阅读说明：本技术 调谐质量阻尼器装置和具有其的悬吊建筑机器人 (Tuned mass damper device and suspension construction robot with same ) 是由 任龙 舒远 沈建琦 于 2019-08-30 设计创作，主要内容包括：本发明公开了一种调谐质量阻尼器装置和具有其的悬吊建筑机器人,所述调谐质量阻尼器装置包括：支座、质量块、质量导向系统、阻尼器、弹簧和永磁阵列,所述质量块相对所述支座可活动,所述质量块的至少部分为高磁导材料体,所述质量导向系统连接在所述支座和所述质量块之间以使所述质量块沿减振方向活动,所述阻尼器连接在所述质量块和所述支座之间,所述弹簧连接在所述质量块和所述支座之间,所述永磁阵列包括多个永磁体且设在所述支座上。根据本发明实施例的调谐质量阻尼器装置,能调和宽工作频带的振动,且具有较好的减振效果。(the invention discloses a tuned mass damper device and a suspended building robot with the same, wherein the tuned mass damper device comprises: support, quality piece, quality guidance system, attenuator, spring and permanent magnetism array, the quality piece is relative the support is movable, the at least part of quality piece is high magnetic conductance material body, quality guidance system connects the support with so that the quality piece is along the activity of damping direction between the quality piece, the attenuator is connected the quality piece with between the support, the spring coupling the quality piece with between the support, the permanent magnetism array includes a plurality of permanent magnets and establishes on the support. The tuned mass damper device provided by the embodiment of the invention can be used for tuning the vibration of a wide working frequency band and has a good vibration reduction effect.)

1. a tuned mass damper device, comprising:

A support;

The mass block can move relative to the support, and at least part of the mass block is made of a high-permeability material body;

A mass guide system connected between the support and the mass to move the mass in a damping direction;

A damper connected between the mass and the mount;

a spring connected between the mass and the support;

The permanent magnet array comprises a plurality of permanent magnets and is arranged on the support.

2. The tuned mass damper device according to claim 1, wherein said permanent magnet array comprises two sets of permanent magnet groups disposed on opposite sides of said proof mass, each set of permanent magnet groups comprising a plurality of said permanent magnets arranged in a damping direction.

3. The tuned mass damper device according to claim 2, wherein a plurality of said permanent magnets of two said permanent magnet groups are arranged in a one-to-one opposition, the polarities of the ends of the two opposing permanent magnets facing each other being opposite; and the polarities of two adjacent permanent magnets in the same permanent magnet group are opposite.

4. The tuned mass damper device according to claim 1, wherein said dampers are two sets and are disposed at opposite ends of said mass in the damping direction, and said springs are two sets and are disposed at opposite ends of said mass in the damping direction.

5. The tuned mass damper device according to claim 4, wherein each of said springs is connected between said mass and said mount, said guide cylinder and said damper comprising said mass guide system.

6. The tuned mass damper device according to claim 4, wherein each of said dampers is provided with said spring on both sides.

7. A tuned mass damper device according to any of claims 1 to 6, wherein said support is a rectangular frame, said permanent magnet arrays are provided on opposite sides of said support, and said masses are connected between the other sides of said support by said mass guide system, said damper, and said spring.

8. A suspended construction robot, comprising:

The hanging basket is provided with an actuator;

Tuned mass damper arrangement according to any of claims 1-7, provided on the basket.

9. A suspended construction robot as claimed in claim 8, wherein the tuned mass damper device is detachably connected to the bottom of the gondola.

10. The suspended building robot of claim 8, wherein the actuator actuation direction is parallel to the vibration damping direction.

Technical Field

the invention relates to the technical field of construction robots, in particular to a tuned mass damper device and a suspended construction robot with the tuned mass damper device.

background

tuned mass dampers have found widespread use in vibration suppression, the basic principle of which is to absorb vibrational energy into a secondary mass-damper-spring system by coupling the secondary mass to a vibrating structure through springs and dampers, thereby altering the dynamics of the vibrating structure. Typical tuned mass dampers are linear and therefore have a narrow operating frequency band for damping. There are some methods for widening the operating band of the tuned mass damper, however, these methods cause a significant reduction in damping efficiency while widening the operating band.

disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. To this end, it is an object of the present invention to propose a tuned mass damper device that can accommodate vibrations of a wide operating frequency band and has a good vibration damping effect.

