CN110549156B - Sucker type magnetorheological damping system and method - Google Patents

Sucker type magnetorheological damping system and method Download PDF

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Publication number
CN110549156B
CN110549156B CN201910826517.9A CN201910826517A CN110549156B CN 110549156 B CN110549156 B CN 110549156B CN 201910826517 A CN201910826517 A CN 201910826517A CN 110549156 B CN110549156 B CN 110549156B
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sucker
cylinder body
damping
magnetorheological
shaft
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CN110549156A (en
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陈冰
杨宝通
牛智炀
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
    • B23Q11/0032—Arrangements for preventing or isolating vibrations in parts of the machine
    • B23Q11/0039—Arrangements for preventing or isolating vibrations in parts of the machine by changing the natural frequency of the system or by continuously changing the frequency of the force which causes the vibration
    • 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
    • F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
    • F16F9/535—Magnetorheological [MR] fluid dampers
    • 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
    • F16F2222/00—Special physical effects, e.g. nature of damping effects
    • F16F2222/06—Magnetic or electromagnetic
    • 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
    • F16F2222/00—Special physical effects, e.g. nature of damping effects
    • F16F2222/12—Fluid damping

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Fluid-Damping Devices (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

The invention provides a sucker type magnetorheological damping system and method, belonging to the field of dampers; the damping system comprises a sucker component, a magnetorheological damping component, a supporting component, a controller and a connecting component; the sucker assembly, the magnetorheological damping assembly and the support assembly are sequentially and coaxially arranged and are connected with the controller through the connecting assembly; the controller is used for driving all parts of the damping system and collecting and processing signals collected by the sucker assembly, and the connecting assembly comprises a motor driving wire, a coil driving wire, a negative pressure pump driving wire, a sensor wire and a negative pressure hose; by adopting the design of the magnetorheological fluid bypass, the atmospheric pressure and the force sensing function of the piezoelectric sensor are combined, and the relative motion between a sealing element and a shaft or a hole of the traditional magnetorheological damper is avoided, so that the always existing uncontrollable friction force of the magnetorheological damper is reduced, the lower limit of the controllable damping force of the magnetorheological damper is reduced, and the controllable range of the magnetorheological damper is improved.

Description

Sucker type magnetorheological damping system and method
Technical Field
The invention belongs to the field of dampers, and particularly relates to a sucker type magnetorheological damping system and method, which are suitable for a vibration damping scene without damaging the surface integrity of a vibration damped target.
Background
The magnetorheological damper is widely applied to the scenes of shock absorption, vibration isolation and the like in various industries, and the scenes adopt the modes of bolts, welding and the like to connect the magnetorheological damper with a damped part. However, in some special cases such as: parts such as large-scale skin, blades with complex curved surface characteristics, casings and the like need to be subjected to vibration suppression by adopting dampers in machining engineering, but the parts cannot be stably connected with a magnetorheological damper and a damped part in the manner. In addition, due to the fact that the friction force is large due to the sealing design of the magnetorheological damper, the magnetorheological fluid cannot generate small damping force, and the controllable range of the damping force of the magnetorheological damper is reduced.
Patent document CN102278410 discloses a magnetorheological damper without an external power supply, which is sealed by a sealing plug, the sealing is realized by installing parts such as piston rings between a hole and a shaft, the sealing principle is relative friction between the hole or the shaft and the piston ring, and the effect caused by the sealing is the generation of larger friction force. In addition, the design of the damper with earrings is difficult to connect with a curved part without damage.
The patent document CN 103148157 discloses a multistage extrusion magnetorheological damper, which is sealed by a sealing ring, and has the above-mentioned drawbacks.
In conclusion, the invention adopts the sucker design of the integrated piezoelectric sensor, and solves the problem of no damage on connection between the damper and the curved surface piece; the design of the sealing bowl and the tubular shaft made of elastic materials realizes the innovative solution of the sealing problem of the magnetorheological damper, and simultaneously, the controllable range of the damping force of the magnetorheological damper is enlarged. In addition, the control flow of the controller is designed for the sucker type magnetorheological damper.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides a sucker type magnetorheological damping system and a sucker type magnetorheological damping method, and particularly aims at the scenes that the conventional magnetorheological damper is large in friction force, poor in sealing performance, limited in controllable range and incapable of reliably connecting objects without connecting pairs. By adopting the design of the magnetorheological fluid bypass, the atmospheric pressure and the force sensing function of the piezoelectric sensor are combined, and the relative motion between a sealing element and a shaft or a hole of the traditional magnetorheological damper is avoided, so that the always existing uncontrollable friction force of the magnetorheological damper is reduced, the lower limit of the controllable damping force of the magnetorheological damper is reduced, and the controllable range of the magnetorheological damper is improved.
