Bucket rod composite damping device and excavator

Abstract

The invention relates to the technical field of excavator bucket rods, and provides a bucket rod composite damping device and an excavator. The device comprises a shell composed of a base, an outer shell and a stress shell; the magneto-rheological buffer device is installed in the shell and composed of a lattice structure made of magneto-rheological elastomer materials and magneto-rheological fluid filled in gaps corresponding to the lattice structure, and a plurality of sound absorption holes are formed in each cell element wall in the lattice structure; the electromagnetic device is located in a containing cavity formed in the lattice structure and is composed of a magnetic core and an electromagnetic coil; the anti-vibration pad and the stress plate are embedded in the top of the shell and are in contact with the stress plate; the damping springs are arranged on the periphery of the shell and fixedly connected between the stress plate and the base; the vibration monitoring module is used for collecting vibration data of the bucket rod in real time and transmitting the vibration data to the intelligent control module, and the intelligent control module is used for adjusting the output magnetic field intensity of the electromagnetic coil according to the vibration data so as to adjust the viscosity of the magnetorheological fluid in real time.

Description

Technical Field

[0001] The present application relates to the technical field of excavator bucket arms, and in particular to a bucket arm composite vibration reduction device and an excavator. Background Art

[0002] In modern engineering construction, the excavator boom is a core load-bearing component, and its vibration reduction performance directly impacts equipment safety, service life, and construction efficiency. Traditional boom vibration reduction technology has significant drawbacks. For example, mechanical vibration reduction devices that rely solely on springs can only provide fixed damping, unable to adapt to the dynamic changes in vibration frequency and load under complex working conditions, and their single-direction vibration reduction effect is limited. While vibration reduction devices using magnetorheological fluid introduce the concept of magnetic field-controlled damping, they suffer from the tendency of soft magnetic particles in the magnetorheological fluid to settle, lack long-term stability, and lack real-time dynamic monitoring and intelligent adjustment mechanisms, resulting in poor vibration reduction accuracy and adaptability to working conditions. Furthermore, existing devices generally lack a multi-dimensional composite vibration reduction structure, making it difficult to effectively dissipate vibration energy under extreme working conditions such as high-frequency impact and heavy loads. This can easily cause fatigue damage to structural components such as the robotic arm and body panels, increasing maintenance costs.

[0003] Therefore, there is an urgent need for a boom composite vibration reduction device to solve at least one of the above problems. Summary of the Invention

[0004] The present application provides a boom composite vibration reduction device, which aims to solve the problem that the boom of an excavator is a core load-bearing component and its vibration reduction performance directly affects the safety, service life and construction efficiency of the equipment.

[0005] In a first aspect, the present application provides a boom composite vibration damping device, comprising:

[0006] The shell is composed of a base, an outer shell, and a stress-bearing shell;

[0007] A magnetorheological buffer device, which is installed inside the housing and consists of a lattice structure made of a magnetorheological elastomer material and magnetorheological fluid filled in the gaps corresponding to the lattice structure, wherein each cell wall in the lattice structure has a plurality of sound-absorbing holes;

[0008] An electromagnetic device, located in a cavity defined in the lattice structure, and comprising a magnetic core and an electromagnetic coil;

[0009] a vibration-damping pad and a force-bearing plate, wherein the vibration-damping pad is embedded in the top of the shell and contacts the force-bearing plate;

[0010] A plurality of vibration-damping springs, the vibration-damping springs being arranged around the outer shell and fixedly connected between the force-bearing plate and the base;

[0011] A vibration monitoring module and an intelligent control module, wherein the vibration monitoring module is used to collect vibration data of the boom in real time and transmit it to the intelligent control module, and the intelligent control module is electrically connected to the electromagnetic coil, and is used to generate a control signal according to the vibration data and adjust the output magnetic field strength of the electromagnetic coil to adjust the viscosity of the magnetorheological fluid in real time.

[0012] In some embodiments, the lattice structure is a regular hexagonal honeycomb structure, and the side length of the regular hexagonal honeycomb structure is 5 mm.

[0013] In some embodiments, the sound absorption hole is circular, and the diameter of the sound absorption hole is 1.5 mm.

[0014] In some embodiments, the magnetorheological fluid includes soft magnetic particles, a carrier fluid, and an additive.

[0015] In some embodiments, the base, shell, and load-bearing plate are all square structures.

[0016] In some embodiments, the shock absorbing spring is an equal pitch spring.

[0017] In some embodiments, the vibration monitoring module includes: an acceleration sensor and a displacement sensor arranged on any one of the force-bearing plate, outer shell and force-bearing shell, the acceleration sensor and displacement sensor are used to collect the three-dimensional vibration acceleration signal and displacement deformation data of the boom during operation in real time, and transmit the three-dimensional vibration acceleration signal and displacement deformation data to the intelligent control module in real time through the signal transmission line integrated in the shell; wherein, the installation position of the vibration monitoring module is set corresponding to the force transmission path of the magnetorheological buffer device to ensure that the three-dimensional vibration acceleration signal and displacement deformation data can accurately reflect the real-time force state of the boom composite vibration reduction device.

[0018] In some embodiments, generating a control signal based on the vibration data and adjusting the output magnetic field strength of the electromagnetic coil includes: performing time-frequency domain analysis on the vibration data to extract characteristic parameters; the characteristic parameters include at least vibration frequency, amplitude and duration; based on a preset vibration reduction demand database, dynamically matching the optimal magnetic field strength threshold interval through an adaptive algorithm, generating a corresponding current adjustment signal as the control signal to control the input current of the electromagnetic coil, thereby realizing nonlinear dynamic adjustment of the viscosity of the magnetorheological fluid; the preset vibration reduction demand database stores corresponding magnetic field strength and viscosity response curves under multiple preset working conditions; the preset working conditions include at least excavation, crushing and transportation.

[0019] In some embodiments, the lattice structure of the magnetorheological buffer device is designed as a modular detachable structure, the density of the lattice structure is positively correlated with the operating load and vibration frequency of the corresponding excavator, and the lattice structure is connected to the inner wall of the shell through a standardized snap-on structure to allow rapid adaptation and adjustment of the stiffness and damping characteristics of the vibration reduction device by replacing lattice modules of different densities or increasing or decreasing the number of lattice stacking.

