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101. 发明申请

US20170204886A1 METHODS AND APPARATUS TO ENABLE BOOM BOUNCE REDUCTION AND PREVENT UN-COMMANDED MOTION IN HYDRAULIC SYSTEMS 审中-公开
公开(公告)号：US20170204886A1
公开(公告)日：2017-07-20
申请号：US15326395
申请日：2015-07-15
申请人： EATON CORPORATION
发明人： Meng WANG , Michael Berne RANNOW
IPC分类号： F15B21/00 , F16K31/42 , F15B11/042 , F15B11/00 , F15B11/044
CPC分类号： F15B21/008 , B66C13/066 , E04G21/0454 , F15B11/003 , F15B11/042 , F15B11/0445 , F15B19/005 , F15B2211/30515 , F15B2211/3057 , F15B2211/329 , F15B2211/355 , F15B2211/50509 , F15B2211/5059 , F15B2211/526 , F15B2211/6313 , F15B2211/632 , F15B2211/634 , F15B2211/6658 , F15B2211/855 , F15B2211/8616 , F15B2211/8636 , F15B2211/8752 , F16K31/426
摘要： A hydraulic system (600) and method for reducing boom dynamics of a boom (30), while providing counter-balance valve protection, includes a hydraulic actuator (110), first and second counter-balance valves (300, 400), first and second independent control valves (700, 800), and first and second blocking valves (350, 450). The actuator includes first and second corresponding chambers. In a first mode, the second counter-balance valve is opened by the first control valve, and the first counter-balance valve is opened by the second control valve. In a second mode, at least one of the counter-balance valves is closed. A meter-out control valve (800, 700) may be operated in a flow control mode, and/or a meter-in control valve (700, 800) may be operated in a pressure control mode. Boom dynamics reduction may occur while the boom is in motion (e.g., about a worksite). By opening the counter-balance valves, sensors at the control valves may be used to characterize external loads. The control valves may respond to the external loads and at least partially cancel unwanted boom dynamics. The system may further detecting faults in actuators with counter-balance valves and prevent any single point fault from causing a boom falling event and/or mitigate such faults.

102. 发明授权

US09651112B2 Vibration suppression method, controller, device of boom and pump truck 有权
公开(公告)号：US09651112B2
公开(公告)日：2017-05-16
申请号：US14352923
申请日：2012-10-22
申请人： ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY CO., LTD. , HUNAN ZOOMLION INTELLIGENT TECHNOLOGY CO. LTD
发明人： Yi Huang , Jiaqian Wang , Lu Huang , Hao Kuang , Wen Yang
IPC分类号： F16F15/027 , E04G21/04 , B66C13/06 , F16F15/00
CPC分类号： F16F15/027 , B66C13/066 , E04G21/0436 , E04G21/0454 , F16F15/002
摘要： A revolution vibration suppressing method and apparatus for pump truck boom is provided. Vibration severity of the boom in the revolution direction is detected. Dynamic characteristic parameters of the boom are extracted. A control signal that can be used to control the revolving actuator to compensate the vibration severity according to the vibration severity and the dynamic characteristic parameters is calculated. The revolving actuator is driven according to the control signal to move, to suppress the revolution vibration of the boom. A revolution vibration suppression controller and a revolution vibration suppression device for a pump truck boom are provided to implement the methods. With the disclosed methods and apparatus, the vibration of a pump truck boom in the revolution direction can be suppressed, and therefore the risk of failures of the boom is decreased and the operating safety in the work is improved.

