CN108071730B - Active and passive damper - Google Patents
Active and passive damper Download PDFInfo
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- CN108071730B CN108071730B CN201710735617.1A CN201710735617A CN108071730B CN 108071730 B CN108071730 B CN 108071730B CN 201710735617 A CN201710735617 A CN 201710735617A CN 108071730 B CN108071730 B CN 108071730B
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- hydraulic rod
- cylinder body
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- cylinder
- bottom end
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/06—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using both gas and liquid
- F16F9/066—Units characterised by the partition, baffle or like element
- F16F9/067—Partitions of the piston type, e.g. sliding pistons
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1409—Characterised by the construction of the motor unit of the straight-cylinder type with two or more independently movable working pistons
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/34—Special valve constructions; Shape or construction of throttling passages
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/44—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction
- F16F9/46—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction allowing control from a distance, i.e. location of means for control input being remote from site of valves, e.g. on damper external wall
- F16F9/461—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction allowing control from a distance, i.e. location of means for control input being remote from site of valves, e.g. on damper external wall characterised by actuation means
- F16F9/462—Rotary actuation means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/44—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction
- F16F9/46—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction allowing control from a distance, i.e. location of means for control input being remote from site of valves, e.g. on damper external wall
- F16F9/466—Throttling control, i.e. regulation of flow passage geometry
- F16F9/467—Throttling control, i.e. regulation of flow passage geometry using rotary valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/44—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction
- F16F9/46—Means on or in the damper for manual or non-automatic adjustment; such means combined with temperature correction allowing control from a distance, i.e. location of means for control input being remote from site of valves, e.g. on damper external wall
- F16F9/466—Throttling control, i.e. regulation of flow passage geometry
- F16F9/469—Valves incorporated in the piston
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/54—Arrangements for attachment
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/58—Stroke limiting stops, e.g. arranged on the piston rod outside the cylinder
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Vibration Prevention Devices (AREA)
- Fluid-Damping Devices (AREA)
Abstract
The invention belongs to the technical field of dampers, and provides an active and passive damper, which comprises: the bottom end of the power cylinder is provided with a liquid inlet and a liquid outlet which are connected with a hydraulic pump; the cylinder body penetrates through the opening end of the power cylinder, the bottom end of the cylinder body is arranged in the power cylinder, and a fourth cavity is formed by the bottom end of the cylinder body, the bottom end of the power cylinder and the side wall of the power cylinder; a cylinder end cover sealed at the opening end of the cylinder; the hydraulic rod penetrates through a through hole of the cylinder body end cover, one end, provided with a hydraulic rod disc, of the hydraulic rod is arranged in the cylinder body, a hydraulic rod disc through hole is formed in the hydraulic rod disc, a first cavity is formed by the cylinder body end cover, the hydraulic rod disc and the side wall of the power cylinder, and a middle cavity is formed by the hydraulic rod disc, the bottom end of the cylinder body and the side wall of the cylinder body; the first cavity, the middle cavity and the fourth cavity are filled with liquid. The damper has a simple structure, can provide active driving force in a power state, and can realize passive telescopic function in an unpowered state.
Description
Technical Field
The invention belongs to the technical field of dampers, and particularly relates to an active and passive damper.
Background
The damper is a device for providing motion resistance and reducing motion energy, and is widely applied to the field of anti-seismic and shock absorption. The working principle of the traditional hydraulic damper is as follows: when the hydraulic damper is pressed, the piston rod is prevented from being limited by the hydraulic oil hole and retreated under the action of the pressure of the spring, the damping effect is achieved, the pressure is cancelled, the check valve of the other oil duct is automatically opened to return oil rapidly under the action of the return spring, and the piston rod returns.
However, the conventional hydraulic damper can only be used under pressure and cannot be used under tension, so that the conventional hydraulic damper cannot provide active driving force while providing a passive telescopic function, and the oil chambers in front of and behind the piston need to be additionally provided with sleeves as channels, so that the structure is complex.
The above disadvantages need to be improved.
Disclosure of Invention
The invention aims to provide an active and passive damper, which aims to solve the technical problems that the damper in the prior art cannot provide an active driving force while providing a passive telescopic function and has a complex structure.