[0020] This invention provides a novel excavator boom composite vibration damping device with intelligent dynamic control capabilities. Its core lies in the construction of a composite vibration damping system combining a magnetorheological buffer, intelligent electromagnetic control, and multi-directional elastic support. Through the synergistic effect of a magnetorheological elastomer lattice structure and a magnetorheological fluid filling, combined with an electromagnetic device with an adjustable magnetic field and a real-time vibration monitoring feedback mechanism, precise dynamic control of vibration damping is achieved. Simultaneously, circumferential damping springs and top damping pads are used to form a multi-directional vibration dissipation path. This device overcomes the bottlenecks of traditional damping devices, which suffer from fixed damping, poor adaptability to working conditions, and insufficient stability, significantly improving the boom's vibration damping performance under complex loads.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 This is a schematic structural diagram of a bucket arm composite vibration reduction device provided in one embodiment of the present application;

[0024] Figure 2 This is a partial structural diagram of a first bucket arm composite vibration reduction device provided in one embodiment of the present application;

[0025] Figure 3 This is a partial structural diagram of a second bucket arm composite vibration reduction device provided in one embodiment of the present application;

[0026] Figure 4 This is a schematic structural diagram of a cell wall and its sound-absorbing holes provided in one embodiment of the present application;

[0027] Figure 5 This is a schematic structural diagram of a vibration damping pad provided in one embodiment of the present application;

[0028] Figure 6 It is a schematic structural block diagram of an excavator provided in one embodiment of the present application.

[0029] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0031] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0032] It should be understood that, in order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, terms such as "first" and "second" are used to distinguish between identical or similar items having substantially the same functions and effects. Those skilled in the art will understand that terms such as "first" and "second" do not limit the quantity or order of execution, and that terms such as "first" and "second" do not necessarily define differences.

[0033] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0034] It will also be understood that the term "and / or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0035] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0036] In modern engineering construction, the excavator boom is a core load-bearing component, and its vibration reduction performance directly impacts equipment safety, service life, and construction efficiency. Traditional boom vibration reduction technology has significant drawbacks. For example, mechanical vibration reduction devices that rely solely on springs can only provide fixed damping, unable to adapt to the dynamic changes in vibration frequency and load under complex working conditions, and their single-direction vibration reduction effect is limited. While vibration reduction devices using magnetorheological fluid introduce the concept of magnetic field-controlled damping, they suffer from the tendency of soft magnetic particles in the magnetorheological fluid to settle, lack long-term stability, and lack real-time dynamic monitoring and intelligent adjustment mechanisms, resulting in poor vibration reduction accuracy and adaptability to working conditions. Furthermore, existing devices generally lack a multi-dimensional composite vibration reduction structure, making it difficult to effectively dissipate vibration energy under extreme working conditions such as high-frequency impact and heavy loads. This can easily cause fatigue damage to structural components such as the robotic arm and body panels, increasing maintenance costs.

[0037] Therefore, there is an urgent need for a boom composite vibration reduction device to solve at least one of the above problems.

[0038] To resolve the above issues, please refer to Figures 1 to 5 The present application provides a boom composite vibration damping device, comprising: a shell, the shell consisting of a base, an outer shell, and a load-bearing shell; a magnetorheological buffer device, the magnetorheological buffer device being installed inside the shell and consisting of a lattice structure made of a magnetorheological elastomer material and magnetorheological fluid filled in the gaps corresponding to the lattice structure, wherein each cell wall in the lattice structure has a plurality of sound-absorbing holes; an electromagnetic device, the electromagnetic device being located in a cavity opened in the lattice structure and consisting of a magnetic core and an electromagnetic coil; a vibration damping pad and a load-bearing plate, the vibration damping pad being embedded in the top of the shell and in contact with the load-bearing plate; a plurality of vibration damping springs, the vibration damping springs being arranged around the shell and fixedly connected between the load-bearing plate and the base; a vibration monitoring module and an intelligent control module, the vibration monitoring module being used to collect vibration data of the boom in real time and transmit it to the intelligent control module, the intelligent control module being electrically connected to the electromagnetic coil and being used to generate a control signal based on the vibration data and adjust the output magnetic field strength of the electromagnetic coil to adjust the viscosity of the magnetorheological fluid in real time.

[0039] This device is a multi-dimensional composite vibration reduction system. The core consists of a shell, a magnetorheological buffer device, an electromagnetic device, a vibration-damping pad, a vibration-damping spring, a vibration monitoring module, and an intelligent control module. Each component works together to achieve the absorption, dissipation, and dynamic regulation of vibration energy. The specific structure includes: the shell consists of a base, an outer shell, and a load-bearing shell, all of which are square structures (for easy installation and fixation) to form a closed cavity. The base is fixed to the connection part of the excavator boom and serves as the basic support structure of the device. The magnetorheological buffer device is accommodated inside the shell, the vibration-damping pad is embedded on the top, and the vibration-damping springs are arranged around it. The load-bearing shell is in contact with the magnetorheological buffer device, as shown in the following figure. Figure 2The force transfer column shown is connected to the force plate to transfer the vibration load of the boom.

[0040] The core vibration damping unit is a magnetorheological (MR) damping device, comprised of a lattice structure of MR elastomer and a MR fluid. The lattice structure utilizes a regular hexagonal honeycomb structure (5mm side length), with circular sound-absorbing holes 1.5mm in diameter in each cell wall, creating a "rigid-flexible" coupled framework that combines structural rigidity with energy absorption properties. The MR fluid, which fills the lattice gaps, is composed of soft magnetic particles, a carrier fluid (such as silicone oil), and an additive (anti-settling agent), significantly improving stability and avoiding the particle settling issues associated with traditional MR fluids.

[0041] The electromagnetic device, located within the central square cavity of the lattice structure, consists of a square magnetic core and an electromagnetic coil. The coil's output magnetic field is adjustable. This magnetic field acts on the magnetorheological fluid, modulating the fluid's viscosity in real time by altering the arrangement of the soft magnetic particles, enabling dynamic adjustment of the damping coefficient.

[0042] Vibration-damping pads, embedded in the top of the housing and made of a highly elastic material (such as polyurethane), contact the load plate, cushioning high-frequency impacts and reducing rigid collisions. Vibration-damping springs are equal-pitch springs, circumferentially arranged between the housing and the load plate. Their ends are fixed to the base and the load plate, respectively, providing multi-directional tuned stiffness to dissipate vibration energy in different directions.

[0043] The vibration monitoring module integrates an accelerometer to collect real-time arm vibration data (frequency, amplitude, and direction) and transmit it to the intelligent control module. Based on this vibration data, the intelligent control module generates a control signal, dynamically adjusting the electromagnetic coil current, changing the magnetic field strength, and precisely controlling the viscosity of the magnetorheological fluid, enabling adaptive adjustment of vibration damping parameters.