103. 发明申请

US20160194183A1 METHOD FOR REDUCING DYNAMIC LOADS OF CRANES 审中-公开
标题翻译：减少动力载荷的方法
公开(公告)号：US20160194183A1
公开(公告)日：2016-07-07
申请号：US15069254
申请日：2016-03-14
申请人： National Oilwell Varco Norway AS
发明人： Age Kyllingstad
IPC分类号： B66C13/06
CPC分类号： B66C13/06 , B66C13/04 , B66C13/066 , B66C23/06 , B66C23/10 , B66C23/12 , B66D1/52 , B66D1/525
摘要： A method and related device for reducing resonant vibrations and dynamic loads of cranes, where vertical motion of a pay load is controlled by a boom winch and a hoist winch. In an embodiment, the method includes determining resonance frequencies of the crane boom and pay load from inertia data of the boom and stiffness on at least the boom and hoist ropes, the resonance frequencies including a first frequency and a lower second frequency. In addition, the method includes automatically modifying the motion of the boom winch or the hoist winch to induce a damping inducing winch motion in the boom or hoist winch, by tuning a proportional integral (PI)-type boom winch speed controller or a PI-type hoist winch speed controller. The boom winch speed controller is tuned to absorb energy at the second frequency, the hoist winch speed controller is tuned to absorb energy at the first frequency.
摘要翻译：一种降低共振振动和起重机的动态载荷的方法和相关装置，其中载荷的垂直运动由吊臂绞车和起重绞盘控制。在一个实施例中，该方法包括确定起重机吊臂的共振频率和起重臂的惯性数据和至少在起重臂和起重绳索上的刚度的载荷，共振频率包括第一频率和较低的第二频率。另外，该方法包括通过调整比例积分（PI）型起重绞车绞车速度控制器或PI-型变速器来自动修改起重臂绞车或起重绞盘的运动，以引起在起重臂或起重绞盘中的减振诱导绞车运动，型升降机绞车转速控制器。调节吊臂绞车速度控制器以吸收第二频率的能量，起升绞车速度控制器被调谐以吸收第一频率的能量。

104. 发明申请

US20160176692A1 METHOD FOR CONTROLLING AN AERIAL APPARATUS, AND AERIAL APPARATUS WITH CONTROLLER IMPLEMENTING THIS METHOD 有权
标题翻译：控制装置的方法以及控制器实施本方法的空调装置
公开(公告)号：US20160176692A1
公开(公告)日：2016-06-23
申请号：US14971605
申请日：2015-12-16
申请人： IVECO MAGIRUS AG
发明人： Oliver SAWODNY , Alexander PERTSCH
IPC分类号： B66F17/00 , B66F11/04
CPC分类号： B66F17/006 , A62C27/00 , B66C13/066 , B66F11/046 , E06C5/04 , E06C5/36
摘要： Method for controlling an aerial apparatus with a telescopic boom, strain gauge sensors for detecting the bending state of the telescopic boom in a horizontal and a vertical direction, a gyroscope attached to the top of the telescopic boom and control means for controlling a movement of the aerial apparatus on the basis of signal values gained from the SG sensors and the gyroscope,said method comprising the following steps: obtaining raw signals SGRaw, GYRaw from the SG sensors and the gyroscope, calculating reference signals from the raw signals SGRaw, GYRaw, including an SG reference signal SGRef, representing a strain value, and a gyroscope reference signal GYRef, representing an angular velocity value, and an angular acceleration reference signal AARef derived from angular position or angular velocity measurement values, reconstructing a first oscillation mode f1 and at least one second oscillation mode f2 of higher order than the first oscillation mode f1 from the reference signals and additional model parameters PAR related to the construction of the aerial apparatus, calculating a compensation angular velocity value AVComp from the reconstructed first oscillation mode f1 and at least one second oscillation mode f2, adding the calculated compensation angular velocity value AVComp to a feedforward angular velocity value to result in a drive control signal.
摘要翻译：用伸缩式吊杆控制空中装置的方法，用于检测伸缩臂在水平和垂直方向上的弯曲状态的应变片传感器，连接到伸缩臂顶部的陀螺仪和用于控制伸缩臂的运动的控制装置基于从SG传感器和陀螺仪获得的信号值的天线装置，所述方法包括以下步骤：从SG传感器和陀螺仪获取原始信号SGRaw，GYRaw，计算来自原始信号SGRaw，GYRaw的参考信号，包括表示应变值的SG参考信号SGRef和表示角速度值的陀螺仪参考信号GYRef和从角位置或角速度测量值导出的角加速度参考信号AARef，重建第一振荡模式f1至少比来自参考信号的第一振荡模式f1高一阶的第二振荡模式f2 ls和附加模型参数PAR与天线装置的构造相关，从重构的第一振荡模式f1和至少一个第二振荡模式f2计算补偿角速度值AVComp，将计算的补偿角速度值AVComp与前馈角相加速度值导致驱动控制信号。