In order to achieve the purpose, the invention adopts the technical scheme that: provided is an active and passive damper including:
the bottom end of the power cylinder is provided with a liquid inlet and a liquid outlet which are used for being connected with a hydraulic pump;
the cylinder body penetrates through the opening end of the power cylinder, the bottom end of the cylinder body is arranged in the power cylinder, the bottom end of the cylinder body is in seamless sliding connection with the inner wall of the power cylinder, and a fourth cavity is formed between the bottom end of the cylinder body, the bottom end of the power cylinder and the side wall of the power cylinder;
the cylinder body end cover is sealed at the opening end of the cylinder body and is provided with an end cover through hole;
the hydraulic rod penetrates through the end cover through hole, a hydraulic rod disc is arranged at the end part of the hydraulic rod and arranged in the cylinder body, a hydraulic rod disc through hole is formed in the hydraulic rod disc, and the circumference of the hydraulic rod disc is in seamless sliding connection with the inner wall of the cylinder body; a first cavity is formed among the cylinder body end cover, the hydraulic rod disc and the side wall of the cylinder body; a middle cavity is formed among the hydraulic rod disc, the bottom end of the cylinder body and the side wall of the cylinder body;
the first cavity, the middle cavity and the fourth cavity are filled with liquid.
Further, still include:
the hydraulic rod is hollow, the motor is arranged in the hydraulic rod, and the motor is provided with a motor shaft;
the separation blade, the separation blade is located the hydraulic stem disc with between the cylinder body bottom and the separation blade passes through the motor shaft with the motor is connected, the motor can drive the separation blade is rotatory, the separation blade for the separation blade through-hole has been seted up to the position of hydraulic stem disc through-hole, the separation blade through-hole with the contact ratio of hydraulic stem disc through-hole passes through the motor is adjusted.
Further, the size of the baffle plate through hole is the same as that of the hydraulic rod disc through hole.
Further, the separation blade is provided with a separation blade flange, and the separation blade flange is arranged in the hydraulic rod.
Furthermore, a sliding bearing is sleeved on the baffle flange, and the outer wall of the sliding bearing is in seamless sliding connection with the inner wall of the hydraulic rod.
Furthermore, one end of the hydraulic rod, which is arranged outside the cylinder body, is provided with a hydraulic rod end cover, and an end cover connecting part used for being connected with external equipment is arranged on the hydraulic rod end cover.
Further, still include:
the free piston is arranged between the baffle and the bottom end of the cylinder body, and the circumference of the free piston is in seamless sliding connection with the inner wall of the cylinder body;
a second cavity is formed among the free piston, the baffle plate and the side wall of the cylinder body, and liquid is filled in the second cavity;
a third cavity is formed among the free piston, the bottom end of the cylinder body and the side wall of the cylinder body, and air is filled in the third cavity;
the bottom spring is arranged in the third cavity, and two ends of the bottom spring are respectively connected with the free piston and the bottom end of the cylinder body.
Further, the hydraulic cylinder further comprises an inner spring, the inner spring is sleeved on the hydraulic rod, and the inner spring is arranged between the cylinder body end cover and the hydraulic rod disc.
Further, still include:
the adjusting nut is sleeved on the hydraulic rod and positioned outside the cylinder body, and can slide along the hydraulic rod;
and the outer spring is sleeved on the hydraulic rod and is arranged between the cylinder body end cover and the adjusting nut.
Further, the bottom end of the power cylinder is also provided with a bottom end connecting part used for being connected with external equipment.
The active and passive damper provided by the invention has the beneficial effects that: the damper is simple in structure, and due to the fact that the power cylinder, the cylinder body and the hydraulic rod are matched with each other, the active damper and the passive damper can provide active driving force when in a power state, the passive telescopic function can be achieved when in an unpowered state, liquid in the first cavity and the fourth cavity can generate damping effect on movement of the hydraulic rod when flowing through the disc through hole of the hydraulic rod, the active driving force can be provided by the same damper, and the passive telescopic function can be achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic cross-sectional structural view of an active and passive damper according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an active and passive damper according to an embodiment of the present invention;
FIG. 3 is a schematic view of a partial structure of an active and passive damper according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an active and passive damper according to an embodiment of the present invention;
fig. 5 is an exploded view of the active and passive dampers according to the embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
11-a cylinder body; 111-cylinder bottom end; 112-cylinder open end;
12-cylinder end cap; 121-end cap through hole; 122-end cap flange;
21-a hydraulic rod; 211-hydraulic stem disc; 2111-hydraulic rod disk through hole;
22-a motor; 221-a motor shaft; 222-a baffle plate;
2221-a baffle through hole; 2222-a catch flange; 23-a plain bearing;
24-hydraulic rod end caps; 241-end cap connection;
32-free piston; 33-bottom spring; 34-an inner spring;
35-an outer spring; 351-an adjusting nut; 41-a first cavity;
42-a second cavity; 43-a third cavity; 44-fourth cavity.
