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61. 发明公开

CN101922429A 混凝土泵车及其控制方法、泵送系统及其分配机构有权转让
公开(公告)号：CN101922429A
公开(公告)日：2010-12-22
申请号：CN201010266367.X
申请日：2010-08-25
申请人：三一重工股份有限公司
发明人：符智 , 李建涛 , 张涛
IPC分类号： F04B15/02 , F04B53/00 , F04B49/00
CPC分类号： F04B15/02 , E04G21/0454
摘要：本发明公开一种泵送系统的分配机构、泵送系统、混凝土泵车及泵送系统的控制方法。公开的泵送系统的分配机构包括耐磨板和至少两个分配管；分配管的输出端之间可旋转相连，形成旋转轴线；分配管的输入端偏离旋转轴线，且输入端端面与耐磨板的耐磨面相配合；耐磨板具有至少三个输料孔，在各分配管绕旋转轴线旋转时，每个分配管的输入端能够与至少两个输料孔相通。利用本发明提供的泵送系统的分配机构时，通过旋转分配管可以协调至少两个输送缸的泵送动作，使泵送系统能够连续地向外泵送物料；进一步地，通过控制输送缸活塞之间的运动关系，可以使泵送系统均匀地向外泵送物料，减小或避免物料的脉动性流动产生的振动。

62. 发明公开

CN101538941A 控制用于泵送混凝土的关节臂的振动的方法及相关装置失效
公开(公告)号：CN101538941A
公开(公告)日：2009-09-23
申请号：CN200910127193.6
申请日：2009-03-17
申请人：西法股份公司
发明人：尼古拉·皮里 , 保罗·达里奥·马伊尼 , 费鲁齐·雷斯塔 , 亚历山德罗·托西 , 弗朗切斯科·里帕蒙蒂
IPC分类号： E04G21/04 , G05D19/02
CPC分类号： E04G21/04 , B66C13/066 , B66C13/40 , B66C23/00 , E04G21/0454
摘要：本发明为控制用于泵送混凝土的关节臂的振动方法及相关装置。本发明公开了一种通过电子控制器(25)来控制关节臂(10)的振动的主动控制方法，该关节臂包括相互关节连接的多个段(12－17)，该方法包括以下步骤：a)源自于经验数据或源自于结构模型构造关节臂(10)的数学模态模型；b)配置电子控制器的增益；c)将增益乘以参考模态坐标与通过源自于直接测量得到的量的模态模型而计算出的值之间的差值，以确定将施加给臂(10)或施加给至少一部分相关段的控制力；d)通过状态估计器来估计模态坐标；e)将通过使用模态坐标估计的测量值(38)与真实测量值(32)进行比较，以校正估计值，以使其在真实值处收敛。

63. 发明公开

CN1932215A 用于抑制混凝土泵车臂架振动的方法及装置有权转让
公开(公告)号：CN1932215A
公开(公告)日：2007-03-21
申请号：CN200610032361.X
申请日：2006-09-30
申请人：三一重工股份有限公司
发明人：易小刚 , 刘永红 , 彭国成 , 郭承志 , 缪雄辉
IPC分类号： E04G21/02 , F16F15/027
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：本发明公开了一种用于抑制混凝土泵车臂架振动的方法及装置，臂架油缸与抑振油缸连接，通过压力监测单元实时监测臂架油缸和/或抑振油缸中油液的压力信息，将采集到的油液压力信号传送给抑振油缸控制单元，抑振油缸控制单元对其进行分析、处理后，反复调节抑振油缸中有杆腔和无杆腔的容积，使抑振油缸产生脉动振动，脉动振动造成的臂架末端振动幅值小于或等于由混凝土不连续输送造成的臂架末端振动的幅值，且相位相反。本发明是一种结构简单、操作简便、能够有效抑制臂架振动的用于混凝土泵车振动干扰的方法及装置。

64. 发明授权

US09637939B2 Concrete distributing apparatus, and vibration suppression method, controller and device for the boom thereof 有权
公开(公告)号：US09637939B2
公开(公告)日：2017-05-02
申请号：US14357126
申请日：2012-12-07
申请人： ZOOMLION HEAVY INDUSTRY SCIENCE AND TECHNOLOGY CO., LTD.
发明人： Liang Wan , Shiyang Hua , Jiaqian Wang , Qianxing Luo
IPC分类号： F16F15/00 , E04G21/04 , B66C13/06 , G05B15/02 , G05D19/02
CPC分类号： E04G21/0454 , B66C13/066 , F16F15/002 , G05B15/02 , G05D19/02
摘要： A boom vibration suppression method for concrete distributing apparatus is disclosed. The boom comprises a boom oil cylinder for respectively driving each section of the boom; the vibration suppression method comprises: detecting the variation of output force of the boom oil cylinder, and maintaining the variation of output force within the range of a preset threshold. The present invention further provides a vibration suppression controller, a vibration suppression device, and a concrete distributing apparatus that implement the method described above. The vibration of the boom is controlled directly with little time delay. The pressure of the boom oil cylinder is controlled directly and the variation of output force is maintained within a specific range; that control process is applicable to any boom posture since it has no direct relationship with the posture and dynamic characteristics of the boom.

