CN112093616B - Cable driving brake system based on magneto-rheological and control method thereof - Google Patents
Cable driving brake system based on magneto-rheological and control method thereof Download PDFInfo
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- CN112093616B CN112093616B CN202010934256.5A CN202010934256A CN112093616B CN 112093616 B CN112093616 B CN 112093616B CN 202010934256 A CN202010934256 A CN 202010934256A CN 112093616 B CN112093616 B CN 112093616B
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- reciprocating screw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
- B66B5/16—Braking or catch devices operating between cars, cages, or skips and fixed guide elements or surfaces in hoistway or well
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/04—Driving gear ; Details thereof, e.g. seals
- B66B11/043—Driving gear ; Details thereof, e.g. seals actuated by rotating motor; Details, e.g. ventilation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
- B66B5/04—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions for detecting excessive speed
- B66B5/048—Testing of overspeed governor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
- B66B5/04—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions for detecting excessive speed
- B66B5/06—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions for detecting excessive speed electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D5/00—Braking or detent devices characterised by application to lifting or hoisting gear, e.g. for controlling the lowering of loads
- B66D5/02—Crane, lift hoist, or winch brakes operating on drums, barrels, or ropes
- B66D5/026—Fluid-resistance brakes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Braking Arrangements (AREA)
Abstract
The invention relates to the technical field of cable braking, and discloses a magnetorheological-based cable driving braking system and a control method thereof, wherein the magnetorheological-based cable driving braking system comprises a base, a controller, a motor and a braking mechanism; the braking mechanism comprises a case, a movable plate, a reciprocating screw rod and a guide rod are arranged in the inner cavity of the case, a motor is in driving connection with the reciprocating screw rod, the reciprocating screw rod is coaxially and fixedly connected with a winding drum, and a cable is wound on the winding drum; an electromagnetic coil is wound on the side wall of the case, and magnetorheological fluid is filled in the inner cavity of the case; the controller is in communication connection with a speed measuring mechanism, and the controller is electrically connected with the electromagnetic coil. The reciprocating screw rod drives the movable sheet to reciprocate in the case, when the falling speed is too high, the controller is communicated with the electromagnetic coil to enable the electromagnetic coil to generate a magnetic field, so that the viscosity of the magnetorheological fluid is increased, the resistance of the movable sheet is increased, the rotating speed of the reciprocating screw rod and the winding drum is rapidly reduced until the reciprocating screw rod and the winding drum stop or rotate at a constant speed, the load at the end of the cable rope stops dropping or slides downwards at a constant speed, the safety brake of the cable rope is realized, and the effect of protecting the motor is also achieved.
Description
Technical Field
The invention relates to the technical field of cable braking, in particular to a magnetorheological-based cable driving braking system and a control method thereof.
Background
With the rapid development of modern high-rise buildings, elevators have become essential vertical transportation means in people's lives, and under the condition that the number of elevators rises year by year and the vertical lifting speed is higher and higher, the occurrence rate of accidents is higher and higher, and the personal safety of passengers is directly influenced, so that the requirements of the elevators as special equipment on safety devices of the elevators are higher and higher.
Most of the existing elevators adopt a cable to drive lifting, a braking device is used as an elevator safety device, the performance of the elevator safety device directly influences the personal safety of passengers, and the existing commonly used braking devices comprise a spring buffer, a polyurethane buffer, a hydraulic buffer and the like; the spring buffer and the polyurethane buffer are used as energy storage type buffers, the counter force is formed by mainly utilizing structure compression, the impact kinetic energy of the car is converted into the internal energy of the buffer, the buffering effect is further achieved, but the rebound phenomenon appears after the buffering effect is finished, the hydraulic buffer is only suitable for low-speed elevators, and in comparison, the hydraulic buffer is short in buffering stroke and is not suitable for application scenes with long braking distance.