51-a power cylinder; 511-power cylinder bottom end; 512-open end;
513-a liquid inlet; 514-a liquid outlet; 515-bottom connection.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, 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 specifically defined otherwise.
Referring to fig. 1, 3 and 5, an active and passive damper includes a power cylinder 51, a cylinder 11, a cylinder cover 12 and a hydraulic rod 21. A liquid inlet 513 and a liquid outlet 514 which are connected with a hydraulic pump are arranged at the bottom end 511 of the power cylinder 51; the cylinder body 11 penetrates through the opening end 512 of the power cylinder 51, the cylinder body bottom end 111 is arranged in the power cylinder 51, the cylinder body bottom end 111 is in seamless sliding connection with the inner wall of the power cylinder 51, and a fourth cavity 44 is formed between the cylinder body bottom end 111 and the power cylinder bottom end 511 as well as between the side walls of the power cylinder 51; the cylinder end cover 12 is sealed at the cylinder opening end 112 of the cylinder 11, and the cylinder end cover 12 is provided with an end cover through hole 121; the hydraulic rod 21 penetrates through the end cover through hole 121, the outer diameter of the hydraulic rod 21 is matched with the diameter of the end cover through hole 121, namely the hydraulic rod 21 is in seamless sliding connection with the end cover through hole 121, a hydraulic rod disc 211 is arranged at the end part of the hydraulic rod 21, the hydraulic rod disc 211 is arranged in the cylinder body 11, a hydraulic rod disc through hole 2111 is formed in the hydraulic rod disc 211, and the circumference of the hydraulic rod disc 211 is in seamless sliding connection with the inner wall of the cylinder body 11; a first cavity 41 is formed between the cylinder end cover 12 and the hydraulic rod disk 211 as well as the side wall of the cylinder 11, and a middle cavity is formed between the hydraulic rod disk 211 and the cylinder bottom end 111 as well as the side wall of the cylinder 11; the first chamber 41, the middle chamber and the fourth chamber 44 are filled with liquid.
The working principle of the active and passive damper provided by the embodiment is as follows:
first, the first chamber 41, the middle chamber and the fourth chamber 44 are filled with liquid;
when the hydraulic pump is in an unpowered state, the hydraulic pump does not work, the liquid inlet 513 and the liquid outlet 514 are completely closed, so that the liquid amount in the fourth cavity 44 is kept consistent, the cylinder body 11 and the power cylinder 51 do not move relatively, when the hydraulic rod 21 is under pressure, the hydraulic rod 21 moves towards the direction close to the bottom end 111 of the cylinder body, so that the hydraulic rod disc 211 moves towards the direction close to the bottom end 111 of the cylinder body, the volume of the middle cavity is reduced, and the liquid in the middle cavity flows towards the first cavity 41 through the hydraulic rod disc through hole 2111, so that the movement of the hydraulic rod is damped, and the change of the volume of the middle cavity is adapted; when the hydraulic rod 21 is pulled, the hydraulic rod 21 moves towards the direction far away from the bottom end 111 of the cylinder body, so that the hydraulic rod disc 211 moves towards the direction far away from the bottom end 111 of the cylinder body, the volume of the middle cavity is increased, and the liquid in the first cavity 41 flows towards the middle cavity through the hydraulic rod disc through hole 2111, so that the damping effect on the movement of the hydraulic rod is achieved, and meanwhile, the volume change of the middle cavity is adapted;
when the hydraulic pump is in a power state, the hydraulic pump works, the liquid inlet 513 and the liquid outlet 514 are both opened and connected with the hydraulic pump, the hydraulic pump injects liquid into the fourth cavity 44 through the liquid inlet 513, the pressure of the liquid in the fourth cavity 44 on the cylinder body 11 is increased, so that the cylinder body 11 moves towards the direction far away from the bottom 511 of the power cylinder, the pressure of the liquid in the middle cavity on the hydraulic rod 21 is further increased, the hydraulic rod 21 is pushed to move towards the direction far away from the bottom 111 of the cylinder body, the volume of the first cavity 41 is reduced, the liquid in the first cavity 41 flows towards the middle cavity through the disc through hole 2111 of the hydraulic rod, the damping effect on the movement of the hydraulic rod 21 is achieved, and meanwhile, the capacity change of the first cavity; when the liquid in the fourth cavity 44 flows out of the fourth cavity 44 through the liquid outlet 514, the pressure of the liquid in the fourth cavity 44 to the cylinder bottom end 111 is reduced, so that the cylinder 11 moves towards the direction close to the power cylinder bottom end 511, and further the pressure of the liquid in the middle cavity to the hydraulic rod 21 is reduced, so that the hydraulic rod 21 is pushed to move towards the direction close to the cylinder bottom end 111, the volume of the middle cavity is reduced, and the liquid in the middle cavity flows towards the first cavity 41 through the hydraulic rod disc through hole 2111, so that the damping effect is achieved on the movement of the hydraulic rod 21, and meanwhile, the volume change of the middle cavity is adapted.
