CN106884926B - The selectable longitudinal linear vibration of passively/active control inhibits device - Google Patents

The selectable longitudinal linear vibration of passively/active control inhibits device Download PDF

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Publication number
CN106884926B
CN106884926B CN201710232838.7A CN201710232838A CN106884926B CN 106884926 B CN106884926 B CN 106884926B CN 201710232838 A CN201710232838 A CN 201710232838A CN 106884926 B CN106884926 B CN 106884926B
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CN
China
Prior art keywords
outer sleeve
vibration
sleeve body
active
passive
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CN201710232838.7A
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Chinese (zh)
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CN106884926A (en
Inventor
董小闵
李文峰
席军
于建强
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重庆大学
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Priority to CN201710232838.7A priority Critical patent/CN106884926B/en
Publication of CN106884926A publication Critical patent/CN106884926A/en
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Publication of CN106884926B publication Critical patent/CN106884926B/en

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Classifications

    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32Details
    • F16F9/53Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
    • F16F9/535Magnetorheological [MR] fluid dampers
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2232/00Nature of movement
    • F16F2232/06Translation-to-rotary conversion

Abstract

The invention discloses a kind of selectable longitudinal linear vibrations of passive/active control to inhibit device, rotary motion is converted to including rack, the rotary magnetorheological damper being set on rack and linear motion for generating longitudinal linear vibration so that the movement conversion mechanism that rotary magnetorheological damper inhibits vibration, filled with magnetorheological fluid and can change Shear Yield Stress of Magnetorheological Fluids under magnetic fields in rotary magnetorheological damper;It further include being rotated for active drive outer sleeve body so that rotary magnetorheological damper and movement conversion mechanism cooperation carry out the active suppression driving mechanism of Active vibration suppression;This equipment for inhibiting of vibration not only has the safety of passive vibration damping and half active damping, but also the performance with active damping;It is applicable on Photoelectric Tracking and Aiming type intelligence vibration-isolating platform, after being installed on multi-degree-of-freedom vibration isolation platform, can effectively vibrate caused by vehicle environment and effectively be inhibited, improve the job stability of Photoelectric Tracking and Aiming equipment.

Description

The selectable longitudinal linear vibration of passively/active control inhibits device

Technical field

The present invention relates to structural vibration control platform field, in particular to a kind of passive/selectable longitudinal direction of active control Straight-line oscillation inhibits device.

Background technique

Structural vibration control is one of the high-tech area of current structure engineering, and whether foundation needs outside resources, structure Control can be divided into passive control, active control, semi- active control and mixing four classes of control, passive control and be also referred to as Passive Shape Control, it External input energy is not needed, and the process of active control then depends on dynamic excitation and structural response information, and needs outside Input energy provides control force, and semi- active control also utilizes structural response or dynamic excitation information, but only needs to input a small amount of energy Amount achievees the purpose that change structural dynamic characteristic to change in the form of control system to mitigate response.Mixing control refers to The mixing application for stating three classes control applies simultaneously in structure and actively and passively controls, its response of global analysis had both overcome pure quilt The application limitation of dynamic control, also reduces control force, and then reduce power, submission, the energy and the maintenance cost of external control devices, The reliability of increase system.

