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61. 发明授权

CN101839066B 末端软管装置、混凝土泵车及管道输送装置有权转让
公开(公告)号：CN101839066B
公开(公告)日：2011-09-28
申请号：CN201010203365.6
申请日：2010-06-11
申请人：三一重工股份有限公司
发明人：易秀明 , 张涛 , 李建涛
IPC分类号： F16F7/104 , E04G21/04
CPC分类号： E04G21/04 , E04G21/0454 , E04G2021/049 , F16F7/108 , F16F7/116
摘要：本发明公开了一种用于混凝土泵车末端软管装置，包括输送管(1)；所述输送管(1)的外侧壁套装有质量盘(2)，且所述质量盘(2)的内圈侧壁与所述输送管(1)的外侧壁之间具有间隙；所述质量盘(2)的上方和下方中，至少有一方设有凸出于所述输送管(1)外侧壁的支撑部，所述质量盘(2)与所述支撑部之间通过弹性部件连接，以便所述质量盘(2)沿所述输送管(1)的轴向往复振动。该装置能够有效地减少末端软管装置在输送物料时的振动，并且减振的工作可靠性比较高和工作成本较低。此外，本发明还公开了一种包括上述末端软管装置的混凝土泵车。再者，本发明又公开了一种管道输送装置。

62. 发明公开

CN102108790A 混凝土泵送设备及其臂架状态控制系统有权转让
公开(公告)号：CN102108790A
公开(公告)日：2011-06-29
申请号：CN201010606015.4
申请日：2010-12-24
申请人：三一重工股份有限公司
发明人：易小刚 , 吴名陵 , 胡栋华
IPC分类号： E04G21/04 , G05B19/02
CPC分类号： E04G21/0454 , F04B15/02
摘要：本发明公开了一种臂架状态控制系统，包括用于检测混凝土泵送设备的臂架(8)的位置状态和振动状态，得到位置状态信号和振动信号的检测装置(1)；用于存储振动信号，得到臂架(8)的周期振动信号的存储装置(2)；用于接收位置状态信号、振动信号和周期振动信号，并根据预定臂架振动范围、预定提前调整时间和预定控制策略得出控制指令的控制装置(3)和用于根据控制指令改变状态，控制臂架(8)在预定臂架振动范围内动作的执行装置(4)。本发明所提供的臂架状态控制系统能够避免由于检测装置检测过程中及执行装置动作过程中的时滞现象而造成的控制误差，做到及时减振，提高了臂架操作的方便性。本发明还公开了一种混凝土泵送设备。

63. 发明公开

CN102071809A 混凝土泵车以及混凝土泵车臂架的减振装置和方法有权
公开(公告)号：CN102071809A
公开(公告)日：2011-05-25
申请号：CN201110006149.7
申请日：2011-01-12
申请人：长沙中联重工科技发展股份有限公司
发明人：易伟春 , 李葵芳 , 王帅
IPC分类号： E04G21/04 , F04B15/02 , F04B49/00
CPC分类号： F04B15/02 , E04G21/0436 , E04G21/0454
摘要：本发明提供了一种混凝土泵车以及混凝土泵车臂架的减振装置和方法。本发明的混凝土泵车臂架的减振装置包括：减振控制单元，与连接臂架油缸的电磁比例阀相连；臂架末端振动监测单元，监测臂架的末节臂的幅度参数并将幅度参数信号传送给减振控制单元；臂架姿态监测单元，监测臂架的角度参数并将角度参数信号传送给减振控制单元。本发明的混凝土泵车还包括前述的混凝土泵车臂架的减振装置。本发明的混凝土泵车臂架的减振方法包括以下步骤：监测混凝土泵及臂架的运行参数；根据监测参数生成控制信号，根据控制信号输出电磁比例阀控制电流，控制臂架油缸的活塞位置；其中，臂架的监测参数包括：末节臂的振动幅度参数；以及臂架的角度参数。