The invention also provides a suspended building robot with the tuned mass damper device.

The tuned mass damper device comprises a support, a mass block, a mass guide system, a damper, a spring and a permanent magnet array, wherein the mass block can move relative to the support, at least part of the mass block is made of high-magnetic-permeability materials, the mass guide system is connected between the support and the mass block so as to enable the mass block to move along a vibration damping direction, the damper is connected between the mass block and the support, the spring is connected between the mass block and the support, and the permanent magnet array comprises a plurality of permanent magnets and is arranged on the support.

according to the tuned mass damper device provided by the embodiment of the invention, the dynamic characteristic of the support in vibration can be changed by arranging the damper and the spring between the support and the mass block, the vibration on the support can be absorbed into the mass block-damping-spring system, so that the vibration on the support can be reduced, the vibration of the mass block can be better reduced by movably arranging the mass block with magnetism in a nonlinear magnetic field, and after the vibration of the mass block is reduced, the vibration of the support can be favorably reduced, so that the vibration of the support can be better reduced through the matching of the mass block-damping-spring system and the mass block-permanent magnet array, a vibration to-be-reduced object or device can be better reduced, and the vibration reduction effect is good.

in addition, the tuned mass damper device according to the present invention may also have the following additional technical features:

In some embodiments of the present invention, the permanent magnet array includes two permanent magnet groups, the two permanent magnet groups are disposed on opposite sides of the mass block, and each permanent magnet group includes a plurality of permanent magnets arranged along a vibration damping direction.

Optionally, the permanent magnets of the two permanent magnet groups are arranged oppositely, and the polarities of the ends of the two opposite permanent magnets facing each other are opposite; and the polarities of two adjacent permanent magnets in the same permanent magnet group are opposite.

In some embodiments of the present invention, the dampers are two sets and are disposed at opposite ends of the mass block in the vibration damping direction, and the springs are two sets and are disposed at opposite ends of the mass block in the vibration damping direction.

Optionally, each of the springs is connected between the mass and the mount, and the guide cylinder and the damper constitute the mass guide system.

Optionally, the spring is disposed on both sides of each damper.

In some embodiments of the present invention, the support is a rectangular frame, the permanent magnet arrays are disposed on two opposite sides of the support, and the mass blocks are connected between the two other sides of the support through the mass guide system, the damper, and the spring.

The invention also provides a suspended building robot with the tuned mass damper device of the embodiment.

a suspended construction robot in accordance with an embodiment of the second aspect of the invention comprises a gondola with an actuator thereon and a tuned mass damper arrangement on the gondola.

According to the suspension construction robot provided by the embodiment of the invention, the tuning mass damper device provided by the embodiment is arranged on the hanging basket, so that the vibration of the hanging basket in the moving process can be reduced, the hanging basket is stable in the moving process, the construction operation of an operator on the hanging basket can be facilitated, or the hanging basket can stably convey materials, and the practicability is high.

Optionally, the tuned mass damper device is removably attached to the bottom of the basket.

Optionally, the actuating direction of the actuator is parallel to the damping direction.

additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic structural diagram of a suspended construction robot according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a tuned mass damper device according to an embodiment of the present invention;

FIG. 3 is a plan cloud of the magnetic field distribution of the non-linear magnetic force at the neutral plane a position and a plan cloud of the magnetic field distribution of the non-linear magnetic force offset from the neutral plane b position of a tuned mass damper device according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of the relationship between the internal energy release of the mount of the tuned mass damper device and the position of the neutral plane b within the non-linear magnetic field shifted according to an embodiment of the present invention;