Stability in Photoelectric Tracking and Aiming technical field, when Photoelectric Tracking and Aiming equipment works to its support platform under vibration It is required that it is very high, when equipment is placed on vehicular platform, the flexibility of system can be improved, obtain more information, but vehicle-mounted The random vibration of environment and impact will affect the stability of system, inhibit for the random vibration to vehicle environment, guarantee light The normal operation of electric pointing equipment, in the prior art, for the external longitudinal linear vibration of the random vibration structure of vehicle environment Inhibition device there are many, generally use oil damper, using oil liquid by the flow channel of variable cross section product generating and The adaptable damping force of external environment, this method need to cause structure can by area using valve arrangement control flow channel It is not high by property, it is easy to generate failure;On the other hand, it needs to adapt to complicated external environment due to being controlled structure, common oil liquid subtracts The damping characteristic of vibration device can not follow external environment to carry out automatic adjusument, and controlled structure objects is caused to be difficult to the property being optimal Energy;To solve this problem, someone is devised a kind of combined using MR damper with elastic element and carries out vibration suppression The selectable longitudinal linear vibration of passively/active control inhibits device, and is provided with movement conversion mechanism, elastic element setting Inhibit between device in movement conversion mechanism and straight-line oscillation, which is only able to achieve the vibration damping control of passive-half active, not only Passive damping property is poor, half active damping limited capacity, and can not achieve active damping, and vibration-damping function is limited, and the dress It sets that structure is complex and structure is not compact enough, is unfavorable for using into various precision equipments.

Therefore, it is necessary to be improved to existing structural vibration control device, keeps its structure simple and compact, not only have The safety of passive vibration damping and half active damping, but also the performance with active damping, and energy consumption is relatively low.

Summary of the invention

In view of this, the present invention provides a kind of selectable longitudinal linear vibration inhibition device of passive/active control, knot Structure is simple and compact, not only with the safety of passive vibration damping and half active damping, but also the performance with active damping, and Energy consumption is relatively low.

The selectable longitudinal linear vibration of passive/active control of the invention inhibits device, including rack, is set to rack On rotary magnetorheological damper and linear motion for generating longitudinal linear vibration be converted to rotary motion so that rotation The movement conversion mechanism that transition MR damper inhibits vibration;

Rotary magnetorheological damper includes supporting the housing being set on the rack in a manner of it can be rotated by driving The rotor that body and outer sleeve body inner sleeve are rotatably assorted and the magnetorheological fluid being filled between outer sleeve body and rotor, the magnetorheological fluid Shear yield stress can be changed under magnetic fields so that rotary magnetorheological damper is turned from passively controlling to semi- active control Become;

The rotor of the rotary magnetorheological damper is placed in the rotary motion output par, c of the movement conversion mechanism And it is fixedly connected;

It further includes for active drive outer sleeve body that the selectable longitudinal linear vibration of passive/active control, which inhibits device, It rotates so that rotary magnetorheological damper and movement conversion mechanism cooperation carry out the active suppression driving machine of Active vibration suppression Structure can form locking to outer sleeve body under the active suppression driving mechanism off working state.

Further, annular damper chamber is formed between rotor and the side wall of outer sleeve body, magnetorheological fluid is filled in annular damper chamber It is interior.

Further, movement conversion mechanism is ball-screw nut mechanism comprising for bearing the silk of oscillating load effect Thick stick axis and match to merge to form the ball nut of movement output part with lead screw shaft, is placed on the rotary magnetorheological in ball nut The rotor of damper is simultaneously fixedly connected.

Further, the magnet exciting coil for changing Shear Yield Stress of Magnetorheological Fluids for generating magnetic field is provided on rotor.

Further, on outer sleeve body inner sidewall circumferentially arranged with annular groove, annular damper chamber by rotor lateral wall and ring Connected in star surrounds jointly, is additionally provided between outer sleeve body inner sidewall and the lateral wall of rotor close for sealing to annular damper chamber Sealing.

Further, rotor upper and lower ends pass through bearing respectively and are equipped with outer sleeve body.

Further, active suppression driving mechanism includes motor and is set on outer sleeve body and for the power output with motor The gear ring of engagement is held, cooperates realization to the locking of outer sleeve body with engaging for gear ring when motor powers off.

Further, gear ring is integrally formed the lower part for being set to outer sleeve body.

Further, it is equipped between outer sleeve body and rack by bearing unit, bearing unit includes being fixedly connected with rack Outer ring, housing be fixed on the inner ring of outer sleeve body setting and the rotating sphere that is arranged between outer ring and inner ring.

