在各臂架上的旋转编码器或用于检测各臂架油缸位移的位移传 感器。
8、 根据权利要求 5-7任一项所述的臂架振动抑制系统， 其特征在于， 所述控制器计算相应臂架油缸的运动量及运动频率， 以使得所述末节臂架 的末端产生一个具有所述振幅 Al、 所述频率 fl的运动分量。
9、根据权利要求 5所述的臂架振动抑制系统， 其特征在于， 还包括臂 架油缸多路阀， 所述控制器向所述臂架油缸多路阀发送驱动信号， 驱动所 述臂架油缸动作。
10、 一种臂架式工程机械， 其特征在于， 该臂架式工程机械设有权利 要求 5-9任一项所述的臂架振动抑制系统。
PCT/CN2012/074264 2011-07-01 2012-04-18 臂架振动抑制方法、系统及臂架式工程机械 Ceased WO2013004100A1 (zh)

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