The technical scheme of the invention is as follows: a sucking disc formula magnetic current becomes damping system which characterized in that: the magnetorheological damper comprises a sucker component, a magnetorheological damping component, a supporting component, a controller and a connecting component; the sucker assembly, the magnetorheological damping assembly and the support assembly are sequentially and coaxially arranged and are connected with the controller through the connecting assembly; the controller is used for driving all parts of the damping system and collecting and processing signals collected by the sucker assembly, and the connecting assembly comprises a motor driving wire, a coil driving wire, a negative pressure pump driving wire, a sensor wire and a negative pressure hose;
the sucker component comprises a sucker, a sucker seat, a piezoelectric sensor and a negative pressure pump; the sucker seat is of a cylindrical structure, a blind hole is formed in the center of the upper end face of the sucker seat, a threaded blind hole is formed in the center of the lower end face of the sucker seat, a boss is arranged on the side wall of the sucker seat, and an opening in the boss is communicated with the blind hole in the upper end face and is used for being in sealing connection with the negative pressure hose; the convergence port of the sucker is coaxially and hermetically sleeved at the upper end of the sucker seat, and the three piezoelectric sensors are uniformly distributed on the upper end surface of the sucker seat along the circumferential direction; the piezoelectric sensor is connected with the controller through a sensor wire, the negative pressure pump is communicated with the inside of the sucker through a negative pressure hose, and the controller is connected with the negative pressure pump through a negative pressure pump driving wire to control the on-off of negative pressure;
the magnetorheological damping component comprises a shaft, an upper end cover, a lower end cover, an upper cylinder body, a lower cylinder body, an upper damping disc, a lower damping disc, an upper gasket, a lower gasket, an upper sealing bowl, a lower sealing bowl, an upper guide sleeve, a lower guide sleeve, a plunger and a coil; the upper cylinder body and the lower cylinder body are of hollow cylindrical structures with equal diameters, and are coaxially installed into a cylinder body through matching of external threads at the lower end of the upper cylinder body and internal threads at the upper end of the lower cylinder body; the two open ends of the cylinder body are respectively sealed by an upper end cover and a lower end cover, the centers of the upper end cover and the lower end cover are respectively provided with a through hole, and an upper guide sleeve and a lower guide sleeve are respectively and coaxially arranged; the shaft sequentially penetrates through the upper guide sleeve and the lower guide sleeve, axially penetrates through the cylinder body, and is in clearance fit with the upper guide sleeve and the lower guide sleeve; an annular stepped boss is arranged on the inner surface of the upper cylinder body, and the annular boss arranged on the lower surface of the upper end cover is matched with the stepped surface facing the upper end cover to coaxially clamp and fix the upper sealing bowl; the upper sealing bowl is an annular part made of elastic materials, and an inner hole of the upper sealing bowl is in interference fit with the shaft; an inner hole of the annular boss facing the lower end cover in the upper cylinder body is in clearance fit with the shaft; the internal structures of the lower cylinder body and the upper cylinder body are symmetrical, and the mounting positions of the lower sealing bowl and the upper sealing bowl are symmetrical; the coil is coaxially arranged in a cavity between the upper cylinder body and the lower cylinder body, the coil is of an annular structure, two ends of the coil are respectively and hermetically arranged on annular step surfaces in the upper cylinder body and the lower cylinder body through the upper gasket and the lower gasket, the outer peripheral surface of the coil is in interference fit with the inner surface of the cylinder body and is connected with a controller through a coil driving wire; the upper damping disc and the lower damping disc are of annular structures with the same structure and are coaxially fixed on the inner circumferential surface of the coil, and the mounting surfaces of the upper damping disc and the lower damping disc are attached and are pressed tightly through the upper gasket and the lower gasket to prevent the magnetorheological fluid from polluting the coil; the inner peripheral surfaces of the upper damping disc and the lower damping disc are provided with annular bosses which are in clearance fit with the shaft; the shaft is of a hollow tubular structure with one closed end, and an annular boss arranged on the peripheral surface of the shaft is positioned in a cavity between the upper damping disc and the lower damping disc; the closed end of the shaft is matched and installed with the threaded blind hole of the sucker seat through threads, and the open end of the shaft is closed through the plunger; the pipe wall of the shaft is provided with a plurality of through holes which are respectively positioned between the upper sealing bowl and the upper damping disc and between the lower sealing bowl and the lower damping disc, so that magnetorheological fluids in the two spaces can mutually circulate;
the support assembly includes: the device comprises a first support, a second support, a linear motor, a support screw, a motor shaft screw and a clamp; the hoop is fixedly arranged at the center of the outer peripheral surface of the cylinder body; the first support and the second support are both of U-shaped frame structures, the center of the bottom end of the second support is coaxially and fixedly installed with a telescopic shaft of the linear motor through a motor shaft screw, and the linear motor is connected with a controller through a motor driving wire; the first support and the second support are crossed to form a universal joint structure, the bottom end of the first support is mounted with two lugs at the upper end of the second support through support screws, the two lugs at the upper end of the first support are mounted with a hoop through the support screws, and the magnetorheological damping component is mounted between the two lugs of the first support; the rotation or fixation state of the magnetorheological damping component and the first support can be respectively adjusted by adjusting the tightness state of each support screw.