105. 发明授权

US09316283B2 Velocity-proportional active vibration damping 有权
标题翻译：速度比例主动减振
公开(公告)号：US09316283B2
公开(公告)日：2016-04-19
申请号：US13630812
申请日：2012-09-28
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： Uwe Ladra , Elmar Schäfers , Torsten Schür
IPC分类号： G05B21/00 , F16F15/00 , B66C13/06 , F16F7/10
CPC分类号： F16F15/002 , B66C13/066 , F16F7/1011
摘要： An active vibration damper has a damping device arranged on a vibration-susceptible mechanical structure. A force can be injected directly into the vibration-susceptible mechanical structure with the damping device. A damping force which damps a vibration of the mechanical structure is determined by a control device of the active vibration damper with reference to an absolute movement of the mechanical structure in space. A damping drive of the damping device which is arranged on the mechanical structure is activated by the control device in accordance with the determined damping force such that the determined damping force is injected into the mechanical structure with the damping drive. The control device determines the damping force such that the damping force is proportional at all times to the instantaneous velocity of the mechanical structure.
摘要翻译：主动减震器具有布置在易受振动的机械结构上的阻尼装置。阻尼装置可以将力直接注入振动敏感的机械结构。参考机械结构在空间中的绝对运动，通过主动减振器的控制装置来确定阻尼机械结构振动的阻尼力。布置在机械结构上的阻尼装置的阻尼驱动由控制装置根据确定的阻尼力来启动，使得所确定的阻尼力通过阻尼驱动被注入到机械结构中。控制装置确定阻尼力，使得阻尼力始终与机械结构的瞬时速度成比例。

106. 发明授权

US08352129B2 Motion control of work vehicle 有权
标题翻译：工作车辆的运动控制
公开(公告)号：US08352129B2
公开(公告)日：2013-01-08
申请号：US12581005
申请日：2009-10-16
申请人： QingHui Yuan , Jae Y. Lew , Damrongrit Piyabongkarn
发明人： QingHui Yuan , Jae Y. Lew , Damrongrit Piyabongkarn
IPC分类号： G06F7/70
CPC分类号： E02F9/2207 , B66C13/06 , B66C13/066 , B66F11/046 , F15B9/09 , F15B2211/253 , F15B2211/6309 , F15B2211/6313 , F15B2211/6336 , F15B2211/634 , F15B2211/6652 , F15B2211/8616
摘要： A method for controlling a boom assembly includes providing a boom assembly having an end effortor. The boom assembly includes an actuator in fluid communication with a flow control valve. A desired coordinate of the end effector of the boom assembly is converted from Cartesian space to actuator space. A deflection error of the end effector based on a measured displacement of the actuator is calculated. A resultant desired coordinate of the end effector is calculated based on the desired coordinate and the deflection error. A control signal for the flow control valve is generated based on the resultant desired coordinate and the measured displacement of the actuator. The control signal is shaped to reduce vibration of the boom assembly. The shaped control signal is transmitted to the flow control valve.
摘要翻译：一种用于控制悬臂组件的方法，包括提供具有最终推动力的起重臂组件。动臂组件包括与流量控制阀流体连通的致动器。起重臂组件的末端执行器的期望坐标从笛卡尔空间转换为致动器空间。计算出基于执行器的测量位移的末端执行器的偏转误差。基于期望的坐标和偏转误差来计算末端执行器的合成所需的坐标。基于所得到的所需坐标和所测量的致动器的位移产生用于流量控制阀的控制信号。控制信号被成形为减小吊杆组件的振动。成形控制信号被传送到流量控制阀。