Beneficial effects of the present invention: the selectable longitudinal linear vibration of passive/active control of the invention inhibits device, leads to Cross the movement importation that rotary magnetorheological damper is placed in the rotary motion output par, c of movement conversion mechanism and fixation The linear motion that structural vibration generates is converted to rotary motion by connection, movement conversion mechanism, so that rotary magnetorheological damps Device inhibits vibration, whole when not applying under magnetic fields and active suppression driving mechanism off position to magnetorheological fluid Body equipment for inhibiting of vibration is in passive vibration suppression mode, changes shear yield stress and actively suppression when magnetorheological fluid applies magnetic field Under driving mechanism off position processed, body vibration inhibits device to be in half Active vibration suppression mode, when active suppression drives When the outer sleeve body of mechanism task driven rotary magnetorheological damper is with respect to gantry rotation, body vibration inhibits device to have the initiative Vibration suppression mode;I.e. not only structure is simple and compact by the present invention, and can exist as the case may be to its vibration suppression mode Passively, it half actively, under active is selected, i.e., with the safety of passive vibration damping and half active damping, it may have actively subtract The performance of vibration, and energy consumption is relatively low.

Detailed description of the invention

The invention will be further described with reference to the accompanying drawings and examples.

Fig. 1 is schematic structural view of the invention.

Specific embodiment

Fig. 1 is schematic structural view of the invention, and as shown in the figure: the selectable longitudinal direction of passive/active control of the present embodiment is straight Linearly coupled inhibits device, is primarily adapted for use on Photoelectric Tracking and Aiming type intelligence vibration-isolating platform, on being installed to multi-degree-of-freedom vibration isolation platform Afterwards, it can effectively vibrate caused by vehicle environment and effectively be inhibited, to improve the job stability of Photoelectric Tracking and Aiming equipment;It should Equipment for inhibiting of vibration includes rack 1, the rotary magnetorheological damper being set on rack 1 and for producing longitudinal linear vibration Raw linear motion is converted to rotary motion so that the movement conversion mechanism that rotary magnetorheological damper inhibits vibration;

Rotary magnetorheological damper includes supporting the housing being set on the rack 1 in a manner of it can be rotated by driving Body 2 and 2 inner sleeve of the outer sleeve body rotor 3 being rotatably assorted and the magnetorheological fluid 4 being filled between outer sleeve body 2 and rotor 3, it is magnetorheological Liquid 4 can change shear yield stress under magnetic fields so that rotary magnetorheological damper is from passively controlling to semi- active control Transformation;

The rotor 3 of rotary magnetorheological damper and fixed company are placed in the rotary motion output par, c of movement conversion mechanism It connects;The selectable longitudinal linear vibration of passively/active control inhibit device further include rotated for active drive outer sleeve body 2 so that Rotary magnetorheological damper and movement conversion mechanism cooperation carry out the active suppression driving mechanism of Active vibration suppression, the master It is dynamic to inhibit that locking is formed to outer sleeve body 2 under driving mechanism off working state.

As shown, rotary magnetorheological damper installation space is provided in rack 1, rotary magnetorheological damper peace In rack 1, movement conversion mechanism is arranged in rotary magnetorheological damper, when structure integrally generates longitudinal linear vibration When, the linear motion of generation is converted into rotary motion by movement conversion mechanism, is hindered by rotational movement rotary magnetorheological The movement importation of Buddhist nun's device moves, to generate vibration damping;The present invention can be used in the heavy constructions such as bridge, house Vibration damping field, it is possible to use on the precision equipment of smaller size smaller.