FIG. 5 is a dynamic response of a mass relative to a mount system under a 15Hz ambient vibration excitation condition for a tuned mass damper device according to an embodiment of the present invention;

FIG. 6 is a dynamic response of a mass relative to a support system under 20Hz external vibration excitation conditions for a tuned mass damper device according to an embodiment of the present invention;

figure 7 is a dynamic response of a mass relative to a mount system under 25Hz external vibration excitation conditions for a tuned mass damper device according to an embodiment of the present invention.

reference numerals:

100: a tuned mass damper device;

1: a support;

2: a mass block;

3: a mass guide system;

4: a spring;

51: a first permanent magnet; 52: a second permanent magnet; 53: a third permanent magnet; 54: a fourth permanent magnet;

1000: suspending the construction robot;

200: a hanging basket.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

in the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

a tuned mass damper device 100 according to an embodiment of the present invention is described below with reference to fig. 1-7.

As shown in fig. 1 and 2, a tuned mass damper device 100 according to an embodiment of the present invention comprises a support 1, a mass 2, a mass guide system 3, a damper, a spring 4 and a permanent magnet array.

Specifically, the mass block 2 is movable relative to the support 1, the mass guide system 3 is connected between the support 1 and the mass block 2 to enable the mass block 2 to move along the vibration damping direction, that is, the mass guide system 3 can be installed on the support 1 in a matching manner, after the mass guide system 3 is installed on the support 1, the mass block 2 can be installed on the mass guide system 3 in a matching manner, after the mass block 2 is installed on the mass guide system 3, the mass guide system 3 can limit the moving direction of the mass block 2, so that the mass block 2 can stably move along the vibration damping direction, and it can be understood that the mass block 2 can reciprocate along the vibration damping direction. Here, the vibration damping direction may refer to a front-back direction as shown in fig. 2.

more specifically, a damper and spring 4 may be connected between the mass 2 and the mount 1, and the damper and spring 4 is provided between the mass 2 and the mount 1 in a vibration damping direction in the example shown in fig. 2, whereby, after the mass 2 is connected to the mount 1 through the damper and spring 4, the dynamic characteristics of the mount 1 at the time of vibration may be changed, and the vibration on the mount 1 may be absorbed into the mass-damper-spring system, so that the vibration on the mount 1 may be reduced.

Further, at least a portion of the mass 2 is made of a material with high magnetic permeability, in some examples, a portion of the mass 2 is made of a material with high magnetic permeability, and in other examples, the entire mass 2 is made of a material with high magnetic permeability, wherein the material with high magnetic permeability is easily magnetized, so that the mass 2 can have certain magnetism.

The permanent magnet array comprises a plurality of permanent magnets and is arranged on the support 1, that is, the support 1 is provided with a plurality of permanent magnets, wherein a plurality refers to two or more than two, when the plurality of permanent magnets are arranged on the support 1, a magnetic field can be formed on the support 1, optionally, the magnetic field in the support 1 can be a nonlinear magnetic field, therefore, when the magnetic mass block 2 moves in the nonlinear magnetic field, an acting force applied to the mass block 2 inside the magnetic field can be received, so that the vibration of the mass block 2 can be reduced, after the vibration of the mass block 2 is reduced, the vibration of the support 1 can be favorably reduced, and meanwhile, when the magnetic mass block 2 moves in the nonlinear magnetic field, the tuned mass damper device 100 can harmonize a wide working frequency band.

It will be appreciated that the tuned mass damper device 100 may be mounted on an object or device to be damped by the mount 1, whereby, after the object or device to be damped transmits vibrations to the mount 1, the mount 1 and thus the object or device with damping may have a better damping effect by damping of the mass-damper-spring system and damping of the mass 2 in a non-linear magnetic field.

