CN105257777B - A kind of motion oscillation damping method and its device based on magnetorheological damping element - Google Patents
A kind of motion oscillation damping method and its device based on magnetorheological damping element Download PDFInfo
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- CN105257777B CN105257777B CN201510843814.6A CN201510843814A CN105257777B CN 105257777 B CN105257777 B CN 105257777B CN 201510843814 A CN201510843814 A CN 201510843814A CN 105257777 B CN105257777 B CN 105257777B
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Abstract
A kind of motion oscillation damping method and its device based on magnetorheological damping element, it is connected including the damping element for cutting down motion vibration, the pedestal for placing motion and damping element, the position detecting element for detecting motion running status and positional information and for controlling the control system damping element of motion and damping element to be installed on the pedestal, and with the motion；Position detecting element is installed on pedestal and motion；Damping element is magnetorheological damping element.The present invention proposes a kind of quick vibration damping oscillation damping method and its device towards digitizing equipment motions such as machinery, electronic manufacture equipments, for the vibration regularity and vibration mechanism of motion, it is proposed to utilize the viscosity for changing magnetic flow liquid in magnetorheological damping element, increase running resistance of the coupled motion in the positioning vibration stage, the quick vibration amplitude for reducing motion, shorten the stabilization time of mechanism positioning.
Description
Technical field
The present invention relates to the technical field for offsetting industrial manufacturing equipment motion vibrating device in place, more particularly to it is a kind of
Motion oscillation damping method and device based on magnetorheological damping element.
Background technology
The kinematic system of the digitizing equipments such as machinery, electronic manufacture equipment and industrial robot continues to develop, its fitness machine
The requirement of structure high speed high acceleration also improves constantly.However, the requirement of high speed high acceleration makes the vibration problem of motion
More highlight, the large impact power of high acceleration will certainly bring the vibration problem of complexity, and vibration amplitude is big, stabilization time long all
Influence can be brought on the performance and operating efficiency of motion.Fast and stable is realized to motion using structure vibration absorber
Vibration suppression is the direction of a worth research and discovery, and the research to motion vibration dampeners in place is also deposited now
In many problems, also without occurring, a kind of effectiveness in vibration suppression is obvious, vibration damping side particularly in terms of motion in place impact shock
The oscillation damping method of the convenient stabilization of method.
The content of the invention
It is an object of the invention to solve that existing oscillation damping method effectiveness in vibration suppression unobvious, oscillation damping method be slow and stability not
The problems such as high, proposes that one kind is vibrated in place towards digitizing equipment motions such as machinery, electronic manufacture equipment and industrial robots
Quick oscillation damping method and its device, using the viscosity for changing magnetic flow liquid in magnetorheological damping element, make coupled
The motion connect is in the running resistance increase in positioning vibration stage, the quick vibration amplitude for reducing motion, shortening mechanism
The stabilization time of positioning.
To use following technical scheme up to this purpose, the present invention：
A kind of motion vibration absorber based on magnetorheological damping element, including for cutting down subtracting for motion vibration
Shake element, the pedestal for placing motion and the damping element, for detect motion running status and position letter
The position detecting element of breath and the control system for controlling motion and damping element；
The damping element is installed on the pedestal, and is connected with the motion；The position detecting element
It is installed on the pedestal and the motion；
The damping element is magnetorheological damping element.
Preferably, the magnetorheological damping element is connected by screw with motion.
Preferably, the stroke range of the motion of the magnetorheological damping element is installed in the magnetic current variable resistance
In the moving section of Buddhist nun's element.
Preferably, the section meets following condition：The stroke range S of the motion≤magnetorheological damping member
The moving section range L of part, the S are determined that the L is by the magnetorheological damping element by the specification of the motion
Specification determines.
Preferably, the magnetorheological damping element carries out damping action after meeting entry condition.
Preferably, the magnetorheological damping element entry condition meets：V≤γ；The V is the velocity amplitude of motion,
The γ is the pre-set velocity value for starting magnetorheological damping element movement.
Preferably, the magnetorheological damping element damping action meets：C=C2；C is the damping system of magnetorheological damping element
Number, C2For magnetorheological damping element the motion vibration damping stage damped coefficient.
Preferably, the pedestal is L-type structure, and the position detecting element being installed on the pedestal is installed on described
On the horizontal arm of L-type structure；The magnetorheological damping element is installed in the vertical arm of the L-type structure.