The braking devices act at the extreme positions of the falling process of the car, and the falling process of the car is not effectively slowed, so that the car impacts the buffer to stop at a high speed, and the generated impact force sometimes exceeds the bearing range of a human body; and the motor for driving the cable to be taken up and paid off is easy to burn in the emergency falling process.
Disclosure of Invention
Based on the problems, the invention provides a cable driving and braking system based on magneto-rheological and a control method thereof, wherein a reciprocating screw rod drives a movable sheet to reciprocate in a case, when the falling speed is too high, a controller is communicated with an electromagnetic coil to generate a magnetic field, so that the viscosity of the magneto-rheological fluid is increased to increase the resistance of the movable sheet, the rotating speed of the reciprocating screw rod and a winding drum is rapidly reduced until the reciprocating screw rod and the winding drum stop or rotate at a constant speed, the load at the end of the cable stops dropping or slides down at a lower constant speed, the safety braking of the cable is realized, and the effect of protecting a motor is also achieved.
In order to realize the technical effects, the invention adopts the technical scheme that:
the cable driving brake system based on magneto-rheological property comprises a base and a controller, wherein a motor and a brake mechanism are fixed on the base; the braking mechanism comprises a case fixed on the base, the case is of a hollow structure, a movable plate and a reciprocating screw rod for driving the movable plate to move are arranged in an inner cavity of the case, two ends of the reciprocating screw rod respectively penetrate out of the case, an output shaft of a motor is in driving connection with one end of the reciprocating screw rod, the other end of the reciprocating screw rod is coaxially and fixedly connected with a winding drum, and a cable is wound on the winding drum; the movable sheet is provided with a guide hole and a through hole positioned in the middle, the movable sheet is sleeved on the outer wall of the reciprocating screw rod through the through hole, the inner wall of the through hole of the movable sheet is provided with a force transmission block matched with the thread groove on the reciprocating screw rod, a guide rod parallel to the reciprocating screw rod is arranged in the guide hole of the movable sheet in a penetrating way, and two ends of the guide rod are respectively fixed on the inner wall of the case; the side wall of the case is wound with an electromagnetic coil along the circumferential direction of the inner cavity, and magnetorheological fluid is filled in the inner cavity of the case; the input end of the controller is in communication connection with a speed measuring mechanism used for measuring the rotating speed of the winding drum, and the output end of the controller is electrically connected with the electromagnetic coil.
Furthermore, the controller is electrically connected with the motor and used for controlling the on-off of the motor and the power supply.
Furthermore, a speed reducer is arranged between the output shaft of the motor and the reciprocating screw, the output shaft of the motor is in driving connection with the input shaft of the speed reducer, and the output shaft of the speed reducer is in coaxial driving connection with the reciprocating screw.
Furthermore, the contact part of the two ends of the reciprocating screw and the side wall of the case is in dynamic seal.
Furthermore, the speed measuring mechanism is an infrared correlation counter, and comprises an infrared generator and a receiving counter which are oppositely arranged at two axial ends of the winding drum, and a through hole for infrared rays to pass through is formed in the end face of the winding drum at the position corresponding to the infrared correlation counter.
In order to achieve the technical effects, the invention also provides a control method of the cable driven brake system based on the magneto-rheological property, which comprises the following steps:
s1, presetting a drum rotating speed threshold value of the controller;
s2, starting a motor to drive a winding drum to rotate, controlling the winding and unwinding of the cable, measuring the rotating speed of the winding drum in real time by a speed measuring mechanism, and transmitting a measuring signal to a controller; at the moment, the movable sheet does reciprocating motion in the case under the combined action of the reciprocating screw and the guide rod;
s2, when the rotating speed of the winding drum measured by the speed measuring mechanism is too fast to exceed a set threshold value, the controller switches on the electromagnetic coil to electrify the electromagnetic coil and generate a magnetic field;
s4, the viscosity of the magnetorheological fluid in the case is increased under the action of the magnetic field, and the resistance of the movable sheet to reciprocating motion in the case is increased, so that the rotating speed of the winding drum is rapidly reduced until the winding drum stops rotating or rotates at a constant speed, and the safety brake in the process of winding and unwinding the mooring rope is controlled.