The tuned mass damper device 100 according to an embodiment of the present invention, by providing the damper and spring 4 between the mount 1 and the mass 2, the dynamic characteristics of the support 1 can be changed when vibrating, the vibration on the support 1 can be absorbed into the system of the mass 2-the damping-spring 4, so that the vibration on the support 1 can be reduced, and by movably arranging the magnetic mass block 2 in a non-linear magnetic field, the vibration of the mass block 2 can be well reduced, and after the vibration of the mass block 2 is reduced, the vibration of the support 1 can be favorably reduced, therefore, through the matching of the mass block 2-damping-spring 4 system and the mass block 2-permanent magnet array, the vibration of the support 1 can be well reduced, therefore, the vibration reduction of the object or the device to be subjected to vibration reduction can be better realized, and the vibration reduction effect is good.

In some embodiments of the invention, the permanent magnet array comprises two groups of permanent magnet groups, the two groups of permanent magnet groups being arranged on opposite sides of the mass 2, each group of permanent magnet groups comprising a plurality of permanent magnets arranged along the damping direction. For example, as shown in fig. 2, the vibration reduction direction may be the front-back direction in fig. 2, and two groups of permanent magnet groups are disposed on the left and right sides of the mass block 2, it is understood that the plurality of permanent magnets of each group of permanent magnet groups may be two, three or more, or one permanent magnet of each group of permanent magnet groups, which is not limited herein.

Optionally, the permanent magnets of two groups of permanent magnet groups are arranged opposite to each other, the polarities of the ends, facing each other, of the two opposite permanent magnets are opposite, and the polarities of two adjacent permanent magnets in the same group of permanent magnet groups are opposite. In the example shown in fig. 2, two sets of permanent magnet sets are disposed on the left and right sides of the mass block 2, the permanent magnet set on each side includes two permanent magnets in the vibration damping direction, for convenience of explanation, the two permanent magnets on the left side are referred to as a first permanent magnet 51 and a second permanent magnet 52, the two permanent magnets on the right side are referred to as a third permanent magnet 53 and a fourth permanent magnet 54, wherein the first permanent magnet 51 and the third permanent magnet 53 are oppositely disposed in the left-right direction, the second permanent magnet 52 and the fourth permanent magnet 54 are oppositely disposed in the left-right direction, alternatively, the left side of the first permanent magnet 51 is an N pole, the right side is an S pole, the left side of the second permanent magnet 52 is an S pole, the right side is an N pole, the left side of the third permanent magnet 53 is an S pole, the right side of the fourth permanent magnet 54 is an N pole, and the right side is an S pole, thereby, by arranging the first permanent magnet 51 to the fourth permanent magnet, a non-linear magnetic field can be obtained in the holder 1.

it is understood that the left side of the first permanent magnet 51 may be an S pole, the right side may be an N pole, and the magnetic properties of the left and right sides of the second to fourth permanent magnets 52 to 54 may be changed according to the magnetic property of the first permanent magnet 51, which is not limited herein.

In some embodiments of the present invention, two sets of dampers are provided at opposite ends of the mass 2 in the vibration damping direction, and two sets of springs 4 are provided at opposite ends of the mass 2 in the vibration damping direction. For example, as shown in fig. 2, the vibration damping direction is the front-back direction as shown in fig. 2, two sets of dampers are provided at the front and back ends of the mass block 2, and two sets of springs 4 are provided at the front and back ends of the mass block 2.

optionally, each spring 4 is connected between the mass 2 and the support 1, the guide cylinder and the damper constituting the mass guide system 3. For example, as shown in fig. 2, each group of dampers is one damper, each group of springs is two springs 4, since the dampers on the front side and the rear side of the mass block 2 are identical to the two springs 4 in structure and layout, taking the front side of the mass block 2 as an example, optionally, in the left-right direction, the mass guide system 3 is disposed between the two springs 4, and the guide cylinder of the mass guide system 3 is disposed at the middle position in the left-right direction of the mass block 2, thereby, the springs 4 can better absorb the vibration between the support 1 and the mass block 2, when the mass block 2 reciprocates in the vibration-absorbing direction, the mass block 2 can move relatively stably along the direction defined by the guide cylinder, and when the mass block 2 moves along the direction defined by the guide cylinder, the dampers can better absorb the vibration between the support 1 and the mass block 2.

