Concrete spreader boom vibration suppression method based on load port independent system

Abstract

The invention discloses a concrete spreader boom vibration suppression method based on a load port independent system. The method comprises the following steps that (1), the load port independent system is constructed, the load port independent system comprises a hydraulic driving module, a signal sending and processing module and a sensing feedback module, the hydraulic driving module comprises ahydraulic oil cylinder and an electro-hydraulic proportional valve, the sensing feedback module comprises a plurality of pressure sensors; (2), a pressure value of a bearing cavity of the hydraulic oil cylinder before pumping operation is measured; (3), the electro-hydraulic proportional valve is adjusted to seal the bearing cavity of the hydraulic oil cylinder, certain high pressure is kept; (4), the pressure in the bearing cavity of the hydraulic oil cylinder after pumping operation is measured, calculating the pressure difference value in the bearing cavity of the hydraulic oil cylinder before and after the pumping operation of a spreader is carried out; and (5), the pressure in the bearing cavity is adjusted by using a PID algorithm according to the difference value until the pressureis recovered to the valve before pumping operation, so that vibration suppression of a boom of the concrete spreader is realized.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a method for suppressing vibration of a boom frame of a concrete placing machine based on an independent system of a load port, and is especially suitable for fast vibration suppression of a concrete placing machine. Background technique [0002] The concrete placing machine is a special engineering equipment that uses a vehicle-mounted concrete pump to transport concrete to the desired location through pipelines. Concrete pump trucks mostly use hydraulically driven double-cylinder reciprocating piston concrete pumps, relying on the rapid and continuous reversing of hydraulic cylinders to drive the conveying pistons to reciprocate alternately, so as to obtain approximately continuous concrete flow at the end of the boom, and the concrete pressure and flow in the conveying pipe Can not maintain a constant value, resulting in pressure fluctuations, resulting in periodic impact....

AI Technical Summary

Problems solved by technology

In addition, the construction site environment of the concrete placing machine is harsh, and it is easy to be disturbed by external excitation, which may easily cause the vibration of the boom

Since the cloth robot arm usually has 3 or more joints, and the arm span is more than ten meters or even tens of meters, the small vibration of the boom will cause a large vibration at the end of the boom, resulting in the swing of the end hose, thus affecting The construction efficiency increases the difficulty of construction, and the long-term vibration of the boom is likely to cause fatigue damage or even breakage of the boom, which affects the life of the equipment and even threatens the safety of people.

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