Rotor 3 forms the movement importation of rotary magnetorheological damper, i.e., the rotation after being converted by movement conversion mechanism Transhipment is dynamic to input damper by rotor 3, changes when the shear yield stress of magnetorheological fluid in damper is not issued in magnetic fields When change and under the non-working condition of active suppression driving mechanism, whole equipment for inhibiting of vibration by rotary magnetorheological liquid 4 rotor 3 Passive rotational shear magnetorheological fluid 4 and the vibration suppression that Passive Mode occurs;When magnetorheological fluid 4 changes shearing under magnetic fields When yield stress, and active suppression driving mechanism does not work at this time, then body vibration inhibits device to be in the class because of magnetorheological fluid 4 Solid state and under the half Active vibration suppression mode that generates;At active suppression driving mechanism working condition and magnetorheological fluid 4 When under magnetic fields, active suppression driving mechanism can drive outer sleeve body 2 to generate the rotation relative to rack 1, and due to magnetorheological Liquid 4 becomes class solid-state from liquid, so that the rotor 3 of MR damper and 2 one of outer sleeve body act, thus the master of realization device Dynamic control.

In the present embodiment, annular damper chamber is formed between rotor 3 and the side wall of outer sleeve body 2, magnetorheological fluid 4 is filled in annular In damping cavity;Magnetorheological fluid 4 is mixed by high magnetic permeability, low hysteresis small soft magnetic particles and non-magnetic liquid Suspended substance, can become class solid-state from liquid under magnetic fields, magnetorheological fluid 4 be filled in it is being sealed and by rotor 3 with The annular damper formed between the side wall of outer sleeve body 2 is intracavitary, has the advantages of simple structure and easy realization, and phase occurs in rotor 3 and outer sleeve body 2 Passive vibration suppression occurs when to rotation, and rotor 3 and the formation of outer sleeve body 2 can be facilitated when magnetorheological fluid 4 is under magnetic fields Integral structure.

In the present embodiment, movement conversion mechanism is ball-screw nut mechanism comprising for bearing oscillating load effect Lead screw shaft 5 and match to merge to form the ball nut 6 of movement output part with lead screw shaft 5, be placed on the rotation in ball nut 6 The rotor 3 of type MR damper is simultaneously fixedly connected;It is ball-screw nut mechanism that movement conversion mechanism, which removes, can also be lead screw spiral shell The achievable straight line such as parent agency, gear & rack structure-rotational motion conversion mechanism, will be longitudinal by movement conversion mechanism realization The movement of straight-line oscillation and energy are converted to the movement circumferentially rotated and energy;On the one hand it realizes to be linearly moved to and circumferentially rotate On the other hand the conversion of motion mode realizes more energetically, compared with thin tail sheep energy mode to low-force, larger displacement energy mode Conversion;In addition, lead screw shaft 5 passes through simultaneously from ball nut 6 as shown, ball nut 6 is close to inner sleeve inside rotor 3 For with bear external load, 6 upper end of ball nut is provided with radial flange 7, and the upper end of rotor 3 and radial flange 7 are against whole The vibration suppression group device of body further includes having upper press cover 8, and screw 9 sequentially passes through upper press cover 8, radial flange 7 and protrudes into rotor 3 The interior formation ball nut 6 of wall is fixedly connected with rotor 3.

In the present embodiment, the excitation wire for changing 4 shear yield stress of magnetorheological fluid for generating magnetic field is provided on rotor 3 Circle 10;As shown, the outer circumference of rotor 3 is provided with coil mounting groove, magnet exciting coil 10 is mounted in coil mounting groove, and At least one circle of setting, the installation position face annular damper chamber setting of magnet exciting coil 10 are magnetorheological when magnet exciting coil 10 is not powered on Liquid 4 will not generate the change of shear yield stress, i.e., will not occur from liquid to the solid transformation of class, MR damper is in Under passive vibration damping state, when magnet exciting coil 10 is powered, and magnetic field strength can be changed according to electrical current value, to change damping Damping torque between the outer sleeve body 2 and rotor 3 of device, realizes the semi- active control of single unit system.

In the present embodiment, circumferentially arranged with annular groove on 2 inner sidewall of outer sleeve body, annular damper chamber by rotor 3 outside Wall surrounds jointly with annular groove, is additionally provided between 2 inner sidewall of outer sleeve body and the lateral wall of rotor 3 for annular damper chamber The sealing element 11 of sealing;Be provided with 11 mounting groove of sealing element on rotor 3, sealing element 11 is sealing ring, rotor 3 by sealing ring tightly Compress the sealing for leaning against and being formed on 2 inner sidewall of outer sleeve body to annular damper chamber axial direction upper and lower ends.

