CN117537037A - Electromagnetic control damper, crane and damping control system - Google Patents
Electromagnetic control damper, crane and damping control system Download PDFInfo
- Publication number
- CN117537037A CN117537037A CN202311610208.0A CN202311610208A CN117537037A CN 117537037 A CN117537037 A CN 117537037A CN 202311610208 A CN202311610208 A CN 202311610208A CN 117537037 A CN117537037 A CN 117537037A
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- China
- Prior art keywords
- output shaft
- fixed
- damping
- electromagnetic control
- telescopic
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- 238000013016 damping Methods 0.000 title claims abstract description 47
- 230000008602 contraction Effects 0.000 claims abstract description 6
- 230000001133 acceleration Effects 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 abstract 1
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
Classifications
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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
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
- B66C23/62—Constructional features or details
Abstract
The invention discloses an electromagnetic control damper, which comprises a fixed part, a moving part and an electromagnetic control system, wherein a containing cavity for containing the moving part is arranged in the fixed part, the moving part is fixedly connected with an output shaft penetrating out of the fixed part, a plurality of damping units are arranged between the fixed part and the moving part, the acting direction of the damping units is parallel to the extending direction of the output shaft, a plurality of variable stiffness damping units are also arranged between the fixed part and the moving part and uniformly distributed around the output shaft, each variable stiffness damping unit comprises an elastic part and a telescopic part, the fixed end of the telescopic part is fixed on the fixed part or the moving part, the output end of the telescopic part is fixedly connected with one end of the elastic part, the extending direction of the telescopic part and the acting direction of the elastic part are along the extending direction of the output shaft, and the telescopic part stretches and changes the acting range of the elastic part. The rigidity of the elastic part is changed through the expansion and contraction of the telescopic part, the working frequency range is enlarged through changing the rigidity attribute of the elastic part, and the vibration of the crane seat under the complex environment is actively controlled.
Description
Technical Field
The invention relates to vibration and noise reduction of a crane cab, in particular to an electromagnetic control damper, a crane and a damping control system.
Background
During traveling and operation of the crane, the body structure is in a complex vibration state, and the riding comfort of a driver is seriously affected by a high vibration level. The electromagnetic control damper has small power requirement and large output control force, and can efficiently control the vibration of the crane seat. However, the structural parameters of the damper which are usually designed are fixed, and the rigidity cannot be changed according to requirements, so that the operating frequency range is narrow, and the damper can only be applied to specific scenes.
In the prior art, as disclosed in CN103140698A, an active vibration damper, a vehicle, and a method for controlling an active vibration damper, the active vibration damper is disclosed in which the displacement and the operation speed of a driver are multiplied by a stiffness gain and an attenuation gain and fed back, so that vibrations at the time of fluctuation of the oscillation starting frequency can be appropriately suppressed. As another example, an active vibration damping device for a vehicle disclosed in CN106151339a is disclosed in which elastic members are provided in the vertical direction between a radiator and a vehicle body and between the vehicle body and an engine, respectively, to ensure the damping effect of vibration components in a wide-range frequency band. The active vibration damper for the vehicle in the prior art has a complex structure, low feasibility and difficult guarantee of vibration damping effect.
Disclosure of Invention
The invention aims to: in view of the above drawbacks, the present invention provides a variable stiffness electromagnetic control damper.
The invention also provides a crane using the electromagnetic control damper and a damping control system of the crane.
The technical scheme is as follows: in order to solve the problems, the invention adopts an electromagnetic control damper which comprises a fixed part, a moving part and an electromagnetic control system for controlling the moving part to move relative to the fixed part, wherein a containing cavity for containing the moving part is arranged in the fixed part, the moving part is fixedly connected with an output shaft, and the output shaft penetrates out of the containing cavity of the fixed part; the damping device comprises a fixed part and a movable part, wherein a plurality of damping units are arranged between the fixed part and the movable part, the action direction of the damping units is parallel to the extending direction of an output shaft, a plurality of rigidity-variable damping units are further arranged between the fixed part and the movable part and evenly distributed around the output shaft, each rigidity-variable damping unit comprises an elastic part and a telescopic part, the fixed ends of the telescopic parts are fixed on the fixed part or the movable part, the output ends of the telescopic parts are fixedly connected with one end of the elastic parts, the extending direction of the telescopic parts and the action direction of the elastic parts are along the extending direction of the output shaft, and the action range of the elastic parts is changed by extending and contracting the telescopic parts to realize rigidity change of the elastic parts.