[0044] The magnetic field generated by the electromagnetic coils causes the soft magnetic particles in the magnetorheological fluid to align in an orderly fashion. The viscosity increases rapidly with increasing magnetic field strength, resulting in a reversible "liquid-to-quasi-solid" transition. The intelligent control module adjusts the magnetic field in real time to match the vibration characteristics under different operating conditions. The regular hexagonal honeycomb structure effectively disperses energy, while the sound-absorbing holes further attenuate vibration wave transmission and reduce resonance. The magnetorheological elastomer combines elastic deformation with magnetic control properties, synergizing with the magnetorheological fluid to dissipate energy. The damping spring provides static stiffness support, the damping pad absorbs high-frequency shocks, and the magnetorheological buffer dynamically adjusts damping, forming a three-stage vibration reduction system: stiffness buffering, high-frequency energy absorption, and dynamic damping, covering the entire vibration frequency range.

[0045] The magnetorheological fluid is filled within a regular hexagonal honeycomb structure, which is completely enclosed within the housing. During operation, the electromagnetic device adjusts the output magnetic field based on the vibrations generated by the actual impact, thereby aligning the magnetic particles within the magnetorheological fluid in a specific pattern, achieving the desired vibration reduction effect.

[0046] In some embodiments, the installation steps for the provided boom composite vibration damping device are as follows: Foundation Fixing: Bolt the base to the excavator boom connection (e.g., the boom-to-boom hinge) to ensure mechanical connection rigidity. Internal Component Assembly: Install the magnetorheological damping device inside the housing, ensuring close contact between the lattice structure and the load-bearing shell, which is connected to the upper load-bearing plate via a force-transmitting column. Insert the electromagnetic device into the central cavity of the lattice structure, and connect the electromagnetic coil wires to the intelligent control module. Peripheral Component Installation: Install a vibration damping pad on the top of the housing. The load-bearing plate covers the housing and fits snugly against the pad to avoid rigid contact. Vibration damping springs are evenly distributed around the perimeter of the housing, with their ends fixed to the bottom of the load-bearing plate and the top of the base, respectively, to form an elastic support. A vibration monitoring module is attached to a key location on the boom (e.g., a concentrated load point) to collect vibration signals in real time. The intelligent control module is integrated into the cab or equipment control box and connected to the electromagnetic coil and vibration monitoring module via cables, forming a closed-loop control circuit.

[0047] The process is as follows: Vibration transmission path: The vibration load during boom operation is transmitted through the load plate to the vibration damping pad and magnetorheological buffer device, simultaneously triggering deformation of the surrounding vibration damping spring. Multi-stage vibration damping response: Primary damping: The vibration damping spring absorbs low-frequency vibrations and provides initial stiffness support; the vibration damping pad dissipates high-frequency impact energy, reducing transient loads. Vibration is transmitted to the magnetorheological buffer device, where the lattice structure dissipates some of the energy through deformation and sound-absorbing holes. The intelligent control module adjusts the electromagnetic coil magnetic field based on vibration monitoring data, changes the viscosity of the magnetorheological fluid, and dynamically adjusts the damping force to suppress resonance peaks. When operating conditions change (such as sudden changes in excavation resistance or high-frequency impact during crushing operations), the vibration monitoring module provides real-time feedback, and the intelligent control module automatically optimizes the magnetic field strength to ensure optimal vibration damping.

[0048] In practical applications, the boom composite vibration damping device of the present invention can be customized according to the model and operating conditions of different excavators. For example, for large excavators, the number of damping springs can be increased and the size of the magnetorheological damper can be adjusted to accommodate heavier loads and stronger vibrations. For small or medium-sized excavators, the number of damping springs can be reduced and a smaller magnetorheological damper can be selected to achieve lightweight design and cost control.

[0049] During installation, the base is first secured to the excavator's boom connection, and the outer shell is then placed on the base to form a housing. The magnetorheological buffer device is then installed inside the outer shell, ensuring contact with the load-bearing shell. The electromagnetic device is then installed within the lattice structure's cavity and connected to the electromagnetic coil. A vibration damping pad is secured to the top of the outer shell to prevent direct collision between the load-bearing plate and the top of the shell. The load-bearing plate is connected to the load-bearing shell via a force-transmitting column. Finally, the two ends of the vibration damping spring are secured to the load-bearing plate and the base, respectively. Only the load-bearing plate and base are connected to the boom; other components are not. Through these installation steps, the boom composite vibration damping device of the present invention can be tightly integrated with the excavator's boom, forming a complete vibration damping system. During excavator operation, whether digging, crushing, or handling, the vibration damping device effectively absorbs and dissipates the boom's vibration energy, minimizing damage to the excavator's structure, extending the equipment's service life, and reducing maintenance costs.

[0050] The combined design of "spring stiffness tuning + magnetorheological fluid dynamic damping + lattice structure energy absorption" covers low-frequency (e.g., 5-20Hz), medium-frequency (e.g., 20-100Hz), and high-frequency (e.g., above 100Hz) vibration control, significantly reducing boom vibration peak displacement and acceleration, and minimizing fatigue damage to the robotic arm and body panels. The intelligent control module responds to vibration data in real time, dynamically adjusting the magnetorheological fluid damping (e.g., response time <5ms) to accommodate varying loads in various operating conditions such as excavation, crushing, and handling, addressing the limited adaptability of traditional fixed damping devices. The regular hexagonal honeycomb lattice combines lightweight and high strength, while the sound-absorbing holes reduce vibration wave reflection and improve energy dissipation efficiency. The combined filling of magnetorheological elastomer and magnetorheological fluid avoids the particle settling problems associated with single-liquid dampers, extending the device's service life. Circumferentially arranged equal-pitch springs provide elastic support in three directions: X, Y, and Z. Combined with the isotropic damping characteristics of the magnetorheological buffer device, they achieve omnidirectional vibration dissipation and overcome the limitations of traditional unidirectional vibration reduction devices.

[0051] The device effectively reduces vibration stress in excavator components, minimizing problems like weld cracking and loose bolts, improving overall vehicle safety, extending equipment life, and reducing annual maintenance costs. The intelligent control module supports remote monitoring and parameter configuration, and the modular lattice structure allows for rapid replacement of honeycomb cells of varying densities, adapting to the customized needs of different excavator models and enhancing engineering flexibility.

[0052] This device breaks through the single limitation of traditional vibration reduction technology through the innovative combination of "mechanical buffering + magnetically controlled damping + intelligent regulation", achieves a comprehensive improvement in vibration reduction performance, adaptability to working conditions and reliability, and provides an efficient solution for the stable operation of the excavator boom under complex working conditions. It has significant engineering application value and market promotion prospects.

[0053] In some embodiments, as Figure 2-4 As shown, the lattice structure is a regular hexagonal honeycomb structure, and the side length of the regular hexagonal honeycomb structure is 5 mm.