The further technical scheme of the invention is as follows: the upper cylinder body and the lower cylinder body are made of magnetic conductive materials, the upper damping disc, the lower damping disc and the shaft are made of non-magnetic conductive materials, and the upper gasket and the lower gasket are made of annular elastic materials.
The further technical scheme of the invention is as follows: the expansion opening of the sucker is made of sponge materials, and the rest of the sucker is made of rubber materials.
The further technical scheme of the invention is as follows: the upper sealing bowl and the lower sealing bowl are identical in structure, and the part between the central hole and the outer edge of the upper sealing bowl is wavy and used for increasing the axial variable distance of the upper sealing bowl and the lower sealing bowl.
The further technical scheme of the invention is as follows: the inner diameters of the upper gasket and the lower gasket are the same as the inner diameters of the upper damping disc and the lower damping disc.
The further technical scheme of the invention is as follows: the outer peripheral surfaces of the upper cylinder body and the lower cylinder body are parallelly provided with annular bosses, and the hoop is arranged between the annular bosses.
The further technical scheme of the invention is as follows: the upper end in the upper cylinder body and the upper sealing bowl form a first space, and the lower end and the upper surface of the upper damping disc form a second space; the lower end in the lower cylinder body and the lower sealing bowl form a sixth space, and the upper end and the lower surface of the lower damping disc form a fifth space; the annular boss of the shaft, the lower surface of the upper damping disc and the upper surface of the lower damping disc respectively form a third space and a fourth space; the tube wall of the shaft is provided with a plurality of through holes which are respectively communicated with the sixth space of the first space, so that the magnetorheological fluid in the first space, the second space, the fifth space and the sixth space can mutually circulate.
A control method of a suction disc type magnetorheological damping system is characterized by comprising the following steps:
initial state: the part to be damped is positioned on the upper side of the sucker, a telescopic shaft of the linear motor does not extend out, and a support screw is not screwed down;
the method comprises the following steps: the controller collects the electric signals of the three piezoelectric sensors and converts the electric signals into stress values;
step two: the controller drives the linear motor to enable a telescopic shaft of the linear motor to extend out of a set distance;
step three: the controller judges whether the stress values reflected by the three piezoelectric sensors are within an initial setting range in pairs; if so, driving the negative pressure pump to work, so as to ensure that the three piezoelectric sensors are in contact with the part to be damped under the action of the sucker, keeping the current position of the linear motor by the controller, and manually screwing the support screw at the moment; if not, jumping to the second step;
step four: the controller drives the coil to work;
step five: and detecting a piezoelectric sensor signal at intervals of set time, giving an alarm when the stress value reflected by the piezoelectric sensor is smaller than a set value, and stopping the driving coil from working, otherwise, the controller continues to drive the coil to work.
Advantageous effects
The invention has the beneficial effects that:
1) the magnetorheological damper is connected with the vibration-damped part by adopting a sucker combined by sponge and rubber, the surface of the connecting part to be treated cannot be damaged, and the connection condition of the damper and the vibration-damped part can be reflected in real time by the integrated piezoelectric sensor of the sucker component.
2) The magnetorheological fluid circulation bypass is formed by the design of the tubular shaft, and the design of the upper sealing bowl and the lower sealing bowl is matched, so that the magnetorheological fluid is completely sealed and excessive friction force cannot be generated due to the defect that the traditional magnetorheological damper sealing piece and the piston shaft move relatively; in addition, the controllable range of the magneto-rheological damper is improved; the wave-shaped features are designed between the central holes and the outer edges of the upper sealing bowl and the lower sealing bowl, and the wave-shaped features act to improve the axial variable distance of the sealing bowls.
3) The first support and the second support form a universal joint structure, and the adaptability of the magneto-rheological damper to a common curved surface is improved.
4) The adoption of the piezoelectric sensor forms a closed loop of the magnetorheological controller, and realizes the detection of the contact reliability and the real-time measurement of the damping force.