Further, the telescopic part adopts an electric telescopic rod, and the elastic part adopts a first spring. One end of the elastic part is fixedly connected with the telescopic part, and the other end of the elastic part is suspended. The fixed end of the telescopic part is fixedly connected to the moving part, a spring groove is formed in the fixed part corresponding to the suspended end of the elastic part, and when the elastic part is compressed, the suspended end of the elastic part is limited in the spring groove.
Further, the damping units are respectively arranged at two ends of the moving part, are respectively a first end close to the output end of the output shaft and a second end far away from the output end of the output shaft, the second end is provided with four damping units evenly distributed around the output shaft, the first end is provided with two damping units and two variable stiffness damping units symmetrically distributed around the output shaft, and the action directions of the four damping units at the second end are respectively overlapped with the action directions of the two damping units and the two variable stiffness damping units at the first end one to one.
Further, the damping unit comprises a second spring and spring grooves, two ends of the second spring are respectively limited in the two spring grooves, and the two spring grooves are respectively fixedly connected to the fixing piece and the moving piece.
Further, the mounting includes fixed connection's upper end cover, outer tube wall, lower extreme, upper end cover and lower extreme respectively fixed connection in the upper and lower both ends of urceolus wall, the urceolus wall inlayer is fixed to be set up the coil holder, electromagnetic control system is including fixed a plurality of coils that set up on the coil holder, the moving part includes a plurality of permanent magnets and the armature that set up in turn along the output shaft direction, and during initial state, armature and coil one-to-one.
The invention also adopts a crane, which comprises a seat, wherein the seat adopts the electromagnetic control damper.
The invention also adopts a damping control system of the crane, which comprises:
the sensor system is used for collecting operation parameters of the crane;
the data processing system is used for processing the collected operation parameters;
the decision system is used for judging the road surface grade classification according to the processed operation parameters;
and the control system is used for classifying and controlling the expansion and contraction of the expansion and contraction part according to the obtained road surface grade, so as to obtain the rigidity of the elastic part adapting to the road surface grade.
Further, the operating parameters include sprung acceleration, suspension travel and wheel acceleration signals of the crane.
The beneficial effects are that: compared with the prior art, the invention has the remarkable advantages that the rigidity of the elastic part is changed through the expansion and contraction of the telescopic part, the working frequency range is enlarged through changing the rigidity attribute of the elastic part, and the vibration of the crane seat under the complex environment is actively controlled. The suspension is simple in structure, convenient to realize, convenient to install and high in reliability.
Drawings
Fig. 1 is a cross-sectional view of an electromagnetically controlled damper according to the present invention.
Fig. 2 is a schematic distribution diagram of a damping unit and a variable stiffness damping unit at a first end of a moving member according to the present invention.
Fig. 3 is a schematic view of the structure of the telescopic part in the present invention.
Detailed Description
As shown in fig. 1, an electromagnetic control damper in the present embodiment includes a fixed member, a moving member, and an electromagnetic control system for controlling the movement of the moving member relative to the fixed member, wherein the permanent magnets (6, 7) and the armatures (4, 5, 8) are a moving unit, which is called a moving member; the permanent magnets and the armatures are alternately arranged along the direction of the output shaft; the lower end cover 10, the outer cylinder wall 14, the upper end cover 11, the coil retainer 13 and the coil 12 are integrated and are called as fixed components, the upper end cover 11 and the lower end cover 10 are respectively and fixedly connected to the upper end and the lower end of the outer cylinder wall 14, the coil retainer 13 is fixedly arranged on the inner layer of the outer cylinder wall 14, the electromagnetic control system comprises a plurality of coils 12 fixedly arranged on the coil retainer 13, and in an initial state, armatures correspond to the coils one by one.