Compared with the prior art, the invention has the beneficial effects that:
1) the reciprocating screw rod drives the movable sheet to reciprocate in the case, when the falling speed is too high, the controller is communicated with the electromagnetic coil to generate a magnetic field, so that the viscosity of the magnetorheological fluid is increased, the resistance of the movable sheet is increased, the rotating speed of the reciprocating screw rod and the winding drum is rapidly reduced until the reciprocating screw rod and the winding drum stop or rotate at a constant speed, the load at the end of the cable rope stops dropping or slides downwards at a lower speed at a constant speed, and the safety braking of the cable rope is realized.
2) The controller is further electrically connected with the motor, the controller can control the motor to be in a circuit break state when the rotating speed of the winding drum exceeds a threshold value through the setting controller, and the problem that the motor is burnt out due to blocking or the braking mechanism is interfered to decelerate when the motor continuously works in an emergency state is solved.
3) The invention has the innovation points that magnetorheological fluid is adopted to change the viscous resistance, so that the viscous resistance can not generate larger interference on the movement of the winding drum under the normal condition, the increase of the viscous resistance can realize the quick reduction of the rotating speed of the winding drum or the uniform rotation at a smaller speed when braking is needed, the switching control is more convenient, and compared with the existing friction plate braking, the material loss is smaller.
Drawings
FIG. 1 is a schematic view of a magnetorheological-based cable actuated brake system according to embodiment 1 or 2;
FIG. 2 is a top view of the reciprocating screw of FIG. 1;
FIG. 3 is a schematic structural view of section A-A of FIG. 1;
FIG. 4 is a schematic view showing the positions of through holes in the roll in example 2;
wherein, 1, a base; 2. a controller; 3. a chassis; 4. a movable plate; 5. a reciprocating screw; 6. a reel; 7. a cable; 8. a force transfer block; 9. a guide bar; 10. an electromagnetic coil; 11. magnetorheological fluid; 12. a speed reducer; 13. an infrared generator; 14. receiving a counter; 15. and a through hole.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1:
referring to fig. 1-3, a magnetorheological based cable actuated braking system includes a base 1 and a controller 2, wherein a motor and a braking mechanism are fixed on the base 1; the braking mechanism comprises a case 3 fixed on the base 1, the case 3 is of a hollow structure, a movable plate 4 and a reciprocating screw 5 for driving the movable plate 4 to move are arranged in the inner cavity of the case 3, two ends of the reciprocating screw 5 respectively penetrate out of the case 3, an output shaft of a motor is in driving connection with one end of the reciprocating screw 5, the other end of the reciprocating screw 5 is coaxially and fixedly connected with a winding drum 6, and a cable 7 is wound on the winding drum 6; the movable sheet 4 is provided with a guide hole and a through hole positioned in the middle, the movable sheet 4 is sleeved on the outer wall of the reciprocating screw rod 5 through the through hole, the inner wall of the through hole of the movable sheet 4 is provided with a force transmission block 8 matched with a thread groove on the reciprocating screw rod 5, a guide rod 9 parallel to the reciprocating screw rod 5 is arranged in the guide hole of the movable sheet 4 in a penetrating way, and two ends of the guide rod 9 are respectively fixed on the inner wall of the case 3; the side wall of the case 3 is wound with an electromagnetic coil 10 along the circumferential direction of the inner cavity, and magnetorheological fluid 11 is filled in the inner cavity of the case 3; the input end of the controller 2 is connected with a speed measuring mechanism for measuring the rotating speed of the winding drum 6 in a communication mode, and the output end of the controller 2 is electrically connected with the electromagnetic coil 10.