The beneficial effect that so set up lies in: the damper is simple in structure, and due to the mutual matching of the power cylinder 51, the cylinder body 11 and the hydraulic rod 21, the active damper and the passive damper can provide active driving force in a power state, and can achieve a passive telescopic function in a non-power state, and when liquid in the first cavity 41 and the fourth cavity 44 flows through the hydraulic rod disc through hole 2111, damping effect can be generated on the movement of the hydraulic rod 21, so that the active driving force can be provided by the same damper, and the passive telescopic function can be achieved.
Further, the cylinder end cover 12 is provided with a cylinder end cover flange 122, when the cylinder end cover 12 is in fit connection with the cylinder opening end 112, the cylinder end cover flange 122 is placed in the cylinder 11, and the outer wall of the cylinder end cover flange 122 is in seamless fit connection with the inner wall of the cylinder 11, and the diameter of the cylinder end cover 12 is not less than the outer diameter of the cylinder 11. The cylinder bottom end 111 is also provided with a bottom end connection portion 115 for connection with an external device.
Further, the active and passive damper provided by this embodiment further includes a motor 22 and a baffle 222, the hydraulic rod 21 is hollow, the motor 22 is disposed in the hydraulic rod 21, and the motor 22 is provided with a motor shaft 221; the separation blade 222 is arranged between the hydraulic rod disc 211 and the cylinder body bottom end 111 and the separation blade 222 is connected with the motor 22 through the motor shaft 221, the motor 22 can drive the separation blade 222 to rotate, a separation blade through hole 2221 is formed in the position, corresponding to the hydraulic rod disc through hole 2111, of the separation blade 222, and the overlap ratio of the separation blade through hole 2221 and the hydraulic rod disc through hole 2111 is adjusted through the motor 22. The diameter of the stopper 222 is the same as that of the hydraulic rod disk 211, and the stopper through hole 2221 is the same as the hydraulic rod disk through hole 2111.
Referring to fig. 1 and 3, the motor 22 can drive the blocking plate 222 to rotate through the motor shaft 221, so as to adjust the overlapping degree between the blocking plate through hole 2221 and the hydraulic rod disc through hole 2111, further adjust the flowing speed of the liquid between the first cavity 41 and the middle cavity, further adjust the expansion and contraction speed of the hydraulic rod 21, and thus play a role in damping: when the baffle through-hole 2221 and the hydraulic rod disk through-hole 2111 are not coincident at all, the liquid in the first chamber 41 and the liquid in the middle chamber cannot flow each other, so that the hydraulic rod 21 cannot move relative to the cylinder 11; when the baffle through hole 2221 and the hydraulic rod disc through hole 2111 are completely overlapped, the resistance of the mutual flowing of the liquid in the first cavity 41 and the liquid in the middle cavity is minimum, so that the resistance of the hydraulic rod 21 during movement is minimum, and the expansion and contraction speed of the hydraulic rod 21 is fastest; the smaller the coincidence degree of the flap through hole 2221 and the hydraulic rod disk through hole 2111 is, the greater the resistance to the mutual flow of the liquid in the first chamber 41 and the liquid in the middle chamber is, and the slower the telescopic speed of the hydraulic rod 21 is.
In this embodiment, the hydraulic rod disk 211 has 8 hydraulic rod disk through holes 2111 with the same size uniformly formed on the circumference thereof, and the blocking plate 222 has 8 blocking plate through holes 2221 with the same size correspondingly formed on the circumference thereof corresponding to the positions of the hydraulic rod disk through holes 2111.
In other embodiments, the diameter of the blocking piece 222 can be slightly smaller than the diameter of the hydraulic rod disk 211, and the blocking piece through hole 2221 on the blocking piece 222 corresponds to the position of the hydraulic rod disk through hole 2111.
Further, the stopper 222 is provided with a stopper flange 2222, and the stopper flange 2222 is provided in the hydraulic rod 21, so that the stopper 222 can be better connected to the hydraulic rod 21. The stopper flange 2222 is sleeved with a sliding bearing 23, the inner diameter of the sliding bearing 23 is matched with the outer diameter of the stopper flange 2222, the outer wall of the sliding bearing 23 is arranged on the inner wall of the hydraulic rod 21, and the outer diameter of the sliding bearing 23 is matched with the inner diameter of the hydraulic rod 21. When the baffle sheet 222 rotates relative to the hydraulic rod 21 under the driving of the motor 22, the sliding bearing 23 can greatly reduce friction loss and surface abrasion, and the work is stable, reliable and noiseless.