[0054] The lattice structure adopts a regular hexagonal honeycomb structure with a side length of 5 mm. The regular hexagonal honeycomb structure is a typical biomimetic lattice structure with extremely high structural efficiency. Each cell is a regular hexagon, and the side length parameter directly determines the porosity, stiffness and energy absorption characteristics of the lattice.

[0055] For example, during the fabrication of the lattice structure of a magnetorheological damper, a regular hexagonal honeycomb frame is formed through 3D printing or injection molding. The side length of each cell is precisely controlled to 5mm, ensuring consistent dimensions across all cells. The formed regular hexagonal honeycomb structure is then embedded entirely within the outer shell, fitting tightly against the load-bearing shell to ensure that vibration loads are evenly transferred to the magnetorheological fluid through the cell walls.

[0056] The geometric symmetry of the regular hexagonal honeycomb evenly distributes loads in all directions, avoiding stress concentration and enhancing the structure's impact resistance. The 5mm side length of the honeycomb structure combines lightweight advantages (reducing the overall weight of the device) with sufficient structural rigidity to withstand the heavy loads of excavator booms. This cell gap size matches the flow characteristics of the magnetorheological fluid, ensuring efficient particle alignment in the magnetic field and enhancing damping control sensitivity.

[0057] In some embodiments, as Figure 4 As shown, the sound absorbing hole is circular, and the diameter of the sound absorbing hole is 1.5 mm.

[0058] The circular sound-absorbing holes, 1.5mm in diameter, are located on the walls of each cell in the lattice structure. The holes are designed to attenuate the transmission of vibration waves through the pore structure while optimizing the energy dissipation path of the magnetorheological damping device.

[0059] The hole structure is fabricated by laser or mechanically drilling circular sound-absorbing holes in the walls of regular hexagonal honeycomb cells. The diameter is strictly controlled to 1.5 mm, and the holes are evenly distributed near the midpoints or vertices of each cell edge. The sound-absorbing holes do not penetrate the entire cell wall, but are only opened on one side (or penetrated through the wall), ensuring that the mechanical support function of the honeycomb structure is not significantly affected, while forming a "hole-cavity" resonant structure.

[0060] The circular sound-absorbing holes, through their sudden cross-sectional changes, cause reflection, scattering, and energy dissipation of vibration waves, reducing vibration transmission efficiency and significantly attenuating high-frequency vibrations. The pore structure also absorbs sound, reducing vibration-induced airborne noise and improving workplace comfort. The pores provide channels for the micro-flow of magnetorheological fluid between cells. Combined with the directional alignment of the particles in the magnetic field, this enhances the responsiveness of damping control.

[0061] In some embodiments, the magnetorheological fluid includes soft magnetic particles, a carrier fluid, and an additive.

[0062] Magnetorheological fluids are composed of soft magnetic particles, a carrier fluid, and additives. The soft magnetic particles are iron- or nickel-based micron-sized particles, the carrier fluid is low-viscosity silicone oil or mineral oil, and the additives include anti-settling agents and preservatives to ensure the long-term stability and performance reliability of the magnetorheological fluid.

[0063] For example, the formula for a magnetorheological fluid can be composed of a uniform mixture of 70%-80% carrier fluid, 15%-25% soft magnetic particles, and 1%-5% additives by mass. The fluid is prepared through high-speed stirring and ultrasonic dispersion to prevent particle agglomeration. The magnetorheological fluid is then vacuum-infused into the intercellular spaces of a regular hexagonal honeycomb structure, ensuring uniform filling and preventing air bubbles from remaining. The shell is then sealed to isolate it from external impurities.

[0064] The anti-settling agent in the additive modifies the surface of the soft magnetic particles, reducing particle settling under gravity and extending the effective service life of the magnetorheological fluid (compared to traditional additive-free formulations). The soft magnetic particles rapidly polarize and form chain structures in a magnetic field. The low viscosity of the carrier fluid ensures rapid particle response, enabling millisecond-level dynamic adjustment of the damping force. The preservative improves the magnetorheological fluid's tolerance to humidity and temperature fluctuations, adapting it to the complex environment of open-air excavator operations.

[0065] In some embodiments, the base, shell, and load-bearing plate are all square structures.

[0066] The base, shell and load-bearing plate are all square structures, forming a regular cubic frame. The various components are connected by bolts, snaps, etc. to ensure assembly accuracy and structural rigidity.

[0067] For example, the base, housing, and load plate all utilize rectangular flat panels or box structures, with rounded corners to reduce stress concentration. The housing and base are connected via flange bolts, and the load plate is flexibly attached to the top of the housing via vibration-damping pads. The orthogonal edges of the square structure serve as positioning references, facilitating quick alignment and installation at the excavator's boom attachment point (typically a rectangular cross-section), minimizing assembly errors.

[0068] The square structure matches the rectangular connection interfaces commonly used in construction machinery, eliminating the need for special adapters and reducing installation costs and time. The regular square frame ensures symmetrical load transfer in all directions, preventing localized stress overloads caused by structural eccentricity. The square housing's clean interior facilitates the compact layout of components such as the magnetorheological damper and electromagnetic coil, enhancing device integration.

[0069] In some embodiments, the shock absorbing spring is an equal pitch spring.

[0070] The shock-absorbing spring is an equal-pitch spring, that is, the pitch of each coil of the spring is equal, and the steel wire diameter and the spring middle diameter are optimized according to the vibration reduction requirements to ensure that the spring provides linear stiffness support within the elastic deformation range.

[0071] Spring parameters can be determined based on the excavator boom's rated load and expected vibration amplitude. The spring material (e.g., 60Si2Mn spring steel) should be selected. The design pitch should be uniform (e.g., 10mm). The number of springs should be 4-8, distributed evenly around the circumference between the housing and the load plate. The springs should be secured to the bottom of the load plate and the top of the base with hooks or bolts, ensuring the axis aligns with the primary vibration direction (or at a 45° angle to accommodate multi-directional loads).

[0072] The constant-pitch design maintains constant spring stiffness during compression and extension, avoiding the risk of resonance caused by nonlinear deformation. This design is particularly suitable for stable support of low-frequency vibrations. The uniformly arranged constant-pitch springs provide approximately equal stiffness response to vibrations in the X, Y, and Z directions, addressing the directional sensitivity of traditional variable-pitch springs. This uniform pitch distribution reduces stress concentration between spring coils, extending fatigue life and adapting to the high-frequency vibrations experienced by excavators.