Drawings
FIG. 1 is an isometric view of an overall model of the invention;
FIG. 2 is a flow chart of the controller operation of the present invention;
FIG. 3 is a three-dimensional model of the chuck assembly, magnetorheological damping assembly, and support assembly of the present invention;
FIG. 4 is a three-dimensional isometric view of the suction cup assembly of the present invention;
FIG. 5 is a cross-sectional view of the chuck assembly of the present invention;
FIG. 6 is a cross-sectional view of a magnetorheological damping assembly in accordance with the invention;
FIG. 7 is a cross-sectional view of the magnetorheological damping assembly of the present invention extending outwardly for a maximum travel;
FIG. 8 is a cross-sectional view of the magnetorheological damping assembly of the present invention retracted inwardly for a maximum travel;
FIG. 9 is a schematic view of a flow-through bypass of magnetorheological fluid of the magnetorheological damping assembly of the present invention;
FIG. 10 is a schematic view of a sealing bowl of the magnetorheological damping assembly of the present invention.
Description of reference numerals: 101. the suction cup assembly comprises a suction cup, 102, a suction cup seat, 103, a piezoelectric sensor, 104, a negative pressure pump and 101-104, wherein the suction cup assembly 100 is formed together; 201. the magnetorheological damper comprises a shaft, 202, an upper end cover, 203, a lower end cover, 204, an upper cylinder body, 205, a lower cylinder body, 206, an upper damping disc, 207, a lower damping disc, 208, an upper gasket, 209, a lower gasket, 210, an upper sealing bowl, 211, a lower sealing bowl, 212, an upper guide sleeve, 213, a lower guide sleeve, 214, a plunger, 215, a coil, 216, magnetorheological fluid, and 200 to 216, wherein the magnetorheological damping component is formed by the magnetorheological fluid from 201 to 216; 301. the support assembly comprises a first support, 302, a second support, 303, a linear motor, 304, a support screw, 305, a motor shaft screw, 306, a hoop and 301-306, which together form a 300 support assembly; 400. a controller; 501. the connecting assembly 500 is formed by a motor driving wire, 502, a coil driving wire, 503, a negative pressure pump driving wire, 504, a sensor wire, 505, a negative pressure hose and 501-505.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Example 1: through the design to the bypass of magneto-rheological fluid 216 to utilize atmospheric pressure and the force perception function of piezoelectric sensor 103 to design a sucking disc formula magneto-rheological damping system, include: the suction cup assembly 100, the magnetorheological damping assembly 200, the support assembly 300, the controller 400 and the connecting assembly 500; the chuck assembly 100 includes: a suction cup 101, a suction cup seat 102, a piezoelectric sensor 103 and a negative pressure pump 104; the magnetorheological damping assembly 200 includes: a shaft 201, an upper end cover 202, a lower end cover 203, an upper cylinder 204, a lower cylinder 205, an upper damping disc 206, a lower damping disc 207, an upper gasket 208, a lower gasket 207, an upper sealing bowl 210, a lower sealing bowl 211, an upper guide sleeve 212, a lower guide sleeve 213, a plunger 214, and a coil 215; the support assembly 300 includes: a first support 301, a second support 302, a linear motor 303, a support screw 304, a motor shaft screw 305, and a clamp 306; the controller 400 may collect and process signals collected by the piezoelectric blocks, may drive the coil 215, may drive the negative pressure pump 104, and may drive the linear motor 303; the connection assembly 500 includes: a motor drive line 501, a coil drive line 502, a negative pressure pump drive line 503, a sensor line 504, and a negative pressure hose 505.
As shown in fig. 1: the piezoelectric sensor 103 is connected with the controller 400 through a sensor line 504, the suction cup 102 seat is hermetically connected with the negative pressure pump 104 through a negative pressure hose 505, the coil 215 is connected with the controller 400 through a coil driving line 502, the linear motor 303 is connected with the controller 400 through a motor driving line 501, and the negative pressure pump 104 is connected with the controller 400 through a negative pressure pump driving line 503.
As shown in fig. 3: the suction cup seat 102 is fixedly connected with the shaft 201 through a thread pair, the clamp 306 is installed with the upper cylinder body 204 and the lower cylinder body 205 in a matched mode, the clamp 306 is connected with the first support 301 through a support screw 304, the first support 301 is connected with the second support 302 through the support screw 304, and the second support 302 is connected with the linear motor 303 through a motor shaft screw 305.
As shown in fig. 4: the number of the 103 piezoelectric sensors is three.
As shown in fig. 5: the end face of the sucking disc is made of sponge, and the rest structures are made of rubber.