107. 发明授权

US08037682B2 Method and device for suppressing vibration of boom of concrete pump truck 有权
标题翻译：混凝土泵车摇臂振动抑制方法及装置
公开(公告)号：US08037682B2
公开(公告)日：2011-10-18
申请号：US11993599
申请日：2007-02-14
申请人： Xiaogang Yi , Yonghong Liu , Guocheng Peng , Chengzhi Guo , Xionghui Miao
发明人： Xiaogang Yi , Yonghong Liu , Guocheng Peng , Chengzhi Guo , Xionghui Miao
IPC分类号： F04B15/02 , E04G21/04
CPC分类号： F16F15/027 , B66C13/066 , E04G21/04 , E04G21/0418 , E04G21/0454 , F04B15/023 , F04B53/001 , F15B7/00 , F15B11/036 , F15B15/1409 , F15B21/12
摘要： The present invention discloses a method and device for suppressing vibration of boom of concrete pump truck, in which the boom cylinder is connected with the vibration suppression cylinder; the information about hydraulic pressure in the boom cylinder and/or about changing of concrete pumping direction is monitored by a pressure sensing unit in real time; the monitored information about hydraulic pressure and/or about changing of concrete pumping direction is transmitted to the control unit for vibration suppression cylinder; the control unit for vibration suppression cylinder analyzes and processes the monitored information and adjusts the volumes of the rod side chamber and the non-rod side chamber in the vibration suppression cylinder such that the vibration suppression cylinder may generate a pulsed vibration and the pulsed vibration at the end of the boom is less than or equal to the vibration amplitude caused by the intermittent concrete supply at the end of the boom in amplitude, with a phase difference of 180° between the two vibrations. The vibration suppression method and device for boom of concrete pump truck according to the present invention may be simply configured, easily implemented and operated to effectively suppress the boom vibration.
摘要翻译：本发明公开了一种用于抑制混凝土泵车的动臂振动的方法和装置，其中动臂缸与减振缸连接; 关于动臂缸中的液压和/或关于混凝土泵送方向的变化的信息由压力感测单元实时监测; 关于液压和/或关于混凝土泵送方向变化的监控信息被传送到用于减振缸的控制单元; 用于振动抑制气缸的控制单元分析并处理所监视的信息并调节振动抑制气缸中的杆侧室和非杆侧室的体积，使得振动抑制气缸可产生脉冲振动和脉冲振动悬臂端部的振动幅度小于或等于在悬臂端部间歇混凝土供给引起的振动幅度，两个振动之间的相位差为180°。根据本发明的混凝土泵车的起重臂的振动抑制方法和装置可以简单地构造，容易地实施和操作，以有效地抑制起重臂振动。

108. 发明申请

US20110179783A1 DEVICE TO ACTIVELY CONTROL THE VIBRATIONS OF AN ARTICULATED ARM TO PUMP CONCRETE 有权
标题翻译：设计用于控制混凝土臂对泵混凝土的振动
公开(公告)号：US20110179783A1
公开(公告)日：2011-07-28
申请号：US13013238
申请日：2011-01-25
申请人： Nicola PIRRI , Gennaro Paolo BOTTINO
发明人： Nicola PIRRI , Gennaro Paolo BOTTINO
IPC分类号： F15B21/02
CPC分类号： E02F9/2207 , B66C13/066 , B66F9/22 , E02F9/2296 , E04G21/0418 , F15B21/008 , F15B2211/20576 , F15B2211/30565 , F15B2211/31582 , F15B2211/5059 , F15B2211/6652 , F15B2211/6653 , F15B2211/8613 , F15B2211/8616 , F15B2211/8636 , F16F15/027
摘要： The device to actively control the vibrations of an articulated arm consisting of a plurality of segments each comprising at least its own actuator associated with a hydraulic drive circuit including a block valve. At least one of said actuators is associated with an auxiliary control circuit of the vibrations, comprising at least a sensor able to detect the vibrations and/or the position of one or more segments, a processing unit to process the signals of the sensor/sensors and a pump commanded by the processing unit and cooperating with said block valve. The auxiliary control circuit is associated with the hydraulic drive circuit.
摘要翻译：用于主动地控制由多个段组成的铰接臂的振动的装置，每个段至少包括其自身的致动器，其与包括截止阀的液压驱动电路相关联。所述致动器中的至少一个与振动的辅助控制电路相关联，包括至少一个能够检测一个或多个段的振动和/或位置的传感器，处理单元，用于处理传感器/传感器的信号以及由处理单元指令并与所述截止阀配合的泵。辅助控制电路与液压驱动电路相关联。