64. 发明授权

US09719530B2 Electrohydraulic control circuit 有权
公开(公告)号：US09719530B2
公开(公告)日：2017-08-01
申请号：US14783556
申请日：2014-04-09
申请人： TTControl GMBH
发明人： Marcus Specks , Marcus Pfeiffer , Stephan Grün , Reiner Vierkotten , Joseph Schnittker , Andreas Lehmann , Wolfgang Tebeek , Wolfgang Kemmetmüller , Johannes Henikl , Andreas Kugi
IPC分类号： F15B11/00 , E04G21/04 , F15B20/00 , F15B11/08
CPC分类号： F15B11/003 , E04G21/0436 , E04G21/0454 , E04G21/0463 , F15B11/08 , F15B20/005 , F15B2211/30515 , F15B2211/30565 , F15B2211/327 , F15B2211/8636 , F15B2211/8757
摘要： An electrohydraulic control circuit for driving a hydraulically actuated actuating element (5, 6), by means of which a segment (5.3) of a manipulator, in particular of a large manipulator for truck-mounted concrete pumps, can be adjusted in terms of its orientation, wherein there are provided an electrically driven first valve (2.4), which is connected to hydraulic working lines of the actuating element (5.6) for the drive thereof, and leak-free check valves (2.5, 2.6) provided in the working lines of the actuating element (5.6), which valves are arranged on the actuating element (5.6) or on the segment (5.3) associated with this actuating element (5.6) and can be released for the normal operation of the actuating element (5.6), wherein the release of the check valves (2.5, 2.6) is driven by an electronic control unit (ECU) separate from the first valve (2.4) and the check valves (2.5, 2.6).

65. 发明申请

US20160298719A1 CONTROL STRATEGY FOR REDUCING BOOM OSCILLATION 审中-公开
标题翻译：减少汽车振荡的控制策略
公开(公告)号：US20160298719A1
公开(公告)日：2016-10-13
申请号：US15036749
申请日：2014-11-07
申请人： EATON CORPORATION
发明人： Meng (Rachel) WANG , Michael Berne RANNOW
IPC分类号： F16F15/027 , F16F15/023
CPC分类号： F16F15/027 , B66C13/066 , E02F9/2207 , E02F9/221 , E04G21/0436 , E04G21/0454 , F15B21/008 , F15B2211/3051 , F15B2211/3057 , F15B2211/329 , F15B2211/35 , F15B2211/355 , F15B2211/6306 , F15B2211/6313 , F15B2211/6336 , F15B2211/665 , F15B2211/8613 , F15B2211/8616 , F16F15/023
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 cylinder (110), first and second counter-balance valves (300, 400), first and second control valves (700, 800), and first and second blocking valves (350, 450). A net load (90) is supported by a first chamber (116, 118) of the hydraulic cylinder, and a second chamber (118, 116) of the hydraulic cylinder may receive fluctuating hydraulic fluid flow from the second control valve to produce a vibratory response (950) that counters environmental vibrations (960) on the boom. The method may include measuring first pressure ripples at the second chamber and reducing a magnitude of second pressure ripples at the first chamber. The pressure ripples may be transformed into a flow command by multiplying the pressure ripples by a gain and/or phase shifting. The gain and/or the phase shifting may be adjusted by feedback. The feedback may include the second pressure ripples at the load holding chamber, a position of the hydraulic actuator, and/or an operator input. A reference signal may be filtered with a moving average filter.
摘要翻译：在提供平衡阀保护的同时提供悬臂（30）的起重臂动力学的液压系统（600）和方法包括液压缸（110），第一和第二平衡阀（300,400），第一和第二平衡阀第二控制阀（700,800）以及第一和第二阻塞阀（350,450）。净负载（90）由液压缸的第一腔室（116,118）支撑，并且液压缸的第二腔室（118,116）可接收来自第二控制阀的波动的液压流体流动以产生振动响应（950），用于对吊臂上的环境振动（960）进行计数。该方法可以包括测量第二室处的第一压力波动并且减小第一室处的第二压力波动的大小。压力波纹可以通过将压力波纹乘以增益和/或相移来转换成流动指令。增益和/或相移可以通过反馈进行调整。反馈可以包括负载保持室处的第二压力波动，液压致动器的位置和/或操作者输入。参考信号可以用移动平均滤波器滤波。