Preferably, the deceleration side of a kind of motion vibration absorber based on magnetorheological damping element as described above
Method, it comprises the following steps：
A), the model type selecting of damping element 2, the moving section range L of selected damping element 2 and the motion of motion 5
Relation between stroke S meets：S≤L；
B), position detecting element 1 detects the speed and positional information of motion 5；
C), control system 3 obtains the speed and positional information of motion 5 by position detecting element 1, works as motion
5 reduce speed now motion into positioning stages, and the velocity amplitude of motion 5 meets preset value γ, that is, when meeting condition V≤γ,
Control system 3 sends enabling signal to damping element 2；
D), the sending action signal of control system 3 adjusts the damped coefficient C of damping element 2 by C to damping element 21Value is cut
Change to C2Value, i.e. C=C2, C1For magnetorheological damping element motion motion stage damped coefficient, according to motion
It newly can determine that, make the relatively low motion for not influenceing motion high speed high acceleration of damped coefficient, C2Exist for magnetorheological damping element
It the damped coefficient in motion vibration damping stage, newly can determine that according to the vibration in place of motion, make damped coefficient higher effectively
Suppression is vibrated in place, consumes vibrational energy；
E), position detecting element 1 detects that the difference d of the current location of motion 5 and target position location meets ideal
Positioning accurate angle value ε, i.e. d≤ε, control system 3 send END instruction to damping element 2, make the damped coefficient C of damping element 2 by
C2It is adjusted to C1, terminate damping action.
Beneficial effects of the present invention：1st, mechanical structure is simple and convenient；2nd, it is adjustable using magnetorheological damping element damped coefficient
Characteristic, can solve the problems, such as the vibration damping that motion vibrates in place well, reduce motion vibration amplitude, shorten in place
Stabilization time, and the motion process of motion is not influenceed；3rd, vibration absorber can shaking to motion different situations in place
It is dynamic (such as in place amplitude, to bit rate, to the different situation of positioner acceleration parameter) the effective inhibitory action of generation；4th, suitable for each
The vibration suppression in place of type games mechanism.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the present of invention；
Fig. 2 is the implementing procedure figure of one embodiment of the present of invention；
Fig. 3 is the principle design sketch of one embodiment of the present of invention；
Fig. 4 is the control process block diagram of one embodiment of the present of invention.
Wherein：It is position detecting element 1, damping element 2, control system 3, pedestal 4, motion 5, horizontal arm 41, vertical
Arm 42；
The stroke of S- motions；The removable section of L- damping elements；The speed of V- motions；γ-startup vibration damping
The pre-set velocity value of element movement；Distance between d- motions current location and target position location；ε-positioning precision scope；
The damped coefficient of C- magnetorheological damping elements；C1Damped coefficient of-magnetorheological damping the element in motion motion stage；C2- magnetic
Damped coefficient of the rheology damping element in the motion vibration damping stage.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
Need exist for illustrating, accompanying drawing be only illustrate this programme and schematic diagram, do not drawn in strict accordance with ratio, not
Form and the essence of this programme is limited.
A kind of motion vibration absorber based on magnetorheological damping element, including run shape for detecting motion 5
The position detecting element 1 of state and positional information, the pedestal 4 for placing the motion 5 and the damping element 2, it is used for
The damping element 2 that vibrates in place of abatement motion 5 and for controlling the motion of motion 5 and the damping action of damping element 2
Control system 3；
The damping element 2 is installed on the pedestal 4, and is connected with the motion 5；The position detection member
Part 1 is installed on the pedestal 4 and the motion 5；
The damping element 2 is magnetorheological damping element.
As shown in figure 1, the vibration absorber based on magnetorheological damping element includes motion 5, position detecting element 1, subtracted
Shaken element 2, control system 3 and pedestal 4, and the damping element 2 is installed on the pedestal 4, and is connected with the motion 5
Connect, the mass motion stroke S of the motion 5 is located in the moving section L that the damping element 2 can reach, and can make institute
Stating the installation of damping element 2 does not influence the overall operation of motion 5, is mounted on the motion 5 and the pedestal 4
Position detecting element 1, the position detecting element 1 are used to detect the velocity information and positional information of the motion 5,
Detect the motion 5 and enter velocity information V and positioning accuracy information d that positioning stage carries out retarded motion in place.Utilize
The adjustable characteristic of the damped coefficient of damping element 2, adjusts the damping element 2 in the motion process of the motion 5
Damped coefficient it is relatively low, the movement of the high speed high acceleration of the motion 5 is not influenceed, in the positioning of the motion 5
The damped coefficient that stage adjusts the damping element 2 is higher, increases the motion that the motion 5 vibrates in place in positioning stage
Resistance, the vibrational energy of the motion 5 is consumed, reduce vibration amplitude, shorten the positioning stablity time.The motion
Velocity information and positional information are detected by the position detecting element 1 and transmit a signal to the control system 3, such as damping element
Action signal or the process such as mobile control signal of motion controlled by the control system 3.