[0073] In some embodiments, the vibration monitoring module includes: an acceleration sensor and a displacement sensor arranged on any one of the force-bearing plate, outer shell and force-bearing shell, the acceleration sensor and displacement sensor are used to collect the three-dimensional vibration acceleration signal and displacement deformation data of the boom during operation in real time, and transmit the three-dimensional vibration acceleration signal and displacement deformation data to the intelligent control module in real time through the signal transmission line integrated in the shell; wherein, the installation position of the vibration monitoring module is set corresponding to the force transmission path of the magnetorheological buffer device to ensure that the three-dimensional vibration acceleration signal and displacement deformation data can accurately reflect the real-time force state of the boom composite vibration reduction device.

[0074] The vibration monitoring module includes an acceleration sensor and a displacement sensor, mounted on either the load plate, the housing, or the load shell. It collects the three-dimensional vibration acceleration signal and displacement deformation data of the boom in real time and transmits them to the intelligent control module via signal transmission lines within the housing. The sensor installation position corresponds to the force transmission path of the magnetorheological buffer device (e.g., at key stress points such as the center of the load plate and the corners of the housing).

[0075] Sensors can include a triaxial accelerometer (e.g., with a measurement range of ±50g) and a high-precision displacement sensor (e.g., with a resolution of 0.01mm). These sensors are secured to the underside of the load plate or the sidewall of the enclosure using high-temperature adhesive or screws. A shielded cable channel is provided within the enclosure, and the sensor signals are transmitted to the intelligent control module via an anti-interference cable. The sampling frequency should be at least 1000Hz, for example, to capture high-frequency vibration details.

[0076] Three-dimensional acceleration and displacement data comprehensively reflect the amplitude, frequency, and directional characteristics of boom vibration, providing precise input signals for intelligent control. Sensor data enables real-time identification of abnormal vibrations (such as resonance and impact overload). Combined with intelligent algorithms, this data provides early warning of faults and enhances equipment safety. Accurate force state feedback ensures that the intelligent control module dynamically adjusts magnetic field strength to match actual operating conditions, avoiding control lag or over-adjustment.

[0077] In some embodiments, generating a control signal based on the vibration data and adjusting the output magnetic field strength of the electromagnetic coil includes: performing time-frequency domain analysis on the vibration data to extract characteristic parameters; the characteristic parameters include at least vibration frequency, amplitude and duration; based on a preset vibration reduction demand database, dynamically matching the optimal magnetic field strength threshold interval through an adaptive algorithm, generating a corresponding current adjustment signal as the control signal to control the input current of the electromagnetic coil, thereby realizing nonlinear dynamic adjustment of the viscosity of the magnetorheological fluid; the preset vibration reduction demand database stores corresponding magnetic field strength and viscosity response curves under multiple preset working conditions; the preset working conditions include at least excavation, crushing and transportation.

[0078] The intelligent control module performs time-frequency domain analysis (such as Fourier transform and wavelet analysis) on vibration data to extract characteristic parameters such as vibration frequency, amplitude, and duration. Based on a preset vibration reduction demand database (including magnetic field-viscosity curves corresponding to working conditions such as excavation, crushing, and handling), it dynamically matches the optimal magnetic field strength through adaptive algorithms (such as PID control and fuzzy control) and generates a current regulation signal to control the electromagnetic coil.

[0079] If a digital signal processor (DSP) is built into the intelligent control module, rapid time-frequency domain conversion of real-time vibration data can be performed to extract features such as the main frequency and energy distribution. The preset working condition database is obtained through bench tests and stores the optimal magnetic field strength thresholds under different operation modes (for example, a high magnetic field corresponds to the crushing operation mode, and a medium magnetic field corresponds to the excavation operation mode). The algorithm matches the corresponding curve according to the real-time characteristic parameters. The input current of the electromagnetic coil is adjusted through a PWM (pulse width modulation) circuit, with an accuracy of 0.1A, to achieve continuous adjustment of the magnetic field strength.

[0080] For different working conditions such as excavation (low-frequency heavy load), crushing (high-frequency impact), and handling (steady vibration), the optimal damping parameters are automatically switched, improving the vibration damping effect. By performing time-frequency domain analysis to capture the time-varying characteristics of complex vibration signals, the lag of traditional fixed-threshold control is avoided, and real-time coupling matching between the damping force and the vibration load is achieved. The combination of the preset database and the adaptive algorithm enables the device to have the ability of autonomous learning (for example, optimizing the control strategy through long-term data), reducing the need for manual intervention.

[0081] Exemplarily, the current adjustment signal formula is as follows:

[0082] I = ki * (wf * f + wA * A + wt * t) + I0;

[0083] I = clip(I, Imin, Imax);

[0084] The vibration frequency f (unit: Hz) represents the main frequency of the boom vibration collected by the acceleration sensor, reflecting the vibration characteristics of the working condition (for example, in the high-frequency section of the crushing operation, f > 100Hz, and in the middle and low-frequency section of the excavation operation, 20Hz < f < 80Hz). The value range is: 5Hz ≤ f ≤ 200Hz (covering the typical operation vibration frequency band of the excavator). It is obtained through the real-time FFT analysis result of the vibration monitoring module.

[0085] The vibration amplitude A (unit: g, gravitational acceleration) is the peak value of the vibration acceleration, reflecting the load impact intensity (for example, when the breaker impacts, A > 10g, and for conventional excavation, A < 5g). The value range is: 0g ≤ A ≤ 50g (adapting to extreme impact working conditions). It is obtained through the peak value detection of the time-domain signal of the acceleration sensor.

[0086] The duration t (unit: s) is the duration of the current vibration state, used to distinguish transient impact (for example, t < 1s) from steady vibration (for example, t > 5s). The value range is: 0s ≤ t ≤ 1 (if it exceeds 10s, it is processed as a steady working condition). It is obtained by accumulating the time of continuous triggering of the vibration signal threshold.

[0087] The dimensionless working condition weight, ki, is a dynamically shifted weighting coefficient based on the preset working conditions (excavation, crushing, and handling), reflecting the varying damping requirements for different operating modes. The values ​​are: Crushing (high-frequency impact): ki = 1.5 (enhanced damping, suppressing high-frequency vibration); Excavation (medium-load vibration): ki = 1.0 (balanced stiffness and damping); Handling (steady load): ki = 0.8 (reduced damping, minimizing energy loss). Optimal damping-current curves for different working conditions are fitted through bench testing, and ki is inferred to match the viscosity of the magnetorheological fluid to the load requirements.

[0088] Frequency weight wf (unit: A / Hz) adjusts the effect of vibration frequency on current, reflecting the characteristic that high-frequency vibration requires higher damping. The value is set to wf = 0.02A / Hz (optimized through orthogonal testing to ensure current response sensitivity in the high-frequency range). For every 1Hz increase in frequency, the current increases by 0.02A (for example, a current contribution of 2A at f = 100Hz).