In the present embodiment, 3 upper and lower ends of rotor pass through bearing 12 respectively and are equipped with outer sleeve body 2;As shown, rotor 3 periphery is provided with annular convex platform, and coil mounting groove and 11 mounting groove of sealing element are arranged at outer sleeve body 2 on annular convex platform It is inside provided with bearing block, bearing is mounted on bearing block.

In the present embodiment, active suppression driving mechanism includes motor 13 and is set on outer sleeve body 2 and is used for and motor 13 Power output end engagement gear ring 14, cooperate realization to the locking of outer sleeve body 2 with engage for gear ring 14 when motor 13 powers off;Outside The portion integral forming of body 2 is provided with the gear ring 14 for forming tooth engagement with motor 13, on the power output shaft of motor 13 It is provided with 14 meshed gears 19 of rack gear;As shown, motor 13 is installed in the support plate 15 in rack 1, when motor 13 is disconnected Locking is formed to outer sleeve body 2 when electric, i.e. outer sleeve body 2 not can be rotated with respect to rack 1, and rotary magnetorheological damper is in quilt at this time Under dynamic or semi-active vibration-isolating state, and when motor 13 is powered, the self-locking elimination of motor 13, outer sleeve body 2 can be with respect to rack 1 in electricity Rotation is generated under the driving of machine 13, and magnet exciting coil 10 is powered at this time, and magnetorheological fluid 4 is made to become class solid-state from liquid, so that The rotor 3 and 2 one of outer sleeve body of MR damper act, on the one hand, when the movement and energy for being applied to the vibration of lead screw shaft 5 When, motor 13 is engaged by gear and damping torque is applied on the ball nut 6 of movement conversion mechanism, the active of realization device Control;Driving moment can be applied to the ball nut 6 of movement conversion mechanism by gear engagement by another aspect motor 13, in turn Lead screw shaft 5 is acted on, driving lead screw shaft 5 moves along a straight line, the active lifting control of realization device;Motor 13 is servo motor 13, Its control is carried out by control algolithm, is the prior art, details are not described herein.

It in the present embodiment, is equipped between outer sleeve body 2 and rack 1 by bearing unit, bearing unit includes solid with rack 1 Surely the rotating sphere that the outer ring 16 that connects, housing are fixed on the inner ring 17 of the setting of outer sleeve body 2 and are arranged between outer ring and inner ring 18。

Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this In the scope of the claims of invention.

Claims (9)