65. 发明申请

US20160076263A1 CONTROL SYSTEM AND METHOD FOR CONTROLLING THE ORIENTATION OF A SEGMENT OF A MANIPULATOR 审中-公开
标题翻译：控制系统及其控制方法
公开(公告)号：US20160076263A1
公开(公告)日：2016-03-17
申请号：US14783687
申请日：2014-04-09
申请人： TTCONTROL GMBH
发明人： Wolfgang TEBEEK , Wolfgang KEMMETMÜLLER , Johannes HENIKL
IPC分类号： E04G21/04
CPC分类号： E04G21/0463 , B66C13/066 , E04G21/0436 , E04G21/0454
摘要： A regulation system for controlling the orientation of a segment (5.3) of a manipulator, in particular of a large manipulator for truck-mounted concrete pumps, wherein the segment (5.3) is connected to a base (5.4) or a preceding segment (5.3) of the manipulator via a joint (5.5) and can be pivoted at the joint (5.5) relative to the base (5.4) or the preceding segment (5.3) about at least one axis of rotation by means of at least one actuating member (5.6), preferably a hydraulic actuating element,characterised in that the regulation system at least comprises: a first sensor (4.1), which is arranged on a segment (5.3) attached to the joint (5.5) and delivers a first measurement signal—referred to as a “deformation signal”—corresponding to a deformation of the segment (5.3), a second sensor (4.2, 4.3), which delivers a second measurement signal—referred to as an “orientation signal”—corresponding to the spatial orientation of the segment (5.3) attached to the joint (5.5), and at least one actuating element (5.6) associated with the joint (5.5); and is designed to process the deformation signal and the orientation signal as input variables and to determine from these, under consideration of a target orientation of the segment (5.3) associated with the joint (5.5), an actuating signal, which is fed to the associated actuating element (5.6).
摘要翻译：一种用于控制机械手的部分（5.3）的方向的调节系统，特别是用于卡车式混凝土泵的大型操纵器的方向，其中所述段（5.3）连接到基座（5.4）或前一段（5.3 ），并且可以通过至少一个致动构件绕关于至少一个旋转轴线相对于基座（5.4）或前一段（5.3）在接头（5.5）处枢转， 5.6），优选液压致动元件，其特征在于，所述调节系统至少包括：第一传感器（4.1），其布置在附接到所述接头（5.5）的段（5.3）上，并且传递第一测量信号作为对应于段（5.3）的变形的“变形信号”，传送第二测量信号的第二传感器（4.2,4.3），所述第二测量信号被称为“取向信号”，其对应于附件（5.5））和与所述接头（5.5）相关联的至少一个致动元件（5.6）; 并且被设计为处理变形信号和取向信号作为输入变量，并且从这些确定，在考虑与关节（5.5）相关联的段（5.3）的目标方向的情况下，将致动信号馈送到相关联的致动元件（5.6）。

66. 发明授权

US08082083B2 Method to control the vibrations in an articulated arm for pumping concrete, and relative device 有权
标题翻译：控制用于泵送混凝土的铰接臂中的振动的方法以及相关装置
公开(公告)号：US08082083B2
公开(公告)日：2011-12-20
申请号：US12403920
申请日：2009-03-13
申请人： Nicola Pirri , Paolo Dario Maini , Ferruccio Resta , Alessandro Tosi , Francesco Ripamonti
发明人： Nicola Pirri , Paolo Dario Maini , Ferruccio Resta , Alessandro Tosi , Francesco Ripamonti
IPC分类号： G06F7/70
CPC分类号： E04G21/04 , B66C13/066 , B66C13/40 , B66C23/00 , E04G21/0454
摘要： An active control method to control the vibrations of an articulated arm consisting of a plurality of segments articulated with respect to each other, by means of an electronic controller, comprising the following steps: a) construction of a modal model of the articulated arm starting from experimental data or from structural models; b) assignation of gains of electronic controller; c) multiplication of gains by the difference between the reference modal coordinates and those calculated through the modal model starting from directly measured quantities, in order to determine the control forces to be applied to the arm, or to at least part of the relative segments; d) evaluation of the modal coordinates by means of a states estimator; e) comparison between measurements estimated using the modal coordinates and real measurements and correction of the estimate, so that the estimate converges on real values.
摘要翻译：一种主动控制方法，用于通过电子控制器来控制由多个相互关联的多个段组成的铰接臂的振动，包括以下步骤：a）构造铰接臂的模态模型，从实验数据或结构模型; b）分配电子控制器的收益; c）通过参考模态坐标之间的差异和通过从直接测量的数值开始的模态模型计算的增益乘以增益，以便确定施加到臂或至少部分相对段的控制力; d）通过状态估计器评估模态坐标; e）使用模态坐标和实际测量估计的测量值与估计值的校正之间的比较，使得估计收敛于实际值。

67. 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).

68. 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。

69. 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。

70. 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.

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