[0089] The amplitude weight wA (unit: A / g) adjusts the impact of vibration amplitude on current, reflecting the need for stronger damping for impact loads. wA = 0.15A / g (determined based on the linear relationship between the yield stress and amplitude of the magnetorheological fluid). For every 1g increase in amplitude, the current increases by 0.15A (for example, a 10g value contributes 1.5A).

[0090] The time weight wt (unit: A / s) is used to adjust the effect of vibration duration on current, preventing excessive damping during steady-state vibration. The value is wt = 0.05 A / s (determined through fatigue testing to balance energy consumption and damping effectiveness under long-term vibration). For every 1s increase in duration, the current increases by 0.05 A (for example, a t = 10s contribution of 0.5 A).

[0091] The initial reference current, I0 (unit: A), is the holding current in the absence of vibration. It is used to maintain the base viscosity of the MR fluid and avoid a zero-damping state. The value is: I0 = 0.5A (determined based on MR fluid static stability testing to ensure slight particle polarization).

[0092] The current limit (Imin / Imax) (unit: A) protects the electromagnetic coil from overload or failure. The recommended value is Imin = 0.3A (the minimum maintaining current to prevent particle settling). The clip function limits the calculated current to a safe range to ensure hardware reliability.

[0093] The dynamic coupling mechanism includes: high frequency (increased f), high amplitude (increased A), and long duration (increased t) through the weight coefficient to increase the positive driving current and enhance the damping force; the working condition weight ki prioritizes matching the operating mode (such as the crushing condition forcibly increases the damping reserve) to avoid the limitations of single parameter control.

[0094] The parameter calibration method involves conducting vibration table simulation tests under typical excavator operating conditions (excavation, crushing, and handling), collecting boom vibration acceleration data under different currents. Using the "vibration amplitude attenuation rate" as the optimization objective, a genetic algorithm is used to iteratively determine the optimal combination of wf / wA / wt. A magnetic field-viscosity curve from a preset database is used as a boundary condition to ensure that current regulation does not exceed the physical response range of the magnetorheological fluid (e.g., magnetic field strength H ≤ 200 kA / m corresponds to Imax = 5 A). The real-time control process involves vibration signal acquisition → time-frequency domain analysis to extract f / A / t → operating condition identification to determine ki → formula calculation of I → amplitude limiting output to the electromagnetic coil. This achieves a closed-loop control process of "characteristic parameter quantization input - operating condition weight correction - safe amplitude limiting output." This ensures real-time damping adjustment while balancing vibration reduction effectiveness, energy consumption, and hardware safety through engineered parameter selection, meeting the requirements for reliable control under complex excavator operating conditions.

[0095] In some embodiments, the lattice structure of the magnetorheological buffer device is designed as a modular detachable structure, the density of the lattice structure is positively correlated with the operating load and vibration frequency of the corresponding excavator, and the lattice structure is connected to the inner wall of the shell through a standardized snap-on structure to allow rapid adaptation and adjustment of the stiffness and damping characteristics of the vibration reduction device by replacing lattice modules of different densities or increasing or decreasing the number of lattice stacking.

[0096] The lattice structure of the magnetorheological buffer device is designed as a modular and detachable structure, which is connected to the inner wall of the shell through standardized clips. The lattice density (cell side length, number of layers) is positively correlated with the excavator's operating load and vibration frequency (high load corresponds to high-density lattice), and supports adjusting the stiffness and damping characteristics by replacing modules or increasing or decreasing the number of stacking layers.

[0097] The lattice structure consists of single or multi-layer units, each secured to the inner wall of the housing by clips (e.g., dovetail grooves or springs). Modules of varying densities (e.g., side lengths of 4mm, 5mm, and 6mm) are labeled with their applicable operating conditions (e.g., small, medium, and large excavators). Maintenance requires no disassembly of the entire unit; simply open the side panels, quickly remove the old module using clips, and install the new one. The adaptation process can be completed in as little as 30 minutes.

[0098] By replacing lattice modules, the same device can adapt to the varying loads of different excavator models (e.g., 20-ton and 50-ton classes), reducing R&D and manufacturing costs. A high-density lattice (small side length) is suitable for high-frequency, heavy-load applications (such as crushing operations), providing increased stiffness and damping. A low-density lattice (large side length) is suitable for light-load applications, balancing vibration damping with device weight. The modular structure allows for individual replacement of damaged lattice modules, preventing overall scrapping, extending the device's lifespan, and reducing maintenance costs.

[0099] In some implementations, an intelligent control algorithm based on transfer learning is proposed to address the challenges of rapid switching between operating modes during complex excavator operations (e.g., alternating between excavation, crushing, and transporting). By pre-training a universal vibration reduction model and rapidly fine-tuning it based on a small amount of data from the target operating condition, this algorithm overcomes the lack of adaptability of traditional pre-set databases to new operating conditions.

[0100] By utilizing historical vibration data collected from multiple excavator models, a deep neural network (DNN) is pre-trained on a cloud server as a general vibration reduction model. The input is vibration time-frequency domain features (such as Mel-frequency cepstral coefficients (MFCCs)), and the output is the optimal current parameter I∗.

[0101] A lightweight transfer learning layer is embedded in the local control module of the device. When a new working condition is detected (such as a special rock crushing mode that has not been recorded), only 5-10 real-time vibration samples are needed to complete the model adaptation by fine-tuning the fully connected layer parameters.

[0102] The vibration monitoring module extracts the MFCC features (13 dimensions) of the vibration signal in real time and inputs them into the pre-trained model to generate the initial current prediction value Ipre.

[0103] If the prediction error is detected to be greater than 15% for three consecutive cycles, the transfer learning mechanism is triggered, the current operating condition data is marked and added to the local training set, and the parameters of the last two layers of the network are updated through stochastic gradient descent (SGD). After 3-5 iterations, the corrected current Iadj is output.

[0104] For new operating conditions (such as new material handling techniques) that have never been learned, control parameter optimization can be completed in just seconds, significantly improving efficiency compared to traditional trial-and-error methods. Leveraging cloud-based big data pre-training reduces reliance on local data, addressing the high cost of on-site data collection for construction machinery and improving control accuracy in small sample sizes. Transfer learning preserves common vibration reduction knowledge (such as the prior knowledge that high-frequency vibration requires high damping) while rapidly absorbing the characteristics of new operating conditions, avoiding the overfitting problem of traditional fixed-threshold control.