Furthermore, a hydraulic rod end cover 24 is disposed at one end of the hydraulic rod 21 outside the cylinder 11, and an end cover connecting portion 241 for connecting with an external device is disposed on the hydraulic rod end cover 24. The hydraulic rod end cover 24 can encapsulate the motor 22 in the hydraulic rod 21, so that the motor 22 can be protected on one hand, and the appearance of the active and passive dampers is more attractive on the other hand.
Referring to fig. 1, fig. 4 and fig. 5, further, the active and passive damper provided in this embodiment further includes a free piston 32 and a bottom spring 33, the free piston 32 is disposed between the blocking plate 222 and the bottom end 111 of the cylinder, and the circumference of the free piston 32 is in seamless sliding connection with the inner wall of the cylinder 11; a second cavity 42 is formed between the free piston 32, the baffle 222 and the side wall of the cylinder 11, and the second cavity 42 is filled with liquid; a third cavity 43 is formed between the free piston 32 and the bottom end 111 of the cylinder body and the side wall of the cylinder body 11, and air is filled in the third cavity 43; the bottom spring 33 is disposed in the third cavity 43, and two ends of the bottom spring 33 are respectively connected to the free piston 32 and the cylinder bottom end 11.
The process of charging and discharging the bottom spring 33 is as follows:
in the unpowered state, when the hydraulic rod 21 is pressurized, the hydraulic rod 21 moves towards the direction close to the cylinder bottom end 111, so that the hydraulic rod disc 211 moves towards the direction close to the cylinder bottom end 111, the volume of the second cavity 42 decreases, the pressure in the second cavity 42 increases, and the free piston 32 is pushed to move towards the direction close to the cylinder bottom end 111, so that the bottom spring 33 is compressed, and energy is stored in the compressed bottom spring 33; when the hydraulic rod 21 is pulled, the hydraulic rod 21 moves in a direction away from the cylinder bottom end 111, so that the hydraulic rod disc 211 moves in a direction away from the cylinder bottom end 111, the volume of the second cavity 42 becomes larger, the pressure in the second cavity 42 decreases, and the bottom spring 33 gradually returns, so that the stored energy is released, and the free piston 32 is pushed to move in a direction away from the cylinder bottom end 111;
when the hydraulic pump injects liquid into the fourth cavity 44 through the liquid inlet 513 in a powered state, the pressure of the liquid in the fourth cavity 44 on the cylinder bottom end 111 is increased, the cylinder bottom end 111 is pushed to move in a direction away from the power cylinder bottom end 511, and then the pressure of the liquid in the second cavity 42 on the free piston 32 is increased, so that the bottom spring 33 is compressed, and energy is stored in the compressed bottom spring 33; when the liquid in the fourth chamber 44 flows out of the fourth chamber 44 through the liquid outlet 514, the pressure of the liquid in the fourth chamber 44 to the cylinder bottom end 111 is reduced, the cylinder bottom end 111 is pushed to move towards the direction close to the power cylinder bottom end 511, the pressure of the liquid in the second chamber 42 to the free piston 32 is further reduced, the bottom spring 33 is gradually restored, and thus the stored energy is released, and the cylinder bottom end 111 is pushed to move towards the direction close to the cylinder bottom 111.
Because the third cavity 43 is filled with air, and the third cavity 43 is internally provided with the telescopic bottom spring 33, the third cavity 43 is a telescopic cavity, on one hand, the compression and recovery processes of the bottom spring 33 can play a role in energy storage and energy release, and on the other hand, the compressibility of the third cavity 43 can solve the problem of overlarge pressure caused by the volume reduction of the second cavity 42 when the hydraulic rod 21 moves towards the direction close to the bottom end 111 of the cylinder body, so that the change of the second cavity 42 in the cylinder body 21 caused by the hydraulic rod 21 in the telescopic process has adaptability, and the protection effect can be played on the active and passive dampers.