Further, the front side and the rear side of the mass block 2 are respectively damped through the mass guide system 3 and the two springs 4, so that the tuned mass damper device 100 has good balance and stability during damping.

alternatively, each set of dampers may include a plurality of dampers, so that the damping effect of the tuned mass damper device 100 may be better improved by the plurality of dampers, and further, the springs 4 are disposed on both sides of each damper, so that each damper may have better balance when damping, and stable damping of the tuned mass damper device 100 may be facilitated.

In some embodiments of the present invention, the support 1 is a rectangular frame, the permanent magnet arrays are disposed on two opposite sides of the support 1, and the mass block 2 is connected between the two other sides of the support 1 through the mass guide system 3, the damper and the spring 4. Thus, with the above arrangement, the permanent magnet array can be mounted separately from the mass guide system 3, damper, spring 4, which can facilitate assembly of the tuned mass damper device 100. It is understood that the seat 1 may also be a circular frame, or the seat 1 may be a square, and in particular, may be configured differently according to the model, size, working environment, etc. of the tuned mass damper device 100, and is not limited herein.

optionally, the support 1 is square, that is, fig. 2 is a cross-sectional view of the support 1, as can be seen from fig. 2, a plurality of mass guide systems 3, a plurality of dampers and a plurality of springs 4 may be disposed between two front and rear sidewalls of the square support 1 and the mass block 2 to improve the vibration damping effect of the tuned mass damper device 100, and a plurality of sets of permanent magnet sets may be disposed on the other four sidewalls of the square support 1, so that the permanent magnet array formed by the plurality of sets of permanent magnet sets may surround the outer side of the mass block 2, thereby obtaining a better vibration damping effect.

The present invention also proposes a suspended building robot 1000 having the tuned mass damper device 100 of the above-described embodiment.

As shown in fig. 1, a suspended construction robot 1000 according to an embodiment of the present invention includes a basket 200 and a tuned mass damper device 100, an actuator is disposed on the basket 200, the tuned mass damper device 100 is disposed on the basket 200, such that the actuator can drive the basket 200 to move, vibration can be generated during movement of the basket 200, and the tuned mass damper device 100 can reduce vibration of the basket 200 in a vibration reduction direction, thereby making the basket 200 stable during movement.

According to the suspension construction robot 1000 of the embodiment of the invention, the tuning mass damper device 100 of the embodiment is arranged on the hanging basket 200, so that the vibration of the hanging basket 200 in the moving process can be reduced, the hanging basket 200 is stable in the moving process, the construction operation of an operator on the hanging basket 200 can be facilitated, or the hanging basket 200 can stably convey materials, and the practicability is strong.

Optionally, the tuned mass damper device 100 is removably attached to the bottom of the basket 200. That is, the tuned mass damper device 100 can be connected with the bottom of the basket 200 in a matching manner, and the tuned mass damper device 100 can be detached from the basket 200 after being installed at the bottom of the basket 200, so that the tuned mass damper device 100 can be replaced or maintained conveniently.

alternatively, the executing direction of the actuator is parallel to the vibration damping direction, that is, the straight line of the executing direction of the actuator is parallel to and coplanar with the straight line of the vibration damping direction, for example, the actuator may drive the basket 200 to move in the front-back direction as shown in fig. 2, thereby, when the tuned mass damper device 100 is installed, the vibration damping direction of the tuned mass damper device 100 may be made parallel to the executing direction of the actuator, thereby, the tuned mass damper device 100 may be made to reduce the vibration of the basket 200 in the executing direction well.

It is understood that, when the actuating direction of the actuator is changed, the tuned mass damper device 100 can be mounted and then the tuned mass damper device 100 can be mounted again after being dismounted, so that the vibration reduction direction of the tuned mass damper device 100 is parallel to the actuating direction of the actuator, and therefore, the tuned mass damper device 100 can be mounted to better reduce the vibration of the basket 200 in the actuating direction.

further, a rotating device can be arranged between the tuned mass damper device 100 and the hanging basket 200, so that when the execution direction of the actuator is changed, the vibration reduction direction of the tuned mass damper device 100 can be changed at any time, and the practicability is strong.