In the embodiment, the diameter of the winding drum 6 is smaller than the inner size of the case 3, and the rotating speed threshold of the winding drum 6 of the controller 2 is preset; starting a motor to drive the winding drum 6 to rotate and control the winding and unwinding of the mooring rope 7, measuring the rotating speed of the winding drum 6 in real time by the speed measuring mechanism, and transmitting a measuring signal to the controller 2; at the moment, the magnetorheological fluid 11 has low viscosity, the winding drum 6 drives the reciprocating screw rod 5 to rotate, and the movable sheet 4 reciprocates on the reciprocating screw rod 5 and in the magnetorheological fluid 11; when one end of the cable 7 falls rapidly due to overweight, the rotating speed of the winding drum 6 measured by the speed measuring mechanism is too fast and exceeds a set threshold value, and the controller 2 is communicated with the electromagnetic coil 10 to electrify the electromagnetic coil 10 and generate a magnetic field; with the increase of the viscosity of the magnetorheological fluid 11, the resistance of the movable sheet 4 to reciprocate in the magnetorheological fluid 11 is increased, the kinetic energy is gradually consumed and converted into the internal energy, and the winding drum 6 is reduced in speed or rotates at a constant speed at a lower speed. And controlling the safe braking in the process of winding and unwinding the cable 7. The invention drives the movable sheet 4 to reciprocate in the case 3 through the reciprocating screw rod 5, when the falling speed is too high, the controller 2 is communicated with the electromagnetic coil 10 to generate a magnetic field, so that the viscosity of the magnetorheological fluid 11 is increased to increase the resistance of the movable sheet 4, the rotating speed of the reciprocating screw rod 5 and the winding drum 6 is rapidly reduced until the reciprocating screw rod stops or the winding drum rotates at a constant speed, the load at the end of the mooring rope 7 stops dropping or the reciprocating screw rod and the winding drum slide at a lower constant speed, and the safety braking of the mooring rope 7 is realized.
The embodiment adopts the magnetorheological fluid 11 to change the viscous resistance, so that the movement of the winding drum 6 cannot be greatly disturbed under the normal condition, the increase of the viscous resistance when braking is needed can realize the rapid reduction of the rotating speed of the winding drum 6 or the uniform rotation at a smaller speed, the switching control is more convenient, and compared with the braking of the existing friction plate, the material loss is smaller.
In this embodiment, a speed reducer 12 is disposed between the output shaft of the motor and the reciprocating screw 5, the output shaft of the motor is in driving connection with the input shaft of the speed reducer 12, and the output shaft of the speed reducer 12 is in coaxial driving connection with the reciprocating screw 5. The motor output end is provided with the speed reducer 12, so that the transmission ratio can be increased, the torque of the winding drum 6 is increased, the winding and unwinding of the mooring rope 7 can be better realized, and the problem that the mooring rope 7 cannot be wound by the winding drum 6 is avoided.
The contact part of the two ends of the reciprocating screw rod 5 and the side wall of the case 3 is in dynamic seal, so that the magnetorheological fluid 11 in the case 3 can be prevented from flowing out of the case 3 while the normal rotation of the reciprocating screw rod 5 is ensured. In this embodiment, a labyrinth groove type sealing mechanism may be employed to realize dynamic sealing at the contact position of the reciprocating screw 5 and the side wall of the case 3.
Example 2:
referring to fig. 1-4, a method for controlling a magnetorheological based cable actuated brake system, comprising the steps of:
s1, presetting a rotation speed threshold value of the winding drum 6 of the controller 2;
s2, the starting motor drives the winding drum 6 to rotate, the cable 7 is controlled to be wound and unwound, the speed measuring mechanism measures the rotating speed of the winding drum 6 in real time and transmits a measuring signal to the controller 2; at the moment, the movable sheet 4 does reciprocating motion in the machine box 3 under the combined action of the reciprocating screw rod 5 and the guide rod 9;
s2, when the rotating speed of the winding drum 6 measured by the speed measuring mechanism exceeds a set threshold value too fast, the controller 2 switches on the electromagnetic coil 10 to electrify the electromagnetic coil 10 and generate a magnetic field;
s4, the viscosity of the magnetorheological fluid 11 in the case 3 is increased under the action of the magnetic field, the resistance of the movable sheet 4 in the case 3 in reciprocating motion is increased, the rotating speed of the winding drum 6 is rapidly reduced until the winding drum stops rotating or rotates at a constant speed, and the safety brake in the process of winding and unwinding the cable 7 is controlled.