Referring to fig. 4 and 5, the chuck assembly 100 includes: the sucker 101 is fixedly connected to the upper end of the sucker seat 102, the tail end of the sucker is made of sponge materials, and the main body of the sucker 101 is made of rubber materials; the sucker seat 102 is T-shaped, the lower end of the sucker seat is provided with a threaded hole, the upper end of the sucker seat is provided with a blind hole and is not communicated with the threaded hole, and the side wall of the sucker seat is provided with a hole and is communicated with the blind hole at the upper end; the piezoelectric sensors 103 are fixedly connected to the upper end of the sucker seat 102, and the number of the piezoelectric sensors 103 is three, and the piezoelectric sensors are connected with the controller 400 through sensor wires 504; the negative pressure pump 104 can be controlled by the controller 400 to generate and shut off the negative pressure, and is connected with the side wall of the suction cup holder 102 through a negative pressure hose 505.
As shown in fig. 6: the magnetorheological damping assembly 200 includes: the upper end cover 202 is cylindrical and is provided with an upper circular boss and a lower circular boss, the lower circular boss is provided with external threads, the upper part of the upper end cover 202 is provided with a through hole matched with the guide sleeve, the lower part of the upper end cover 202 is provided with a hole for accommodating the movement of the upper sealing bowl 210, and the lower end cover 203 is completely the same as the upper end cover 202; the upper cylinder 204 is made of cylindrical magnetic conductive material, a through hole is formed in the upper cylinder, external threads are formed at the lower end of the upper cylinder, internal threads matched with the upper end cover 202 are formed at the upper end of the upper cylinder, annular bulges are formed on the outer side and the inner side of the middle of the upper cylinder, and the lower cylinder 205 is different from the upper cylinder 204 only in that the lower end of the lower cylinder 205 is provided with internal threads matched with the external threads at the lower end of the upper cylinder 204; the upper sealing bowl 210 is made of annular elastic material, a central hole of the upper sealing bowl can be in interference fit with the shaft 201, the central hole and the outer edge of the upper sealing bowl are in a wavy characteristic, and the lower sealing bowl 211 is completely the same as the upper sealing bowl 210; the coil 215 is annular and functions to provide a controllable magnetic field required by the magnetorheological fluid 216; the upper damping disk 206 is annular, an annular bulge is arranged at the inner side of the middle part of the upper damping disk, the outer side of the upper damping disk can be matched with the central hole of the coil 215, the upper damping disk 206 is made of a non-magnetic conductive material, and the lower damping disk 207 is completely the same as the upper damping disk 206; the upper gasket 208 is made of annular elastic material, the outer diameter of the upper gasket 208 is the same as the inner diameter of the through hole of the upper cylinder body 204, and the inner diameter of the upper gasket is the same as the inner diameter of the damping disc; the upper end cover 202 is in threaded fit with the upper cylinder body 204, so that an upper sealing bowl 210 arranged between the upper end cover 202 and the upper cylinder body 204 is fixed, the upper sealing bowl 210 is in interference fit with the shaft 201, the outer side of an upper damping disc 206 is in transition fit with the inner side of a coil 215, the outer side of the coil 215 is in transition fit with the inner side of the upper cylinder body 204, an upper gasket 208 is arranged inside the upper cylinder body 204, a lower gasket 207 is arranged inside a lower cylinder body 205, when the upper cylinder body 204 is matched with the lower cylinder body 205, the gasket is squeezed, so that the magnetorheological fluid 216 cannot pollute the coil 215, when the lower cylinder body 205 is matched with the lower end cover 203, the lower sealing bowl 211 is fixed, the outer side of a lower guide sleeve 213 is in interference fit with a hole of the lower end cover 203, the inner side of the lower guide sleeve 213 is in clearance fit with the shaft 201, the outer side of the; the upper cylinder body 204, the upper sealing bowl 210 and the upper damping disc 206 respectively form a first space and a second space; the lower cylinder 205, the lower sealing bowl 211 and the lower damping disc 207 respectively form a sixth space and a fifth space; the shaft 201 is a tubular non-magnetic material, the upper end of the shaft is provided with a closed end, the lower end of the shaft is provided with a thread matched with the plunger 214, the middle part of the shaft is provided with an annular bulge, the upper part and the lower part of the shaft 201 are both provided with side holes, and the side holes are communicated with the holes in the middle part of the shaft 201, so that the magnetorheological fluid 216 in the first space, the second space, the fifth space and the sixth space can be communicated with each other; the annular protrusion provided at the middle of the shaft 201 forms third and fourth spaces with the upper damping disk 206 and the lower damping disk 207, respectively; the upper sealing bowl 210 and the lower sealing bowl 211 function to keep the shaft 201 in an initial state when the magnetorheological fluid 216 is not cured; the magnetorheological fluid 216 is distributed in the first to sixth spaces.