[0105] In some embodiments, by integrating multi-dimensional sensor data such as vibration, pressure, temperature, and magnetic flux, a fault prediction model based on a long short-term memory network (LSTM) is constructed to diagnose the performance degradation of magnetorheological fluid (such as particle sedimentation and carrier fluid degradation) in real time during the control process, and dynamically adjust the control strategy to compensate for performance degradation.

[0106] By adding a magnetic flux sensor (to monitor the uniformity of magnetic field distribution), a temperature sensor (with a built-in magnetorheological fluid cavity), and a pressure sensor (stress concentration point of the shell), an 8-dimensional input feature vector is formed together with the original vibration sensor.

[0107] Fault prediction and compensation consists of both offline and online phases. The offline phase trains an LSTM model using accelerated aging test data. The input is sensor time series data, and the output is the degree of magnetorheological fluid performance degradation, δ (on a scale of 0-1, with 0 indicating normal and 1 indicating failure). The online phase collects multi-sensor data every 200ms and uses the model's predicted δ as input. If δ exceeds 0.3 (the warning threshold), a compensation strategy is automatically activated: ΔI = 0.2*δ*I max is added to the original calculated current value, compensating for the fluid's performance degradation by enhancing the magnetic field.

[0108] By detecting magnetorheological fluid performance degradation 50 hours in advance (traditional manual detection requires device disassembly), equipment damage caused by sudden vibration damping failure can be avoided. A dynamic compensation strategy maintains over 80% vibration damping effectiveness even when the fluid performance degrades by 30%-50%, extending the maintenance cycle. Sensor fusion algorithms (such as the extended Kalman filter) remove noise interference from single vibration sensors, improving feature extraction accuracy and reducing the risk of misjudgment.

[0109] In some embodiments, by establishing a digital twin model of the boom-vibration damping device and combining it with the excavator operation trajectory planning data, the vibration load sequence within the next 500ms is predicted in advance, and the control parameters are optimized through model simulation to achieve closed-loop pre-planning of "prediction-control-feedback".

[0110] For example, a coupled dynamic model of the boom and vibration damping device is established using finite element software (such as ANSYS). Parameters include the lattice structure stiffness and the magnetorheological fluid damping coefficient-current mapping relationship (calibrated through bench testing). A lightweight twin model is embedded in the control module to synchronize boundary conditions such as the boom position (derived from GPS and inertial navigation) and the hydraulic cylinder pressure (derived from a pressure sensor) in real time.

[0111] Receive the operation trajectory instructions (such as excavation depth and swing angle) from the excavator controller and calculate the vibration load sequence {F(t)} for the next three action cycles (about 500ms) through inverse dynamics.

[0112] {F(t)} is input into the digital twin model to simulate the vibration response under different current sequences {I(t)}. The I(t) that minimizes the total future vibration energy is selected as the pre-planned control signal. In actual control, the pre-plan is updated every 100ms to correct for prediction errors caused by changes in soil stiffness, etc.

[0113] Compared with traditional real-time feedback control, the damping parameters are adjusted 500ms in advance. Under impact conditions such as bucket touching the ground, the vibration peak attenuation is better than the attenuation rate of pure feedback control.

[0114] By coupling multiple physical fields, such as mechanical vibration, magnetorheological fluid rheological properties, and electromagnetic coil heating, the digital twin model avoids magnetothermal coupling effects (such as magnetic field attenuation caused by coil heating) that are often overlooked by traditional control, improving control precision. Pre-planned control reduces the effects of vibration on operator fatigue, reducing operator errors and improving operational efficiency in continuous operation scenarios.

[0115] like Figure 6 As shown, an embodiment of the present application provides an excavator, including a boom and a boom composite vibration reduction device as provided in any embodiment of the present application. For example, the boom composite vibration damping device includes a shell, which is composed of a base, an outer shell, and a load-bearing shell; a magnetorheological buffer device, which is installed inside the shell and is composed of a lattice structure made of a magnetorheological elastomer material and a magnetorheological fluid filled in the gaps corresponding to the lattice structure, and each cell wall in the lattice structure is provided with a plurality of sound-absorbing holes; an electromagnetic device, which is located in a cavity opened in the lattice structure and is composed of a magnetic core and an electromagnetic coil; a vibration damping pad and a load-bearing plate, wherein the vibration damping pad is embedded in the top of the shell and contacts the load-bearing plate; a plurality of vibration damping springs, which are arranged around the shell and fixedly connected between the load-bearing plate and the base; a vibration monitoring module and an intelligent control module, wherein the vibration monitoring module is used to collect vibration data of the boom in real time and transmit it to the intelligent control module, and the intelligent control module is electrically connected to the electromagnetic coil and is used to generate a control signal according to the vibration data and adjust the output magnetic field strength of the electromagnetic coil to adjust the viscosity of the magnetorheological fluid in real time.

[0116] In some embodiments, the lattice structure is a regular hexagonal honeycomb structure, and the side length of the regular hexagonal honeycomb structure is 5 mm.

[0117] In some embodiments, the sound absorption hole is circular, and the diameter of the sound absorption hole is 1.5 mm.

[0118] In some embodiments, the magnetorheological fluid includes soft magnetic particles, a carrier fluid, and an additive.

[0119] In some embodiments, the base, shell, and load-bearing plate are all square structures.

[0120] In some embodiments, the shock absorbing spring is an equal pitch spring.

[0121] In some embodiments, the vibration monitoring module includes: an acceleration sensor and a displacement sensor arranged on any one of the force-bearing plate, outer shell and force-bearing shell, the acceleration sensor and displacement sensor are used to collect the three-dimensional vibration acceleration signal and displacement deformation data of the boom during operation in real time, and transmit the three-dimensional vibration acceleration signal and displacement deformation data to the intelligent control module in real time through the signal transmission line integrated in the shell; wherein, the installation position of the vibration monitoring module is set corresponding to the force transmission path of the magnetorheological buffer device to ensure that the three-dimensional vibration acceleration signal and displacement deformation data can accurately reflect the real-time force state of the boom composite vibration reduction device.

[0122] In some embodiments, generating a control signal based on the vibration data and adjusting the output magnetic field strength of the electromagnetic coil includes: performing time-frequency domain analysis on the vibration data to extract characteristic parameters; the characteristic parameters include at least vibration frequency, amplitude and duration; based on a preset vibration reduction demand database, dynamically matching the optimal magnetic field strength threshold interval through an adaptive algorithm, generating a corresponding current adjustment signal as the control signal to control the input current of the electromagnetic coil, thereby realizing nonlinear dynamic adjustment of the viscosity of the magnetorheological fluid; the preset vibration reduction demand database stores corresponding magnetic field strength and viscosity response curves under multiple preset working conditions; the preset working conditions include at least excavation, crushing and transportation.