The magnetorheological damping element has the function that regulation magnetic flow liquid viscosity changes element damping size, effectively
Inhibit the vibration of the motion 5, cut down the vibrational energy of the motion 5, make the vibration of motion 5 with it is steady
Fix time shortening, play damping effect.
Using magnetorheological damping oscillation damping method in terms of implementation it is simpler and more direct, conveniently, reach preferable vibration damping effect possessing
Vibration damping can be realized with control method by more simple installation while fruit；And magnetorheological damping vibration damping is a kind of half
Active damping mode, while it has the effectiveness in vibration suppression of active damping, it is only necessary to consume the energy of very little to adjust damping shape
State is implemented with vibration damping.
Preferably, the magnetorheological damping element is connected by screw with motion 5.So that integrated connection is convenient, adjust
It is whole simple.
Preferably, the magnetorheological damping element is installed on the pedestal by bolt or screw, described in convenient regulation
The distance of motion 5 and the magnetorheological damping element, and adjust very simple, quick.
Preferably, the stroke range of the motion of the magnetorheological damping element is installed in the magnetic current variable resistance
In the moving section of Buddhist nun's element.Ensure effective vibration damping of the whole motion.
Preferably, the section meets following condition：The stroke range S of the motion≤magnetorheological damping member
The moving section range L of part, the S are determined that the L is by the magnetorheological damping element by the specification of the motion
Specification determines.
As shown in Fig. 2 vibration can be produced near position location when the motion 5 reaches the location of instruction, it is described
Control system 3 detects that the motion 5 reduces speed now motion into positioning stage, that is, meets opening for the damping element 2
After dynamic condition, start the damping element 2 and act, the damped coefficient C of the damping element 2 moves rank by the motion 5
Relatively low damped coefficient C during section1Quick regulation is higher damped coefficient C2, the motion 5 is shaken in place in positioning stage
Dynamic resistance increase, consumes the motion 5 vibrational energy in place, so that when the amplitude of the motion 5 and positioning
Between reduce, play damping effect.
Preferably, the entry condition of the damping element 2 meets：V≤γ；V is the velocity amplitude of motion 5, and γ is to open
The pre-set velocity value of dynamic damping element action, to ensure that the action of damping element 2 does not influence the high speed high acceleration of motion 5
Motion, and ensure that the vibration in place only to the positioning stage of motion 5 acts.
Preferably, the pedestal 4 is L-type structure, and the position detecting element being installed on the pedestal 4 is installed on institute
State on the horizontal arm 41 of L-type structure；The magnetorheological damping element is installed in the vertical arm 42 of the L-type structure.Convenient peace
It is independent of each other both when filling the magnetorheological damping element and the position detecting element, and operating, does not interfere with vibration damping
Effect.
As shown in Figure 3 and Figure 4, a kind of oscillation damping method of the motion vibration absorber based on magnetorheological damping element, bag
Include following steps：
A), the model type selecting of damping element 2, the moving section range L of selected damping element 2 and the motion of motion 5
Relation between stroke S meets：S≤L；
B), position detecting element 1 detects the speed and positional information of motion 5；
C), control system 3 obtains the speed and positional information of motion 5 by position detecting element 1, works as motion
5 reduce speed now motion into positioning stages, and the velocity amplitude of motion 5 meets preset value γ, that is, when meeting condition V≤γ,
Control system 3 sends enabling signal to damping element 2；
D), the sending action signal of control system 3 adjusts the damped coefficient C of damping element 2 by C to damping element 21Value is cut
Change to C2Value, i.e. C=C2, C1For magnetorheological damping element motion motion stage damped coefficient, according to motion
It newly can determine that, make the relatively low motion for not influenceing motion high speed high acceleration of damped coefficient, C2Exist for magnetorheological damping element
It the damped coefficient in motion vibration damping stage, newly can determine that according to the vibration in place of motion, make damped coefficient higher effectively
Suppression is vibrated in place, consumes vibrational energy；
E), position detecting element 1 detects that the difference d of the current location of motion 5 and target position location meets ideal
Positioning accurate angle value ε, i.e. d≤ε, control system 3 send END instruction to damping element 2, make the damped coefficient C of damping element 2 by
C2It is adjusted to C1, terminate damping action.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area
Personnel would not require any inventive effort the other embodiments that can associate the present invention, and these modes are fallen within
Within protection scope of the present invention.