The structure and operation of one embodiment of a tuned mass damper assembly 100 of the present invention will now be described with reference to figures 1-7.

As shown in fig. 1 and 2, the tuned mass damper device 100 is installed to include a support 1, a mass 2, a mass guide system 3, a spring 4, and a permanent magnet array.

Specifically, support 1 is the rectangle frame, quality piece 2 is established in the rectangle frame, both sides are equipped with two sets of springs 4 around quality piece 2, every group spring 4 includes two springs 4, both sides are equipped with two quality guidance systems 3 around quality piece 2, every quality guidance system 3 is established respectively in the middle part of two sides around quality piece 2, and both sides around quality piece 2, every quality guidance system 3 is established between two springs 4, through two sets of springs 4 and two quality guidance systems 3, can install quality piece 2 on support 1. Wherein the mass guidance system 3 comprises a guide cylinder and a damper.

the permanent magnet array comprises four permanent magnets, namely a first permanent magnet 51, a second permanent magnet 52, a third permanent magnet 53 and a fourth permanent magnet 54, the first permanent magnet 51 and the second permanent magnet 52 are arranged on the support 1 and are arranged on the left side of the mass block 2, the third permanent magnet 53 and the fourth permanent magnet 54 are arranged on the support 1 and are arranged on the right side of the mass block 2, the first permanent magnet 51 and the third permanent magnet 53 are arranged in the left-right direction relatively, and the second permanent magnet 52 and the fourth permanent magnet 54 are arranged in the left-right direction relatively.

Further, the first permanent magnet 51 and the second permanent magnet 52 have opposite polarities in the left-right direction, the first permanent magnet 51 and the third permanent magnet 53 have opposite polarities in the left-right direction, and the third permanent magnet 53 and the fourth permanent magnet 54 have opposite polarities in the left-right direction.

The operation of the installation tuned mass damper assembly 100 according to the present invention is described below with respect to figures 1-7.

The tuned mass damper device 100 can be installed at the lower end of a basket 200 through a support 1, when an actuator drives the basket 200 to move in an executing direction or a vibration damping direction, the basket 200 can generate vibration and transmit the vibration to the support 1, the dynamic characteristic of the support 1 during vibration can be changed by arranging a mass guide system 3 and a spring 4 between the support 1 and a mass block 2, the vibration on the support 1 can be absorbed into a mass block 2-damping-spring 4 system, and the vibration on the support 1 can be reduced.

Further, the mass block 2 may be a high magnetic permeability material body, that is, the mass block 2 may have magnetism, and the arrangement of the permanent magnet array may be such that a nonlinear magnetic field is formed in the support 1, so as to have nonlinear magnetic force, specifically, as shown in fig. 3, the left side of fig. 3 is a plane cloud diagram of the magnetic field distribution of the nonlinear magnetic force at the position of a neutral plane a, the right side of fig. 3 is a plane cloud diagram of the magnetic field distribution of the nonlinear magnetic force at the position of b, as can be seen from fig. 3, the spatial magnetic flux at the position of a and the position of b is different,

Further, fig. 4 is a schematic diagram of the position of the neutral plane b between the internal energy release of the support 1 and the shift in the nonlinear magnetic field, fig. 5 is the dynamic response of the mass 2 relative to the support 1 system under the external vibration excitation condition of 15Hz, fig. 6 is the dynamic response of the mass 2 relative to the support 1 system under the external vibration excitation condition of 20Hz, and fig. 7 is the dynamic response of the mass 2 relative to the support 1 system under the external vibration excitation condition of 25 Hz.

From the dynamic response of the mass block 2 shown in fig. 3 to fig. 7, it can be intuitively observed that the mass block 2 has better response in a wider external vibration excitation frequency range, can absorb more vibration energy from a vibration object, and has good vibration damping effect.

Other constructions and operations for installing tuned mass damper devices 100 according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "some embodiments," "optionally," "further," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.