The support assembly 300 includes: the first support 301 and the second support 302 are provided with threaded holes matched with support screws 304; the second support 302 is also provided with a threaded hole which is matched with a motor shaft screw 305; an inner hole of the clamp 306 is matched and mounted with the upper cylinder body 204 and the lower cylinder body 205, and threaded holes matched with the support screws 304 are formed in the two sides of the clamp; the first support 301 and the second support 302 can rotate freely when the support screw 304 is not screwed, and can not rotate when the support screw 304 is screwed; the motor shaft 305 is always screwed down, so that the second support 302 is fixed in position relative to the linear motor 303.
As shown in fig. 2: the controller 400 is used for implementing the following workflow in cooperation with human:
initial state: the part to be damped is positioned on the upper side of the sucker 101, a shaft 201 of a linear 303 motor does not extend out, and a support screw 304 is not screwed;
the method comprises the following steps: the controller 400 collects the electric signals of the three piezoelectric sensors 103 and converts the electric signals into stress values;
step two: the controller 400 drives the linear motor 303 such that the motor shaft extends a short distance;
step three: the controller 400 judges whether the stress values reflected by the three piezoelectric sensors 103 are within a certain range, if yes, the negative pressure pump 104 is driven to work, so that the three piezoelectric sensors 103 are ensured to be in contact with a to-be-damped part under the action of the sucker 101, the controller 400 keeps the current position of the linear motor 303, at the moment, the support screw 304 is manually screwed, and if not, the second step is repeatedly executed;
step four: the controller 400 drives the coil 215 to operate;
step five: the interval setting time detects the signal of the piezoelectric sensor 103, and when the stress value reflected by the piezoelectric sensor 103 is smaller than the set value and other abnormal conditions, an alarm is given out, and the driving coil 215 stops working, otherwise, the controller 400 continues the driving coil 215 to work.
As shown in fig. 7, when the shaft 201 extends upward by the maximum stroke, the third space disappears, and the magnetorheological fluid 216 in the sixth space flows toward the first space and the fifth space, respectively, by the lower seal bowl 211 via the hole provided at the lower side of the shaft 201 and the gap between the shaft 201 and the annular projection provided inside the lower cylinder 205.
As shown in fig. 8, when the shaft 201 extends downward for the maximum stroke, the fourth space disappears, and the magnetorheological fluid 216 in the first space flows to the sixth space and the second space, respectively, through the hole provided at the upper side of the shaft 201 and the gap between the shaft 201 and the annular protrusion provided inside the upper cylinder 204 by the upper sealing bowl 210.
The upper cylinder 204 and the lower cylinder 205 are preferably of a magnetically conductive material, the upper damping disc 206 and the lower damping disc 207 are preferably of a non-magnetically conductive material, and the shaft 201 is preferably of a non-magnetically conductive material, by which the magnetorheological fluids 216 in the first space and the sixth space are in a non-solidified state while the magnetorheological fluids 216 in the third to fifth spaces are in a solidified state when the coil 215 is energized.
As shown in fig. 9, which is a flow-through bypass of the magnetorheological fluid 216, the magnetorheological fluid 216 may flow freely in the path shown when the coil 215 is not energized.
As shown in fig. 10, the upper sealing bowl 210 is ring-shaped, and has a central hole thicker than the outer edge, and a wave-shaped feature between the central hole and the outer edge, so that when the outer edge is fixed, the central hole is lifted along with the axial movement of the shaft 201.
When the magnetorheological damping assembly 200 works in a vibration damping state, the coil 215 is driven, the magnetorheological fluid 216 in the second to fifth spaces is solidified, and the shaft 201 moves up and down. When the shaft 201 moves upward, the lower seal bowl 211 moves upward along with the movement of the shaft 201, so that the sixth space becomes smaller, and the magnetorheological fluid 216 in the sixth space flows into the fifth space along with the gap between the shaft 201 and the annular boss arranged inside the lower cylinder 205. Conversely, when the shaft 201 moves downward, the upper sealing bowl 210 may allow the magnetorheological fluid 216 in the first space to flow to the sixth space through the holes disposed at the upper side of the shaft 201.