Further, the active and passive damper provided by the embodiment further includes an inner spring 34, the inner spring 34 is sleeved on the hydraulic rod 21, and the inner spring 34 is disposed between the cylinder end cover 12 and the hydraulic rod disk 211. Since the hydraulic rod 21 compresses the inner spring 34 when moving in a direction away from the cylinder bottom end 111, energy is stored in the compressed inner spring 34; the inner spring 34 is gradually restored when the hydraulic rod 21 moves in a direction approaching the cylinder bottom end 111, thereby releasing the stored energy and pushing the hydraulic rod 21 to move. The inner spring 34 can thus act as a charge and discharge of energy during the extension and retraction of the hydraulic rod 21.
Referring to fig. 1, fig. 2 and fig. 5, further, the active and passive damper provided in the present embodiment further includes an adjusting nut 351, the adjusting nut 351 is sleeved on the hydraulic rod 21 and located outside the cylinder 11, and the adjusting nut 351 can slide along the hydraulic rod 21; and the outer spring 35 is sleeved on the hydraulic rod 21 and is arranged between the cylinder end cover 12 and the adjusting nut 351. Since the adjustment nut 351 is slidable along the hydraulic rod 21, the initial compression length of the outer spring 35, and thus the initial preload force, can be adjusted. Since the hydraulic rod 21 compresses the outer spring 35 when moving in a direction close to the cylinder bottom end 111, energy is stored in the compressed outer spring 35; the outer spring 35 is gradually returned when the hydraulic rod 21 moves in a direction away from the cylinder bottom end 111, thereby releasing the stored energy and pushing the hydraulic rod 21 to move. The outer spring 35 can thus act as a charge and discharge of energy during the extension and retraction of the hydraulic rod 21.
The active and passive dampers provided by the embodiment can be used for knee joint parts of the walking-assisting robot, and the active and passive dampers can help a user to walk by stretching and retracting the hydraulic rods and provide adjustable damping effect; the active and passive dampers are connected with the hydraulic pump to provide active driving force, so that a user can be helped to go up and down stairs or walk, and meanwhile, an adjustable damping effect is provided; meanwhile, when a user needs to support, the active damper and the passive damper can provide larger supporting force for the user.
The working principle of the active and passive dampers provided by the embodiment when connected to the knee joint part of the walking-aid robot is as follows:
first the first, second and fourth cavities 41, 42, 44 are filled with liquid and the third cavity is kept filled with air.
In the unpowered state, the hydraulic pump does not work, and the liquid inlet 513 and the liquid outlet 514 are completely closed, so that the liquid amount in the fourth cavity 44 is kept consistent, and the bottom end 111 of the cylinder body and the power cylinder 51 do not move relatively;
when a user bends the knee, the hydraulic rod 21 is subjected to pressure, the hydraulic rod 21 moves towards the direction close to the cylinder bottom end 111, so that the hydraulic rod disc 211 moves towards the direction close to the cylinder bottom end 111, the outer spring 35 is compressed, energy is stored in the compressed outer spring 35, the volume of the second cavity 42 is reduced, the pressure in the second cavity 42 is increased, the free piston 32 is pushed to move towards the direction close to the cylinder bottom end 111, the bottom spring 33 is compressed, the energy is stored in the compressed bottom spring 33, the liquid in the second cavity 42 flows towards the first cavity 41 through the hydraulic rod disc through hole 2111 to adapt to the volume change of the second cavity 42, the volume of the first cavity 41 is increased, the inner spring 34 in the first cavity 41 is gradually restored, and the energy stored in the inner spring 34 is released;
when a user extends knees, the hydraulic rod 21 is pulled, the hydraulic rod 21 moves in the direction away from the cylinder bottom end 111, so that the hydraulic rod disc 211 moves in the direction away from the cylinder bottom end 111, the outer spring 35 gradually returns, the energy stored in the outer spring 35 is released, the volume of the second cavity 42 is increased, the pressure in the second cavity 42 is reduced, the bottom spring 33 gradually returns, the stored energy is released, the free piston 33 is pushed to move in the direction away from the cylinder bottom end 111, the liquid in the first cavity 41 flows to the second cavity 42 through the hydraulic rod disc through hole 2111 to adapt to the volume change of the second cavity 42, the volume of the first cavity 41 is reduced, the inner spring 34 in the first cavity 41 is compressed, and the energy is stored in the compressed inner spring 34.