109. 发明申请

US20090211435A1 Method and Device for Suppressing Vibration of Boom of Concrete Pump Truck 有权
标题翻译：混凝土泵车振动抑制方法及装置
公开(公告)号：US20090211435A1
公开(公告)日：2009-08-27
申请号：US11993599
申请日：2007-02-14
申请人： Xiaogang Yi , Yonghong Liu , GuoCheng Peng , Chengzhi Guo , Xionghui Miao
发明人： Xiaogang Yi , Yonghong Liu , GuoCheng Peng , Chengzhi Guo , Xionghui Miao
IPC分类号： G05D19/02 , F15B13/16 , G05B13/02
CPC分类号： F16F15/027 , B66C13/066 , E04G21/04 , E04G21/0418 , E04G21/0454 , F04B15/023 , F04B53/001 , F15B7/00 , F15B11/036 , F15B15/1409 , F15B21/12
摘要： The present invention discloses a method and device for suppressing vibration of boom of concrete pump truck, in which the boom cylinder is connected with the vibration suppression cylinder; the information about hydraulic pressure in the boom cylinder and/or about changing of concrete pumping direction is monitored by a pressure sensing unit in real time; the monitored information about hydraulic pressure and/or about changing of concrete pumping direction is transmitted to the control unit for vibration suppression cylinder; the control unit for vibration suppression cylinder analyzes and processes the monitored information and adjusts the volumes of the rod side chamber and the non-rod side chamber in the vibration suppression cylinder such that the vibration suppression cylinder may generate a pulsed vibration and the pulsed vibration at the end of the boom is less than or equal to the vibration amplitude caused by the intermittent concrete supply at the end of the boom in amplitude, with a phase difference of 180° between the two vibrations. The vibration suppression method and device for boom of concrete pump truck according to the present invention may be simply configured, easily implemented and operated to effectively suppress the boom vibration.
摘要翻译：本发明公开了一种用于抑制混凝土泵车的动臂振动的方法和装置，其中动臂缸与减振缸连接; 关于动臂缸中的液压和/或关于混凝土泵送方向的变化的信息由压力感测单元实时监测; 关于液压和/或关于混凝土泵送方向变化的监控信息被传送到用于减振缸的控制单元; 用于振动抑制气缸的控制单元分析并处理所监视的信息并调节振动抑制气缸中的杆侧室和非杆侧室的体积，使得振动抑制气缸可产生脉冲振动和脉冲振动悬臂端部的振动幅度小于或等于在悬臂端部间歇混凝土供给引起的振动幅度，两个振动之间的相位差为180°。根据本发明的混凝土泵车的起重臂的振动抑制方法和装置可以简单地构造，容易地实施和操作，以有效地抑制起重臂振动。

110. 发明授权

US06883532B2 Large-scale manipulator comprising a vibration damper 有权
标题翻译：包括振动阻尼器的大型机械手
公开(公告)号：US06883532B2
公开(公告)日：2005-04-26
申请号：US10380636
申请日：2001-07-04
申请人： Kurt Rau
发明人： Kurt Rau
IPC分类号： E04G21/04 , G05G9/00
CPC分类号： B66C13/18 , B66C13/066 , E04G21/04 , E04G21/0436 , E04G21/0454 , Y10T74/20018 , Y10T137/0318 , Y10T137/8807
摘要： The invention relates to a large-scale manipulator, especially of concrete pumps. Said large-scale manipulator has a bending boom (22) which consists of at least three boom arms (23 to 27) and which is preferably configured as a concrete spreader boom. The arms of said boom are each pivotable to a limited extent about horizontal bending axes (28 to 32) which are parallel to each other, by means of a drive aggregate (34 to 38), respectively. A control device (50, 62, 52) for moving the boom with the help of actuating mechanisms that are allocated to the individual drive aggregates, and means for damping mechanical vibrations in the bending boom are also provided.
摘要翻译：本发明涉及一种大型机械手，特别是混凝土泵。所述大型操纵器具有由至少三个悬臂臂（23至27）组成的弯曲臂（22），并且其优选地构造为混凝土吊架。所述悬臂的臂分别通过驱动集合体（34至38）分别围绕彼此平行的水平弯曲轴线（28至32）以有限的程度枢转。还提供了用于借助于分配给各个驱动集合体的致动机构来移动悬臂的控制装置（50,62,52），以及用于阻尼弯臂的机械振动的装置。

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