1. a kind of selectable longitudinal linear vibration of passive/active control inhibits device, it is characterised in that: including rack, setting Rotary motion is converted in the rotary magnetorheological damper on rack and the linear motion for generating longitudinal linear vibration So that the movement conversion mechanism that rotary magnetorheological damper inhibits vibration;
The rotary magnetorheological damper includes supporting the housing being set on the rack in a manner of it can be rotated by driving The rotor that body and outer sleeve body inner sleeve are rotatably assorted and the magnetorheological fluid being filled between outer sleeve body and rotor, the magnetorheological fluid Shear yield stress can be changed under magnetic fields so that rotary magnetorheological damper is turned from passively controlling to semi- active control Become;
It is placed on the rotor of the rotary magnetorheological damper in the rotary motion output par, c of the movement conversion mechanism and consolidates Fixed connection;
It further includes rotating for active drive outer sleeve body that the selectable longitudinal linear vibration of passive/active control, which inhibits device, So that rotary magnetorheological damper and movement conversion mechanism cooperation carry out the active suppression driving mechanism of Active vibration suppression, institute Locking can be formed to outer sleeve body under active suppression driving mechanism off working state by stating.
2. the selectable longitudinal linear vibration of passive/active control according to claim 1 inhibits device, feature exists In: annular damper chamber is formed between the rotor and the side wall of the outer sleeve body, the magnetorheological fluid is filled in the annular resistance Buddhist nun is intracavitary.
3. the selectable longitudinal linear vibration of passive/active control according to claim 1 inhibits device, feature exists In: the movement conversion mechanism be ball-screw nut mechanism comprising for bear oscillating load effect lead screw shaft and with Lead screw shaft forms the ball nut of movement output part with merging, and the rotary magnetorheological damping is placed in the ball nut The rotor of device is simultaneously fixedly connected.
4. the selectable longitudinal linear vibration of passive/active control according to claim 1 inhibits device, feature exists In: the magnet exciting coil for changing Shear Yield Stress of Magnetorheological Fluids for generating magnetic field is provided on the rotor.
5. the selectable longitudinal linear vibration of passive/active control according to claim 2 inhibits device, feature exists In: circumferentially arranged with annular groove on the outer sleeve body inner sidewall, lateral wall and institute of the annular damper chamber by the rotor It states annular groove to surround jointly, be additionally provided between the outer sleeve body inner sidewall and the lateral wall of rotor for annular damper chamber The sealing element of sealing.
6. the selectable longitudinal linear vibration of passive/active control according to claim 1 inhibits device, feature exists In: the rotor upper and lower ends pass through bearing respectively and are equipped with outer sleeve body.
7. the selectable longitudinal linear vibration of passive/active control according to claim 1 inhibits device, feature exists Include motor in: active suppression driving mechanism and is set to the tooth on outer sleeve body and for engaging with the power output end of motor Circle cooperates realization to the locking of outer sleeve body when motor powers off with engaging for gear ring.
8. the selectable longitudinal linear vibration of passive/active control according to claim 7 inhibits device, feature exists In: the gear ring integrated molding is set to the lower part of outer sleeve body.
9. the selectable longitudinal linear vibration of passive/active control according to claim 1 inhibits device, feature exists In: it is equipped between the outer sleeve body and the rack by bearing unit, the bearing unit includes being fixedly connected with rack Outer ring, housing be fixed on the inner ring of outer sleeve body setting and the rotating sphere that is arranged between outer ring and inner ring.
CN201710232838.7A 2017-04-11 2017-04-11 The selectable longitudinal linear vibration of passively/active control inhibits device CN106884926B (en)

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Publication number Priority date Publication date Assignee Title
CN109630612A (en) * 2019-02-01 2019-04-16 青岛理工大学 Self energizing formula active-passive composite rotary inertia driving control system
CN110549156A (en) * 2019-09-03 2019-12-10 西北工业大学 Sucker type magnetorheological damping system and method

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KR100696934B1 (en) * 2000-03-28 2007-03-21 주식회사 만도 Shock absorber using magnetorheological fluid
CN101576141A (en) * 2009-06-04 2009-11-11 重庆大学 Longitudinal linear vibration inhibiting method and device based on rotary magnetorheological device
CN204419973U (en) * 2015-01-29 2015-06-24 西安科技大学 A kind of energy magneto-rheological vibration damper
CN205896014U (en) * 2016-08-09 2017-01-18 河南天一减振器科技有限公司 Can effectively avoid connecting rod novel shock absorber of mill partially

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Publication number Priority date Publication date Assignee Title
KR100696934B1 (en) * 2000-03-28 2007-03-21 주식회사 만도 Shock absorber using magnetorheological fluid
CN101576141A (en) * 2009-06-04 2009-11-11 重庆大学 Longitudinal linear vibration inhibiting method and device based on rotary magnetorheological device
CN204419973U (en) * 2015-01-29 2015-06-24 西安科技大学 A kind of energy magneto-rheological vibration damper
CN205896014U (en) * 2016-08-09 2017-01-18 河南天一减振器科技有限公司 Can effectively avoid connecting rod novel shock absorber of mill partially

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