The controller 400 performs the following functions:
initial state: the part to be damped is positioned on the upper side of the sucker 101, a shaft 201 of the linear motor 303 does not extend out, and a support screw 304 is not screwed;
the method comprises the following steps: the controller 400 collects the electric signals of the three piezoelectric sensors 103 and converts the electric signals into stress values;
step two: the controller 400 drives the linear motor 303 such that the motor shaft extends a set distance;
step three: the controller 400 judges whether the stress values reflected by the three piezoelectric sensors 103 are within a certain range (initial setting range) in pairs, if yes, the negative pressure pump 104 is driven to work, so that the three piezoelectric sensors 103 are ensured to be in contact with a to-be-damped piece under the action of the sucker 101, the controller 400 keeps the current position of the linear motor 303, at the moment, the support screw 304 is manually screwed, and if not, the second step is executed;
step four: the controller 400 drives the coil 215 to operate;
step five: and detecting the signal of the piezoelectric sensor 103 at intervals of a short time, giving an alarm when the stress value reflected by the piezoelectric sensor 103 is excessively small and other abnormal conditions exist, stopping the work of the driving coil 215, otherwise, continuing the work of the driving coil 215 by the controller 400.
Example two:
the difference from the first preferred embodiment is only that the present embodiment is not installed with non-magnetic material: upper damping disk 206 and lower damping disk 207, the effect that reaches is: a smaller damping force is generated.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims (8)

1. A sucking disc formula magnetic current becomes damping system which characterized in that: the magnetorheological damper comprises a sucker component, a magnetorheological damping component, a supporting component, a controller and a connecting component; the sucker assembly, the magnetorheological damping assembly and the support assembly are sequentially and coaxially arranged and are connected with the controller through the connecting assembly; the controller is used for driving all parts of the damping system and collecting and processing signals collected by the sucker assembly, and the connecting assembly comprises a motor driving wire, a coil driving wire, a negative pressure pump driving wire, a sensor wire and a negative pressure hose;
the sucker component comprises a sucker, a sucker seat, a piezoelectric sensor and a negative pressure pump; the sucker seat is of a cylindrical structure, a blind hole is formed in the center of the upper end face of the sucker seat, a threaded blind hole is formed in the center of the lower end face of the sucker seat, a boss is arranged on the side wall of the sucker seat, and an opening in the boss is communicated with the blind hole in the upper end face and is used for being in sealing connection with the negative pressure hose; the convergence port of the sucker is coaxially and hermetically sleeved at the upper end of the sucker seat, and the three piezoelectric sensors are uniformly distributed on the upper end surface of the sucker seat along the circumferential direction; the piezoelectric sensor is connected with the controller through a sensor wire, the negative pressure pump is communicated with the inside of the sucker through a negative pressure hose, and the controller is connected with the negative pressure pump through a negative pressure pump driving wire to control the on-off of negative pressure;
the magnetorheological damping component comprises a shaft, an upper end cover, a lower end cover, an upper cylinder body, a lower cylinder body, an upper damping disc, a lower damping disc, an upper gasket, a lower gasket, an upper sealing bowl, a lower sealing bowl, an upper guide sleeve, a lower guide sleeve, a plunger and a coil; the upper cylinder body and the lower cylinder body are of hollow cylindrical structures with equal diameters, and are coaxially installed into a cylinder body through matching of external threads at the lower end of the upper cylinder body and internal threads at the upper end of the lower cylinder body; the two open ends of the cylinder body are respectively sealed by an upper end cover and a lower end cover, the centers of the upper end cover and the lower end cover are respectively provided with a through hole, and an upper guide sleeve and a lower guide sleeve are respectively and coaxially arranged; the shaft sequentially penetrates through the upper guide sleeve and the lower guide sleeve, axially penetrates through the cylinder body, and is in clearance fit with the upper guide sleeve and the lower guide sleeve; an annular stepped boss is arranged on the inner surface of the upper cylinder body, and the annular boss arranged on the lower surface of the upper end cover is matched with the stepped surface facing the upper end cover to coaxially clamp and fix the upper sealing bowl; the upper sealing bowl is an annular part made of elastic materials, and an inner hole of the upper sealing bowl is in interference fit with the shaft; an inner hole of the annular boss facing the lower end cover in the upper cylinder body is in clearance fit with the shaft; the internal structures of the lower cylinder body and the upper cylinder body are symmetrical, and the mounting positions of the lower sealing bowl and the upper sealing bowl are symmetrical; the coil is coaxially arranged in a cavity between the upper cylinder body and the lower cylinder body, the coil is of an annular structure, two ends of the coil are respectively and hermetically arranged on annular step surfaces in the upper cylinder body and the lower cylinder body through the upper gasket and the lower gasket, the outer peripheral surface of the coil is in interference fit with the inner surface of the cylinder body and is connected with a controller through a coil driving wire; the upper damping disc and the lower damping disc are of annular structures with the same structure and are