The phenomenon of quick falling occurs in the process of lifting the load of the cable 7, and if the motor is continuously electrified, the problem of burning the motor due to jamming can occur; the cable 7 falls rapidly during the descent process, and the rotation of the reciprocating screw 5 is accelerated by the continuous rotation of the motor, so that the braking of the braking mechanism is disturbed. In this embodiment, the controller 2 is further electrically connected to the motor, and is configured to control on/off of the motor and the power supply. The controller 2 can be set to control the motor to be in a circuit break state when the rotating speed of the winding drum 6 exceeds a threshold value, so that the problem that the motor is stuck to burn or the braking mechanism is interfered to slow down when the motor continuously works in an emergency state is solved.
The speed measuring mechanism in this embodiment is an infrared correlation counter, and includes an infrared generator 13 and a receiving counter 14 which are oppositely disposed at two axial ends of the winding drum 6, and a through hole 15 through which infrared rays can pass is disposed at a position on the end surface of the winding drum 6 corresponding to the infrared correlation counter. The infrared generator 13 generates infrared pulses, in the rotating process of the winding drum 6, when the through hole 15 passes through the infrared generator 13 and the receiving counter 14, infrared rays pass through the through hole 15 to be received by the technical device, and when other positions are located between the infrared generator 13 and the receiving counter 14, the infrared rays are shielded, the rotating speed of the winding drum 6 can be calculated by counting in unit time, and therefore the rotating speed of the winding drum 6 is measured.
The above is an embodiment of the present invention. The embodiments and specific parameters in the embodiments are only for the purpose of clearly illustrating the verification process of the invention and are not intended to limit the scope of the invention, which is defined by the claims, and all equivalent structural changes made by using the contents of the specification and the drawings of the present invention should be covered by the scope of the present invention.
Claims (5)
1. Cable driven brake system based on magneto-rheological comprises a base (1) and a controller (2), and is characterized in that: a motor and a braking mechanism are fixed on the base (1); the braking mechanism comprises a case (3) fixed on a base (1), the case (3) is of a hollow structure, a movable plate (4) and a reciprocating screw (5) for driving the movable plate (4) to move are arranged in an inner cavity of the case (3), two ends of the reciprocating screw (5) respectively penetrate out of the case (3), an output shaft of a motor is in driving connection with one end of the reciprocating screw (5), the other end of the reciprocating screw (5) is coaxially and fixedly connected with a winding drum (6), and a cable (7) is wound on the winding drum (6); the movable sheet (4) is provided with a guide hole and a through hole positioned in the middle, the movable sheet (4) is sleeved on the outer wall of the reciprocating screw rod (5) through the through hole, the inner wall of the through hole of the movable sheet (4) is provided with a force transmission block (8) matched with a thread groove on the reciprocating screw rod (5), a guide rod (9) parallel to the reciprocating screw rod (5) penetrates through the guide hole of the movable sheet (4), and two ends of the guide rod (9) are respectively fixed on the inner wall of the case (3); the side wall of the case (3) is wound with an electromagnetic coil (10) along the circumferential direction of an inner cavity, and magnetorheological fluid (11) is filled in the inner cavity of the case (3); the input end of the controller (2) is in communication connection with a speed measuring mechanism for measuring the rotating speed of the winding drum (6), and the output end of the controller (2) is electrically connected with the electromagnetic coil (10); the speed measuring mechanism is an infrared correlation counter and comprises an infrared generator (13) and a receiving counter (14) which are oppositely arranged at two axial ends of a winding drum (6), and a through hole (15) through which infrared rays can pass is formed in the end face of the winding drum (6) at the position corresponding to the infrared correlation counter.