Claims (8)
- A kind of 1. motion vibration absorber based on magnetorheological damping element, it is characterised in that：Including for cutting down fitness machine Structure vibration damping element, the pedestal for placing motion and the damping element, for detect motion operation shape The position detecting element of state and positional information and the control system for controlling motion and damping element；The damping element is installed on the pedestal, and is connected with the motion；The position detecting element installation In on the pedestal and the motion；The damping element is magnetorheological damping element；Shifting of the stroke range in the magnetorheological damping element of the motion of the magnetorheological damping element is installed In dynamic section.
- A kind of 2. motion vibration absorber based on magnetorheological damping element according to claim 1, it is characterised in that： The magnetorheological damping element is connected by screw with motion.
- A kind of 3. motion vibration absorber based on magnetorheological damping element according to claim 1, it is characterised in that： The section meets following condition：The moving section model of the stroke range S of the motion≤magnetorheological damping element L is enclosed, the S is determined by the specification of the motion, and the L is determined by the specification of the magnetorheological damping element.
- A kind of 4. motion vibration absorber based on magnetorheological damping element according to claim 1, it is characterised in that： The magnetorheological damping element carries out damping action after meeting entry condition.
- A kind of 5. motion vibration absorber based on magnetorheological damping element according to claim 4, it is characterised in that： The magnetorheological damping element entry condition meets：V≤γ；The V is the velocity amplitude of motion, and the γ is startup magnetic current The pre-set velocity value of variable damping element movement.
- A kind of 6. motion vibration absorber based on magnetorheological damping element according to claim 4, it is characterised in that： The magnetorheological damping element damping action meets：C=C2；C be magnetorheological damping element damped coefficient, C2For magnetic current variable resistance Damped coefficient of Buddhist nun's element in the motion vibration damping stage.
- A kind of 7. motion vibration absorber based on magnetorheological damping element according to claim 1, it is characterised in that： The pedestal is L-type structure, and the position detecting element being installed on the pedestal is installed on the horizontal arm of the L-type structure On；The magnetorheological damping element is installed in the vertical arm of the L-type structure.
- 8. a kind of motion vibration absorber based on magnetorheological damping element as described in claim 2-7 any one subtracts Fast method, it is characterised in that：It comprises the following steps：A), damping element（2）Model type selecting, selected damping element（2）Moving section range L and motion（5）Fortune Relation between dynamic stroke S meets：S≤L；B), position detecting element（1）Detect motion（5）Speed and positional information；C), control system（3）Pass through position detecting element（1）Obtain motion（5）Speed and positional information, work as fitness machine Structure（5）Reduced speed now motion, and motion into positioning stage（5）Velocity amplitude meet preset value γ, that is, meet condition V≤ During γ, control system（3）Enabling signal is sent to damping element（2）；D), control system（3）Sending action signal is to damping element（2）, adjust damping element（2）Damped coefficient C by C1Value is cut Change to C2Value, i.e. C=C2, C1For magnetorheological damping element motion motion stage damped coefficient, according to motion Performance determines, makes the relatively low motion for not influenceing motion high speed high acceleration of damped coefficient, C2Exist for magnetorheological damping element The damped coefficient in motion vibration damping stage, determined according to the vibration performance in place of motion, make damped coefficient higher effectively Suppression is vibrated in place, consumes vibrational energy；E), position detecting element（1）Detect motion（5）The difference d of current location and target position location meets preferable Positioning accurate angle value ε, i.e. d≤ε, control system（3）END instruction is sent to damping element（2）, make damping element（2）Damping system Number C is by C2It is adjusted to C1, terminate damping action.
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| CN112576551A (en) * | 2020-12-04 | 2021-03-30 | 苏州浪潮智能科技有限公司 | Server and air-cooled damping vibration attenuation mechanism thereof |
| CN115674208B (en) * | 2022-12-30 | 2023-05-26 | 广东隆崎机器人有限公司 | Robot vibration suppression device, control method and robot |
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| US4208685A (en) * | 1977-12-30 | 1980-06-17 | International Business Machines Corporation | Disk storage apparatus having an electrically tuned head-carriage actuator |
| JP3060068B2 (en) * | 1989-11-10 | 2000-07-04 | 一登 背戸 | Vibration control device for parallel structures |
| EP1803967A2 (en) * | 2005-12-30 | 2007-07-04 | Integrated Dynamics Engineering GmbH | Vibration isolating system with stabilisation of variables with respect to predictable force disturbances |
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