66. 发明授权

US07143682B2 Large manipulator having a vibration damping capacity 失效
标题翻译：具有减震能力的大型机械手
公开(公告)号：US07143682B2
公开(公告)日：2006-12-05
申请号：US10466035
申请日：2002-01-09
申请人： Dirk Nissing , Werner Bernzen , Karl-Heinz Koop
发明人： Dirk Nissing , Werner Bernzen , Karl-Heinz Koop
IPC分类号： F15B13/16 , B62D5/06
CPC分类号： B66C23/00 , B66C13/066 , B66C13/18 , E04G21/04 , E04G21/0418 , E04G21/0454
摘要： A large-size manipulator comprises a boom made up of several segments and arranged on a vehicle frame. The boom is foldable and has a slewing track ring rotated about a vertical axis of rotation. The boom segments can be swiveled with respect to each other and with respect to the slewing track ring. A distant steering system includes a steering organ to operate the driving units and to set a desired position of the driving units and/or the boom segments and the slewing track ring. A control system includes a monitoring unit to ascertain a parameter that describes a disturbance condition of at least one boom segment. A determination unit determines the load that acts on a driving unit in opposition to the position set by the steering organ. The control system assures that the driving unit is controlled to minimize the deviation from the set position of the boom segments. Vibration of the boom segments will therefore be damped.
摘要翻译：大型机械手包括由几段构成并布置在车架上的动臂。起重臂是可折叠的并且具有围绕垂直旋转轴线旋转的回转轨道环。动臂段可以相对于彼此和相对于回转轨道环旋转。远程转向系统包括用于操作驱动单元并设置驱动单元和/或起重臂段和回转轨道环的期望位置的转向机构。控制系统包括监视单元，用于确定描述至少一个吊杆段的扰动状况的参数。确定单元确定与驾驶单元作用的负载相对于由转向机构设定的位置。控制系统确保驱动单元被控制以最小化与起重臂段的设定位置的偏差。因此，动臂段的振动将被阻尼。

67. 发明公开

US20230366222A1 SYSTEMS AND METHODS FOR CONSTRUCTION OF STRUCTURES USING ADDITIVE MANUFACTURING 审中-公开
公开(公告)号：US20230366222A1
公开(公告)日：2023-11-16
申请号：US17740972
申请日：2022-05-10
申请人： My Robot Builds, LLC
发明人： Craig PETTIT
IPC分类号： E04G21/04 , B28B1/00
CPC分类号： E04G21/0463 , B28B1/001 , E04G21/0454 , E04G21/0436 , B33Y10/00
摘要： The present disclosure provides systems, methods, and computer-readable storage devices for building construction from extrudable materials with improved accuracy due to increased stability of components. In some aspects, a construction system includes a frame assembly disposed at a building site and a moveable frame assembly (e.g., gantry) coupled to the frame assembly and configured to move along a first axis. A moveable platform is coupled to and configured to move along the moveable frame assembly along a second axis perpendicular to the first axis. The moveable platform has an opening and a guide structure is disposed within the opening and configured to move along a third axis that is perpendicular to the first and second axes. The guide structure holds a conduit configured to deposit, via a nozzle, extrudable building material at the building site. Use of the guide structure, disposed within the opening, stabilizes the nozzle during material deposition.

68. 发明申请

US20190101137A1 CONTROL METHOD AND SYSTEM FOR USING A PAIR OF INDEPENDENT HYDRAULIC METERING VALVES TO REDUCE BOOM OSCILLATIONS 审中-公开
公开(公告)号：US20190101137A1
公开(公告)日：2019-04-04
申请号：US16047630
申请日：2018-07-27
申请人： Eaton Intelligent Power Limited
发明人： Michael Berne RANNOW , Meng WANG
IPC分类号： F15B11/00 , E04G21/04 , F15B11/044 , E02F9/22 , B66C13/06
CPC分类号： F15B11/003 , B66C13/066 , E02F9/2207 , E02F9/226 , E04G21/0436 , E04G21/0454 , F15B11/0445 , F15B2211/3057 , F15B2211/5059 , F15B2211/6306 , F15B2211/6313 , F15B2211/6336 , F15B2211/6343 , F15B2211/6346 , F15B2211/6658 , F15B2211/8613
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 cylinder (110), first and second counter-balance valves (300, 400), and first and second control valves (700, 800). A net load (90) is supported by a first chamber (116, 118) of the hydraulic cylinder, and a second chamber (118, 116) of the hydraulic cylinder may receive fluctuating hydraulic fluid flow from the second control valve to produce a vibratory response (950) that counters environmental vibrations (960) on the boom. The first control valve may apply a holding pressure and thereby hold the first counter-balance valve closed and the second counter-balance valve open.