The inside holding chamber that holds the moving part that sets up of mounting, moving part fixedly connected with output shaft 1, and output shaft 1 wears out to the outside of mounting by the holding chamber of mounting, and upper end cover 11 and coil holder 13 and upper end cover coincidence part set up the through-hole, and output shaft 1 wears out in the through-hole. A plurality of damping units and a variable stiffness damping unit are arranged between the fixed part and the movable part, the damping units comprise spring grooves 15 and second springs 9, and the variable stiffness damping unit comprises elastic parts 2, telescopic parts 3 and spring grooves 15.
Spring grooves 15 are fixedly arranged on the inner side of the lower end cover 10, the inner side of the upper end of the coil retainer 13 and the lowermost armature 5, the axes of the spring grooves 15 on the lower end cover 10, the coil retainer 13 and the lowermost armature 5 are all overlapped one by one, the axes of the output shaft 1 are symmetrically distributed by taking the axes of the output shaft 1 as symmetrical shafts, the adjacent spring grooves 15 are spaced by 90 degrees, and the distance between the axes of the spring grooves 15 and the axes of the output shaft 1 is half of the radius of the armature 8. The second spring 9 is compressed in the lower spring groove 15, and the compression length is not less than the sum of the maximum working stroke of the mover and the compression distance of the mover due to its own weight.
As shown in fig. 3, the telescopic part 3 adopts an electric telescopic rod, the elastic part 2 adopts a first spring, the electric telescopic rod is fixedly connected to the upper surface of the armature 4 at the upper end of the rotor, the axes of the electric telescopic rod are overlapped with the axes of the corresponding spring grooves 15, the number of the electric telescopic rod is two, the electric telescopic rod is symmetrically distributed about the output shaft 1, the azimuth distribution is as shown in fig. 2, the electric telescopic rod is uniformly distributed about the output shaft 1 with the other second springs 9, and the axes of the second springs 9 are overlapped with the axes of the spring grooves 15; one end of the first spring is fixedly connected to the output end of the electric telescopic rod, the axis of the first spring coincides with the electric telescopic rod, and the upper end of the first spring is suspended.
The device is fixedly connected with the machine body through the lower end cover 10, after the coil 12 is electrified, the vibrator can vibrate up and down under the reaction force, and the first spring and the second spring can be alternately stretched and compressed, so that the actuator generates control force to reduce the vibration of the machine body. When the required rigidity is small, the electric telescopic rod can be contracted at the shortest position; when the required rigidity is larger, the electric telescopic rod is extended out, so that the first spring is in a compressed state, and the rigidity-changing requirement is realized.
The invention also provides a crane using the electromagnetic control damper, the electromagnetic control damper is arranged at a seat of a cab of the crane, the position of the spring is adjusted through the automatic telescopic rod so as to change the natural frequency of the device, vibration reduction of the seat under the complex vibration environment of the crane is met, and the structure of other parts of the crane is referred to the prior art and is not repeated herein. The invention also provides a damping control system of the crane, wherein the road surface unevenness influences the riding comfort of the crane seat, the sprung acceleration, the suspension stroke and the wheel acceleration signals of the crane can be respectively acquired through a plurality of sensors, decision fusion is carried out on the three signals after data processing, classification of road surface grades is output, and the electromagnetic control damper is controlled according to the road surface grades to select proper spring stiffness so as to realize active vibration control of the crane seat in a complex vibration environment.