coaxially fixed on the inner circumferential surface of the coil, and the mounting surfaces of the upper damping disc and the lower damping disc are attached and are pressed tightly through the upper gasket and the lower gasket, so that the magnetorheological fluid is prevented from polluting the coil; the inner peripheral surfaces of the upper damping disc and the lower damping disc are provided with annular bosses which are in clearance fit with the shaft; the shaft is of a hollow tubular structure with one closed end, and an annular boss arranged on the peripheral surface of the shaft is positioned in a cavity between the upper damping disc and the lower damping disc; the closed end of the shaft is matched and installed with the threaded blind hole of the sucker seat through threads, and the open end of the shaft is closed through the plunger; the pipe wall of the shaft is provided with a plurality of through holes which are respectively positioned between the upper sealing bowl and the upper damping disc and between the lower sealing bowl and the lower damping disc, so that magnetorheological fluids in the two spaces can mutually circulate;
the support assembly includes: the device comprises a first support, a second support, a linear motor, a support screw, a motor shaft screw and a clamp; the hoop is fixedly arranged at the center of the outer peripheral surface of the cylinder body; the first support and the second support are both of U-shaped frame structures, the center of the bottom end of the second support is coaxially and fixedly installed with a telescopic shaft of the linear motor through a motor shaft screw, and the linear motor is connected with a controller through a motor driving wire; the first support and the second support are crossed to form a universal joint structure, the bottom end of the first support is mounted with two lugs at the upper end of the second support through support screws, the two lugs at the upper end of the first support are mounted with a hoop through the support screws, and the magnetorheological damping component is mounted between the two lugs of the first support; the rotation or fixation state of the magnetorheological damping component and the first support can be respectively adjusted by adjusting the tightness state of each support screw.
2. The sucker-type magnetorheological damping system of claim 1, wherein: the upper cylinder body and the lower cylinder body are made of magnetic conductive materials, the upper damping disc, the lower damping disc and the shaft are made of non-magnetic conductive materials, and the upper gasket and the lower gasket are made of annular elastic materials.
3. The sucker-type magnetorheological damping system of claim 1, wherein: the expansion opening of the sucker is made of sponge materials, and the rest of the sucker is made of rubber materials.
4. The sucker-type magnetorheological damping system of claim 1, wherein: the upper sealing bowl and the lower sealing bowl are identical in structure, and the part between the central hole and the outer edge of the upper sealing bowl is wavy and used for increasing the axial variable distance of the upper sealing bowl and the lower sealing bowl.
5. The sucker-type magnetorheological damping system of claim 1, wherein: the inner diameters of the upper gasket and the lower gasket are the same as the inner diameters of the upper damping disc and the lower damping disc.
6. The sucker-type magnetorheological damping system of claim 1, wherein: and a pair of annular bosses are arranged on the outer peripheral surfaces of the upper cylinder body and the lower cylinder body in parallel, and the hoop is arranged between the annular bosses.
7. The sucker-type magnetorheological damping system of claim 1, wherein: the upper end in the upper cylinder body and the upper sealing bowl form a first space, and the lower end and the upper surface of the upper damping disc form a second space; the lower end in the lower cylinder body and the lower sealing bowl form a sixth space, and the upper end and the lower surface of the lower damping disc form a fifth space; the annular boss of the shaft, the lower surface of the upper damping disc and the upper surface of the lower damping disc respectively form a third space and a fourth space; the tube wall of the shaft is provided with a plurality of through holes which are respectively communicated with the sixth space of the first space, so that the magnetorheological fluid in the first space, the second space, the fifth space and the sixth space can mutually circulate.
8. A method of controlling the suction disc magnetorheological damping system of claim 1, comprising the steps of:
initial state: the part to be damped is positioned on the upper side of the sucker, a telescopic shaft of the linear motor does not extend out, and a support screw is not screwed down;
the method comprises the following steps: the controller collects the electric signals of the three piezoelectric sensors and converts the electric signals into stress values;
step two: the controller drives the linear motor to enable a telescopic shaft of the linear motor to extend out of a set distance;
step three: the controller judges whether the stress values reflected by the three piezoelectric sensors are within an initial setting range in pairs; if so, driving the negative pressure pump to work, so as to ensure that the three piezoelectric sensors are in contact with the part to be damped under the action of the sucker, keeping the current position of the linear motor by the controller, and manually screwing the support screw at the moment; if not, jumping to the second step;
step four: the controller drives the coil to work;
step five: and detecting a piezoelectric sensor signal at intervals of set time, giving an alarm when the stress value reflected by the piezoelectric sensor is smaller than a set value, and stopping the driving coil from working, otherwise, the controller continues to drive the coil to work.
CN201910826517.9A 2019-09-03 2019-09-03 Sucker type magnetorheological damping system and method Active CN110549156B (en)

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