When the power state exists, the hydraulic pump works, and the liquid inlet 513 and the liquid outlet 514 are both completely opened and connected with the hydraulic pump;
the hydraulic pump injects liquid into the fourth cavity 44 through the liquid inlet 513, the pressure of the liquid in the fourth cavity 44 to the cylinder 11 is increased, so that the cylinder 11 moves away from the bottom end 511 of the power cylinder, and the pressure of the liquid in the second cavity 42 to the hydraulic rod 21 and the free piston 32 is increased, so that the bottom spring 33 is compressed, energy is stored in the compressed bottom spring 33, and meanwhile, the hydraulic rod 21 is pushed to move away from the bottom end 111 of the cylinder, the volume of the first cavity 41 is reduced, the liquid in the first cavity 41 flows to the middle cavity through the hydraulic rod disc through hole 2111 to adapt to the volume change of the first cavity 41, the inner spring 34 in the first cavity 41 is compressed, energy is stored in the compressed inner spring 34, and meanwhile, the outer spring 35 gradually returns, and the energy stored in the outer spring 35 is released;
when the liquid in the fourth chamber 44 flows out of the fourth chamber 44 through the liquid outlet 514, the pressure of the liquid in the fourth chamber 44 to the cylinder bottom end 111 is reduced, so that the cylinder 11 moves towards the direction close to the power cylinder bottom end 511, and further the pressure of the liquid in the second chamber 42 to the hydraulic rod 21 and the free piston 32 is reduced, the bottom spring 33 gradually returns, so that the stored energy is released, the cylinder bottom end 111 is pushed towards the direction close to the power cylinder bottom 511, and simultaneously the hydraulic rod 21 is pushed towards the direction close to the cylinder bottom end 111, the volume of the second chamber 42 is reduced, the liquid in the second chamber 42 flows towards the first chamber 41 through the hydraulic rod disc through hole 2111 to adapt to the volume change of the second chamber 42, the volume of the first chamber 41 is increased, the inner spring 34 in the first chamber 41 gradually returns, the energy stored in the inner spring 34 is released, and the outer spring 35 is compressed, energy is stored in the outer spring 35.
In a powered state or an unpowered state, the flowing speed of the liquid between the first cavity 41 and the second cavity 42 can be adjusted by adjusting the contact degree between the baffle through hole 2221 and the hydraulic rod disc through hole 2111, so that the stretching speed of the hydraulic rod 21 can be adjusted, and the damping effect is achieved.
When in the supporting state, the stopper through hole 2221 and the hydraulic rod disk through hole 2111 are completely misaligned, so that the liquid in the first chamber 41 and the liquid in the second chamber 42 cannot flow each other, and the hydraulic rod 21 does not move relative to the hydraulic cylinder 11, thereby providing a large supporting force.
The active and passive dampers provided by the embodiment have the following beneficial effects:
(1) the power cylinder 51, the cylinder body 11 and the hydraulic rod 21 are matched with each other, so that the active damper and the passive damper can provide active driving force in a power state and can realize a passive telescopic function in an unpowered state, and the active driving force and the passive telescopic function can be provided by the same damper;
(2) the motor 22 can drive the baffle 222 to rotate through the motor shaft 221, so that the contact ratio of the baffle through hole 2221 and the hydraulic rod disc through hole 2111 can be adjusted, the flowing speed of liquid between the first cavity 41 and the second cavity 42 can be further adjusted, the expansion and contraction speed of the hydraulic rod 21 can be further adjusted, and a damping effect can be achieved;
(3) the third cavity 43 is filled with air, and the telescopic bottom spring 33 is arranged in the third cavity 43, so that the third cavity 43 is a telescopic cavity, the problem of overlarge pressure caused by the volume reduction of the second cavity 42 when the hydraulic rod 21 moves to be close to the cylinder body 1 is solved, the change of the second cavity 42 in the cylinder body 11 caused by the telescopic process of the hydraulic rod 21 has adaptability, and the active and passive dampers can be protected;
(4) the bottom spring 33, the inner spring 34 and the outer spring 35 can store energy in the compression process, and can release energy in the return process, so that the energy is saved, the buffer effect is achieved in the compression and return processes of the springs, and power is provided for the next action;
(5) the adjusting nut 351 can be adjusted according to different rehabilitation periods of the user, so that the initial pretightening force can be adjusted, and the requirements of different users are met;
(6) according to the maximum angle condition that the leg of the user can be bent, the maximum angle that the knee joint of the walking-aid robot can be bent can be adjusted by adjusting the length of the fourth cavity 44, so that the requirements of different users can be met.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. An active and passive damper, characterized by: comprises that
The bottom end of the power cylinder is provided with a liquid inlet and a liquid outlet which are used for being connected with a hydraulic pump;