Claims (10)
1. The electromagnetic control damper is characterized by comprising a fixed part, a moving part and an electromagnetic control system for controlling the moving part to move relative to the fixed part, wherein a containing cavity for containing the moving part is formed in the fixed part, the moving part is fixedly connected with an output shaft (1), and the output shaft (1) penetrates out of the containing cavity of the fixed part to the outside of the fixed part; set up a plurality of damping units between mounting and the moving member, damping unit direction of action is parallel with output shaft (1) extending direction, still set up a plurality of variable rigidity damping units between mounting and the moving member, variable rigidity damping unit is around output shaft evenly distributed, variable rigidity damping unit includes elasticity portion (2) and telescopic portion (3), and telescopic portion (3) fixed end is fixed in on mounting or the moving member, and telescopic portion (3) output and the one end fixed connection of elasticity portion, and the direction of extension of elasticity portion (3) and the direction of action of elasticity portion (2) follow output shaft (1) extending direction, the flexible scope of action that changes elasticity portion (2) of telescopic portion (3), realizes the variable rigidity of elasticity portion (2).
2. The electromagnetic control damper according to claim 1, characterized in that the telescopic part (3) adopts an electric telescopic rod, and the elastic part (2) adopts a first spring.
3. The electromagnetic control damper according to claim 2, wherein one end of the elastic portion (2) is fixedly connected with the telescopic portion (3), and the other end is suspended.
4. An electromagnetic control damper according to claim 3, characterized in that the fixed end of the telescopic part (3) is fixedly connected to the moving member, a spring groove (15) is provided on the fixed member corresponding to the suspended end of the elastic part, and when the elastic part is compressed, the suspended end of the elastic part is limited in the spring groove (15).
5. The electromagnetic control damper according to claim 1, wherein the plurality of damping units are respectively arranged at two ends of the moving member, are respectively a first end close to an output end of the output shaft (1) and a second end far away from the output end of the output shaft (1), the second end is provided with four damping units uniformly distributed around the output shaft, the first end is provided with two damping units and two variable stiffness damping units symmetrically distributed with respect to the output shaft, and the action directions of the four damping units at the second end are respectively overlapped with the action directions of the two damping units and the two variable stiffness damping units at the first end one to one.
6. The electromagnetic control damper according to claim 1, characterized in that the damping unit comprises a second spring (9) and spring grooves (15), both ends of the second spring (9) being respectively limited in the two spring grooves (15), the two spring grooves being respectively fixedly connected to the fixed member and the movable member.
7. The electromagnetic control damper according to claim 1, wherein the fixing member comprises an upper end cover (11), an outer cylinder wall (14) and a lower end cover (10) which are fixedly connected, the upper end cover (11) and the lower end cover (10) are respectively fixedly connected to the upper end and the lower end of the outer cylinder wall (14), a coil holder (13) is fixedly arranged on the inner layer of the outer cylinder wall (14), the electromagnetic control system comprises a plurality of coils (12) fixedly arranged on the coil holder (13), the moving member comprises a plurality of permanent magnets and armatures alternately arranged along the direction of the output shaft, and in an initial state, the armatures are in one-to-one correspondence with the coils.
8. A crane comprising a seat, characterized in that the seat employs an electromagnetically controlled damper as claimed in any one of claims 1 to 7.
9. A damping control system for a crane as claimed in claim 8, comprising:
the sensor system is used for collecting operation parameters of the crane;
the data processing system is used for processing the collected operation parameters;
the decision system is used for judging the road surface grade classification according to the processed operation parameters;
and the control system is used for classifying and controlling the expansion and contraction of the expansion and contraction part according to the obtained road surface grade, so as to obtain the rigidity of the elastic part adapting to the road surface grade.
10. The damping control system of claim 9, wherein the operating parameters include sprung acceleration, suspension travel, and wheel acceleration signals of a crane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311610208.0A CN117537037A (en) | 2023-11-29 | 2023-11-29 | Electromagnetic control damper, crane and damping control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311610208.0A CN117537037A (en) | 2023-11-29 | 2023-11-29 | Electromagnetic control damper, crane and damping control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117537037A true CN117537037A (en) | 2024-02-09 |
Family
ID=89784020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311610208.0A Pending CN117537037A (en) | 2023-11-29 | 2023-11-29 | Electromagnetic control damper, crane and damping control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117537037A (en) |
-
2023
- 2023-11-29 CN CN202311610208.0A patent/CN117537037A/en active Pending
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