[0123] In some embodiments, the lattice structure of the magnetorheological buffer device is designed as a modular detachable structure, the density of the lattice structure is positively correlated with the operating load and vibration frequency of the corresponding excavator, and the lattice structure is connected to the inner wall of the shell through a standardized snap-on structure to allow rapid adaptation and adjustment of the stiffness and damping characteristics of the vibration reduction device by replacing lattice modules of different densities or increasing or decreasing the number of lattice stacking.

[0124] The specific principles and implementation methods of the excavator provided in the embodiment of the present application are similar to those of the boom composite shock absorbing device in the aforementioned embodiment, and will not be repeated here.

[0125] It should be understood that the terms used in this application are only for the purpose of describing specific embodiments and are not intended to limit the application. It should be understood that when an element or layer is referred to as "on ... ", "adjacent to ... ", "connected to " or "coupled to" other elements or layers, it can be directly on other elements or layers, adjacent to them, connected to or coupled to other elements or layers, or there can be intervening elements or layers. On the contrary, when an element is referred to as "directly on ... ", "directly adjacent to ... ", "directly connected to " or "directly coupled to" other elements or layers, there are no intervening elements or layers. It should be understood that although the terms first, second, third, etc. can be used to describe various elements, components, areas, layers and / or parts, these elements, components, areas, layers and / or parts should not be limited by these terms. These terms are only used to distinguish an element, component, area, layer or part from another element, component, area, layer or part. Therefore, without departing from the teachings of the application, the first element, component, area, layer or part discussed below can be represented as the second element, component, area, layer or part.

[0126] Spatially relative terms such as "under," "beneath," "below," "under," "above," "above," etc., may be used herein for convenience of description to describe the relationship of one element or feature shown in the figures to other elements or features. It should be understood that the spatially relative terms are intended to include different orientations of the device in use and operation in addition to the orientations shown in the figures. For example, if the device in the drawings is flipped, then the elements or features described as "under" or "beneath" or "beneath" the other elements will be oriented as "over" the other elements or features. Thus, the exemplary terms "under" and "under" may include both the upper and lower orientations. The device may be oriented otherwise (rotated 90 degrees or in other orientations) and the spatial descriptors used herein are interpreted accordingly.

[0127] The purpose of the terms used herein is only to describe specific embodiments and is not intended to limit the present application. When used herein, the singular forms "a", "an", and "the" are intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "comprising" and / or "including", when used in this specification, determine the presence of the features, integers, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, parts and / or groups. When used herein, the term "and / or" includes any and all combinations of the relevant listed items.

[0128] It will also be understood that the term "and / or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0129] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A bucket arm composite vibration reduction device, characterized in that: include: The shell is composed of a base, an outer shell, and a stress-bearing shell; A magnetorheological buffer device, which is installed inside the housing and consists of a lattice structure made of a magnetorheological elastomer material and magnetorheological fluid filled in the gaps corresponding to the lattice structure, wherein each cell wall in the lattice structure has a plurality of sound-absorbing holes; An electromagnetic device, located in a cavity defined in the lattice structure, and comprising a magnetic core and an electromagnetic coil; a vibration-damping pad and a force-bearing plate, wherein the vibration-damping pad is embedded in the top of the shell and contacts the force-bearing plate; A plurality of vibration-damping springs, the vibration-damping springs being arranged around the outer shell and fixedly connected between the force-bearing plate and the base; A vibration monitoring module and an intelligent control module, wherein the vibration monitoring module is used to collect vibration data of the boom in real time and transmit it to the intelligent control module, and the intelligent control module is electrically connected to the electromagnetic coil, and is used to generate a control signal according to the vibration data and adjust the output magnetic field strength of the electromagnetic coil to adjust the viscosity of the magnetorheological fluid in real time.

2. The arm composite vibration damping device according to claim 1, characterized in that: The lattice structure is a regular hexagonal honeycomb structure, and the side length of the regular hexagonal honeycomb structure is 5 mm.

3. The arm composite vibration damping device according to claim 1, characterized in that: The sound absorbing hole is circular, and the diameter of the sound absorbing hole is 1.5 mm.

4. The arm composite vibration damping device according to claim 1, characterized in that: The magnetorheological fluid comprises soft magnetic particles, a carrier fluid and additives.

5. The arm composite vibration damping device according to claim 1, characterized in that: The base, outer shell and load-bearing shell are all square structures.

6. The arm composite vibration damping device according to claim 1, characterized in that: The shock-absorbing spring is an equal-pitch spring.

7. The arm composite vibration damping device according to claim 1, characterized in that: The vibration monitoring module includes: An acceleration sensor and a displacement sensor are provided on any one of the load-bearing plate, the outer shell and the load-bearing shell, and the acceleration sensor and the displacement sensor are used to collect three-dimensional vibration acceleration signals and displacement deformation data of the bucket arm during operation in real time, and transmit the three-dimensional vibration acceleration signals and displacement deformation data to the intelligent control module in real time through a signal transmission line integrated in the shell; Among them, the installation position of the vibration monitoring module is set corresponding to the force transmission path of the magnetorheological buffer device to ensure that the three-dimensional vibration acceleration signal and displacement deformation data can accurately reflect the real-time stress state of the boom composite vibration reduction device.

8. The arm composite vibration damping device according to claim 1, characterized in that: Generating a control signal according to the vibration data and adjusting the output magnetic field strength of the electromagnetic coil includes: Performing time-frequency domain analysis on the vibration data to extract characteristic parameters; the characteristic parameters include at least vibration frequency, amplitude and duration; Based on a preset vibration reduction demand database, an adaptive algorithm is used to dynamically match the optimal magnetic field strength threshold interval, and a corresponding current adjustment signal is generated as the control signal to control the input current of the electromagnetic coil, thereby achieving nonlinear dynamic adjustment of the viscosity of the magnetorheological fluid; The preset vibration reduction requirement database stores magnetic field intensity and viscosity response curves corresponding to a plurality of preset working conditions; the preset working conditions at least include excavation, crushing and transportation.

9. The arm composite vibration damping device according to claim 1, characterized in that: The lattice structure of the magnetorheological buffer device is designed as a modular detachable structure. The density of the lattice structure is positively correlated with the operating load and vibration frequency of the corresponding excavator. The lattice structure is connected to the inner wall of the shell through a standardized snap-on structure to allow rapid adaptation and adjustment of the stiffness and damping characteristics of the vibration reduction device by replacing lattice modules of different densities or increasing or decreasing the number of lattice stacking.

10. An excavator, characterized in that: The excavator includes a boom and the boom composite vibration reduction device according to any one of claims 1 to 9.

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