the cylinder body penetrates through the opening end of the power cylinder, the bottom end of the cylinder body is arranged in the power cylinder, the bottom end of the cylinder body is in seamless sliding connection with the inner wall of the power cylinder, and a fourth cavity is formed between the bottom end of the cylinder body, the bottom end of the power cylinder and the side wall of the power cylinder;
the cylinder body end cover is sealed at the opening end of the cylinder body and is provided with an end cover through hole;
the hydraulic rod penetrates through the end cover through hole, a hydraulic rod disc is arranged at the end part of the hydraulic rod and arranged in the cylinder body, a hydraulic rod disc through hole is formed in the hydraulic rod disc, and the circumference of the hydraulic rod disc is in seamless sliding connection with the inner wall of the cylinder body; a first cavity is formed among the cylinder body end cover, the hydraulic rod disc and the side wall of the cylinder body; a middle cavity is formed among the hydraulic rod disc, the bottom end of the cylinder body and the side wall of the cylinder body;
the first cavity, the middle cavity and the fourth cavity are filled with liquid;
the free piston is arranged between the blocking piece and the bottom end of the cylinder body, and the circumference of the free piston is in seamless sliding connection with the inner wall of the cylinder body;
a second cavity is formed among the free piston, the baffle plate and the side wall of the cylinder body, and liquid is filled in the second cavity;
a third cavity is formed among the free piston, the bottom end of the cylinder body and the side wall of the cylinder body, and air is filled in the third cavity;
the bottom spring is arranged in the third cavity, and two ends of the bottom spring are respectively connected with the free piston and the bottom end of the cylinder body;
the active and passive damping includes modes of operation in an unpowered state and a powered state in which energy is stored in the compressed bottom spring by increasing the pressure of the fluid in the second chamber against the free piston, thereby compressing the bottom spring.
2. The active passive damper of claim 1, wherein: also comprises
The hydraulic rod is hollow, the motor is arranged in the hydraulic rod, and the motor is provided with a motor shaft;
the separation blade, the separation blade is located the hydraulic stem disc with between the cylinder body bottom and the separation blade passes through the motor shaft with the motor is connected, the motor can drive the separation blade is rotatory, the separation blade for the separation blade through-hole has been seted up to the position of hydraulic stem disc through-hole, the separation blade through-hole with the contact ratio of hydraulic stem disc through-hole passes through the motor is adjusted.
3. The active and passive damper of claim 2, wherein: the size of the baffle plate through hole is the same as that of the hydraulic rod disc through hole.
4. The active and passive damper of claim 2, wherein: the separation blade is equipped with the separation blade flange, the separation blade flange is located in the hydraulic stem.
5. The active and passive damper of claim 4, wherein: the separation blade flange is sleeved with a sliding bearing, and the outer wall of the sliding bearing is in seamless sliding connection with the inner wall of the hydraulic rod.
6. The active and passive damper of claim 2, wherein: the hydraulic rod is arranged at one end outside the cylinder body and is provided with a hydraulic rod end cover, and an end cover connecting part used for being connected with external equipment is arranged on the hydraulic rod end cover.
7. The active and passive damper as claimed in any one of claims 1-6, wherein: the hydraulic cylinder further comprises an inner spring, the inner spring is sleeved on the hydraulic rod, and the inner spring is arranged between the cylinder body end cover and the hydraulic rod disc.
8. The active and passive damper as claimed in any one of claims 1-6, wherein: also comprises
The adjusting nut is sleeved on the hydraulic rod and positioned outside the cylinder body, and can slide along the hydraulic rod;
and the outer spring is sleeved on the hydraulic rod and is arranged between the cylinder body end cover and the adjusting nut.
9. The active and passive damper as claimed in any one of claims 1-6, wherein: the bottom end of the power cylinder is also provided with a bottom end connecting part used for being connected with external equipment.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710735617.1A CN108071730B (en) | 2017-08-24 | 2017-08-24 | Active and passive damper |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710735617.1A CN108071730B (en) | 2017-08-24 | 2017-08-24 | Active and passive damper |
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| CN108071730A CN108071730A (en) | 2018-05-25 |
| CN108071730B true CN108071730B (en) | 2020-10-13 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108730397A (en) * | 2018-06-26 | 2018-11-02 | 海南大学 | A kind of air spring additional air chamber of variable volume |
| CN109486669B (en) * | 2018-12-30 | 2022-05-27 | 北京蓉山食品有限公司 | Chili sauce fermentation device |
| CN111120568B (en) * | 2020-02-11 | 2021-07-06 | 浙江森森汽车零部件有限公司 | Gas-liquid series variable damping shock absorber |
| CN111993098A (en) * | 2020-08-28 | 2020-11-27 | 芜湖熠康智能科技有限公司 | Sliding table with movable buffering function |
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| WO2010113636A1 (en) * | 2009-04-02 | 2010-10-07 | カヤバ工業株式会社 | Hydraulic cylinder |
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