2. A cable actuated braking system as claimed in claim 1 wherein: the controller (2) is also electrically connected with the motor and used for controlling the on-off of the motor and the power supply.
3. A cable actuated braking system as claimed in claim 1 wherein: a speed reducer (12) is arranged between the output shaft of the motor and the reciprocating screw (5), the output shaft of the motor is in driving connection with the input shaft of the speed reducer (12), and the output shaft of the speed reducer (12) is in coaxial driving connection with the reciprocating screw (5).
4. A cable actuated braking system as claimed in claim 1 wherein: and the contact part of the two ends of the reciprocating screw rod (5) and the side wall of the case (3) is in dynamic seal.
5. A method of controlling a magnetorheological based cable actuated brake system, the method being based on the cable actuated brake system of claim 1, comprising the steps of:
s1, presetting a rotating speed threshold value of a winding drum (6) of the controller (2);
s2, a starting motor drives a winding drum (6) to rotate, a cable (7) is controlled to be wound and unwound, a speed measuring mechanism measures the rotating speed of the winding drum (6) in real time and transmits a measuring signal to a controller (2); at the moment, the movable sheet (4) does reciprocating motion in the case (3) under the combined action of the reciprocating screw (5) and the guide rod (9);
s3, when the rotating speed of the winding drum (6) measured by the speed measuring mechanism is too fast to exceed a set threshold value, the controller (2) switches on the electromagnetic coil (10) to electrify the electromagnetic coil (10) and generate a magnetic field;
s4, the viscosity of the magnetorheological fluid (11) in the case (3) is increased under the action of a magnetic field, the resistance of the movable sheet (4) in reciprocating motion in the case (3) is increased, the rotating speed of the winding drum (6) is rapidly reduced until the winding drum stops rotating or rotates at a constant speed, and the safety brake in the process of winding and unwinding the mooring rope (7) is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010934256.5A CN112093616B (en) | 2020-09-08 | 2020-09-08 | Cable driving brake system based on magneto-rheological and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010934256.5A CN112093616B (en) | 2020-09-08 | 2020-09-08 | Cable driving brake system based on magneto-rheological and control method thereof |
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| CN112093616A CN112093616A (en) | 2020-12-18 |
| CN112093616B true CN112093616B (en) | 2022-04-12 |
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| CN113759471B (en) * | 2021-09-08 | 2022-04-08 | 东莞市奥悦精密科技有限公司 | Connector for 5G signal transmission and using method thereof |
| CN115140671A (en) * | 2022-09-05 | 2022-10-04 | 徐州立方机电设备制造有限公司 | Winch capable of automatically triggering safety brake in emergency |
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| WO2014104313A1 (en) * | 2012-12-27 | 2014-07-03 | 株式会社構造計画研究所 | Damping device and damping apparatus for structure |
| CN206857930U (en) * | 2017-07-05 | 2018-01-09 | 福建省特种设备检验研究院 | A kind of Cargo Lift based on magnetorheological transmission device |
| CN209483857U (en) * | 2019-01-18 | 2019-10-11 | 上海材料研究所 | A kind of double rod magnetic rheological liquid dampers |
| CN210461509U (en) * | 2019-06-05 | 2020-05-05 | 长江大学工程技术学院 | Smooth liquid damping device |
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2020
- 2020-09-08 CN CN202010934256.5A patent/CN112093616B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014104313A1 (en) * | 2012-12-27 | 2014-07-03 | 株式会社構造計画研究所 | Damping device and damping apparatus for structure |
| CN206857930U (en) * | 2017-07-05 | 2018-01-09 | 福建省特种设备检验研究院 | A kind of Cargo Lift based on magnetorheological transmission device |
| CN209483857U (en) * | 2019-01-18 | 2019-10-11 | 上海材料研究所 | A kind of double rod magnetic rheological liquid dampers |
| CN210461509U (en) * | 2019-06-05 | 2020-05-05 | 长江大学工程技术学院 | Smooth liquid damping device |
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