69. 发明授权

US10036407B2 Control method and system for using a pair of independent hydraulic metering valves to reduce boom oscillations 有权
公开(公告)号：US10036407B2
公开(公告)日：2018-07-31
申请号：US14915449
申请日：2014-08-29
申请人： Eaton Intelligent Power Limited
发明人： Michael Berne Rannow , Meng Wang
IPC分类号： F15B11/00 , E02F9/22 , B66C13/06 , E04G21/04 , F15B11/044
CPC分类号： F15B11/003 , B66C13/066 , E02F9/2207 , E02F9/226 , E04G21/0436 , E04G21/0454 , F15B11/0445 , F15B2211/3057 , F15B2211/5059 , F15B2211/6306 , F15B2211/6313 , F15B2211/6336 , F15B2211/6343 , F15B2211/6346 , F15B2211/6658 , F15B2211/8613
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 cylinder (110), first and second counter-balance valves (300, 400), and first and second control valves (700, 800). A net load (90) is supported by a first chamber (116, 118) of the hydraulic cylinder, and a second chamber (118, 116) of the hydraulic cylinder may receive fluctuating hydraulic fluid flow from the second control valve to produce a vibratory response (950) that counters environmental vibrations (960) on the boom. The first control valve may apply a holding pressure and thereby hold the first counter-balance valve closed and the second counter-balance valve open.

70. 发明申请

US20160222989A1 CONTROL METHOD AND SYSTEM FOR USING A PAIR OF INDEPENDENT HYDRAULIC METERING VALVES TO REDUCE BOOM OSCILLATIONS 审中-公开
标题翻译：控制方法和系统，使用独立液压计量阀对减少气缸振荡
公开(公告)号：US20160222989A1
公开(公告)日：2016-08-04
申请号：US14915449
申请日：2014-08-29
申请人： EATON CORPORATION
发明人： Michael Berne RANNOW , Meng WANG
IPC分类号： F15B11/00 , E02F9/22 , E04G21/04 , B66C13/06
CPC分类号： F15B11/003 , B66C13/066 , E02F9/2207 , E02F9/226 , E04G21/0436 , E04G21/0454 , F15B11/0445 , F15B2211/3057 , F15B2211/5059 , F15B2211/6306 , F15B2211/6313 , F15B2211/6336 , F15B2211/6343 , F15B2211/6346 , F15B2211/6658 , F15B2211/8613
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 cylinder (110), first and second counter-balance valves (300, 400), and first and second control valves (700, 800). A net load (90) is supported by a first chamber (116, 118) of the hydraulic cylinder, and a second chamber (118, 116) of the hydraulic cylinder may receive fluctuating hydraulic fluid flow from the second control valve to produce a vibratory response (950) that counters environmental vibrations (960) on the boom. The first control valve may apply a holding pressure and thereby hold the first counter-balance valve closed and the second counter-balance valve open.
摘要翻译：在提供平衡阀保护的同时提供悬臂（30）的起重臂动力学的液压系统（600）和方法包括液压缸（110），第一和第二平衡阀（300,400）和第一和第二控制阀（700,800）。净负载（90）由液压缸的第一腔室（116,118）支撑，并且液压缸的第二腔室（118,116）可接收来自第二控制阀的波动的液压流体流动以产生振动响应（950），用于对吊臂上的环境振动（960）进行计数。第一控制阀可以施加保持压力，从而保持第一平衡阀关闭并且第二反平衡阀打开。

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