Damping Device for Manipulator Boom Using Segmented Control Slide
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Solution Overview
Problem
Existing damping devices for mechanical vibrations in large manipulators, such as cranes and concrete pumps, are inefficient due to the sluggish response of main slides designed for positioning and flow rate, which hampers optimal vibration damping.
Innovation Solution
A damping device with a separate damping slide, designed to generate precise and quick pressure signals in the boom lifting cylinder, independent of the main slide's positioning tasks, using a 4/3-way control slide with proportional solenoid pressure pilot control and a low-pass filter for effective vibration energy absorption.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the main slide is used for both positioning and damping, then the positioning function is maintained, but the damping response is sluggish due to the slide being designed for maximum flow rate and speed
Solution Approach 1:
The control system is segmented into two independent slides: the main slide for positioning tasks and the damping slide for vibration damping. This segmentation allows each slide to be optimized for its specific function, with the damping slide designed for faster response characteristics without compromising the positioning capabilities of the main slide.
Solution Approach 2:
The damping function is extracted from the main slide and assigned to a separate damping slide. This extraction enables the damping slide to be specifically designed with parameters optimized for rapid vibration response, while the main slide maintains its positioning-oriented design.
2Productivity
If the main slide is designed for maximum flow rate and positioning speed, then positioning efficiency is improved, but vibration damping performance deteriorates due to energy consumption and sluggish response
Solution Approach 1:
The hydraulic control system is divided into two independent control paths with separate slides. The main slide handles positioning operations with optimized flow rates for productivity, while the damping slide independently handles vibration suppression with optimized response characteristics, ensuring both positioning efficiency and damping reliability are achieved simultaneously.
Solution Approach 2:
The damping slide acts as an intermediary control element that specifically addresses vibration issues without interfering with the main positioning function. It receives control signals and generates damping pressure independently, serving as a mediator between the hydraulic system and the vibration problem.
3Speed
If a separate damping slide is added, then damping response speed is improved, but device complexity increases
Solution Approach 1:
The control system is segmented into two independent slides with distinct functions. While this increases the number of components, each slide can be simpler in its own right because it handles only one specific task, allowing for standardized designs and easier maintenance compared to a single complex multi-functional slide.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The damping device effectively absorbs vibration energy, keeping the boom vibration-free with minimal counter-vibration, even during slight movements, and is suitable for hydraulic systems with large, sluggish main slides.
Implementation Method 1
using a 4/3-way control slide with proportional solenoid pressure pilot control
Implementation Method 2
The damping device effectively absorbs vibration energy, keeping the boom vibration-free with minimal counter-vibration
Data Source
Figure 1
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AI summary
The manipulator has a damping device (D) comprising a damping valve (11) i.e. 4/3-way control valve, arranged between a pressure source (P) and working pipelines (12) of a cantilever lifting cylinder (8). The damping valve is arranged parallel to a main valve (9) of the lifting cylinder. The damping valve is actuated by a controller (C) for oscillation damping in the lifting cylinder independent of the main valve. The damping valve is fitted without nozzles in flow paths in an application direction to the lifting cylinder and fitted with nozzles in a discharge direction.