CN118110758A

CN118110758A - Self-balancing damping device imitating human cervical vertebra structure and control method thereof

Info

Publication number: CN118110758A
Application number: CN202410364258.3A
Authority: CN
Inventors: 钱孟波; 王欢; 郑恒意; 赵程恒; 徐盛凯
Original assignee: Zhejiang A&F University ZAFU
Current assignee: Zhejiang A&F University ZAFU
Priority date: 2024-03-28
Filing date: 2024-03-28
Publication date: 2024-05-31

Abstract

The invention discloses a self-balancing damping device imitating a human cervical vertebra structure, which comprises: top, middle and bottom plates arranged from top to bottom; the gyroscope is arranged on the top plate; the two ends of the first springs are respectively connected with the top plate and the middle plate; the electromagnet modules are uniformly arranged between the top plate and the middle plate; the two ends of the second spring are respectively connected with the middle layer plate and the bottom layer plate; the spring assemblies are uniformly distributed around the circumference of the second spring, and two ends of each spring assembly are respectively connected with the middle layer plate and the bottom layer plate; and the control unit is respectively and electrically connected with the gyroscope and the electromagnet module and is used for receiving a change signal of the pose angle of the top plate, which is detected by the gyroscope positioned on the top plate, so as to control the electromagnet module opposite to the inclination direction of the top plate, generate magnetic attraction force and enable the pose angle of the top plate to recover to be horizontal, thereby realizing self-balancing. The invention has a relatively simple structure and realizes the multidirectional shock absorption buffering and automatic balancing effects including the vertical direction and the horizontal direction.

Description

Self-balancing damping device imitating human cervical vertebra structure and control method thereof

Technical Field

The application relates to the technical field of agricultural machinery, in particular to a self-balancing damping device imitating a human cervical vertebra structure and a control method thereof.

Background

The damping device is mainly used for damping and buffering, and is particularly required for agricultural transportation platforms operating on rough terrains such as hilly and mountain areas so as to reduce damage of vibration to fruits and vegetables.

At present, most of shock absorbers in the field of agricultural machinery can realize shock absorption and buffering in one direction, such as the vertical direction, but the effect is general and only passive shock absorption is realized. The invention patent with publication number of CN 112483587A discloses an automobile shock absorber with good shock absorption effect, which can only passively absorb shock in the vertical direction and has the defects of limited shock absorption range and incapability of actively leveling.

Disclosure of Invention

The application aims to provide a self-balancing damping device imitating a human cervical vertebra structure and a control method thereof, which are used for solving the problems of limited damping range and passive damping only in the prior art.

According to an embodiment of the present application, there is provided a self-balancing vibration damping device imitating a cervical vertebra structure of a human body, including:

Top, middle and bottom plates arranged from top to bottom;

the gyroscope is arranged on the top plate;

the two ends of the first springs are respectively connected with the top plate and the middle plate;

the electromagnet modules are uniformly arranged between the top plate and the middle plate;

the two ends of the second spring are respectively connected with the middle layer plate and the bottom layer plate;

The spring assemblies are uniformly distributed around the circumference of the second spring, two ends of each spring assembly are respectively connected with the middle layer plate and the bottom layer plate, each spring assembly comprises a third spring, a bent part and a fourth spring which are sequentially connected, when the spring assemblies are in an initial position, the axis of each third spring and the axis of each second spring form a preset angle, and the axis of each fourth spring and the axis of each second spring are mutually perpendicular;

And the control unit is respectively and electrically connected with the gyroscope and the electromagnet module and is used for receiving a change signal of the pose angle of the top plate, which is detected by the gyroscope positioned on the top plate, so as to control the on-off of the electromagnet module opposite to the inclination direction of the top plate, enable the electromagnet module to start to work, generate magnetic attraction force and enable the pose angle of the top plate to be restored to be horizontal, thereby realizing self-balancing.

Optionally, the gyroscope is fixed at the middle position of the upper surface of the top plate through copper studs.

Optionally, the first springs have 5 springs, one spring is arranged in the center, and the other four springs are uniformly distributed around the center.

Optionally, the electromagnet module includes electromagnet, sucking disc and relay, electromagnet and sucking disc are fixed respectively on top plate and the intermediate lamella, and both are relative to each other, the relay with the control unit electricity is connected.

Optionally, the electromagnet modules are four and uniformly distributed along the circumferential direction.

Optionally, a plurality of spring assemblies are fixed to the lower surface of the middle layer plate through connecting plates.

Optionally, the connecting plate is made of an aluminum alloy material.

Optionally, the bending part is made of aluminum alloy materials.

Optionally, the predetermined angle is 35 degrees.

The control method of the self-balancing damping device imitating the human cervical vertebra structure comprises the following steps:

Damping: when the self-balancing damping device receives acting force and the whole device vibrates, the first spring between the top plate and the middle plate completes damping and buffering in the vertical direction; the spring assembly connected to the middle layer plate is stressed from different directions to absorb shock, then the third spring is connected with the fourth spring positioned in the horizontal direction through the bent piece, and the stressed force is transmitted to the fourth spring to absorb shock and buffer, so that multidirectional shock absorption and buffer including the horizontal direction are realized;

Self-balancing: when the top plate positioned at the level receives acting force, the top plate can incline, at the moment, the gyroscope positioned on the top plate can detect the change of the pose angle of the top plate, a change signal is transmitted to the external control unit, the control unit controls the on-off of the electromagnet module opposite to the inclination direction of the top plate, the electromagnet module starts to work, magnetic attraction is generated, and the pose angle of the top plate is restored to be horizontal, so that self-balancing is realized.

The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:

According to the embodiment, the first springs arranged between the top plate and the middle plate realize the damping and buffering in the vertical direction, the third springs between the middle plate and the bottom plate are distributed at a certain angle and then are connected with the four fourth springs in the horizontal direction, and the multidirectional damping and buffering including the horizontal direction is completed.

After the top layer board provided with the gyroscope is vibrated, the top layer board is not kept horizontal any more, when the top layer board is inclined to one side, the gyroscope detects the change of the side inclination angle or the pitching angle, signals are transmitted to the control unit, and the control unit controls the on-off of the electromagnet module opposite to the inclination direction, so that the self-balance of the top layer board is realized.

The structure of the application is simpler and lighter than that of a common shock absorber.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

Fig. 1 is a schematic structural view illustrating a self-balancing vibration-absorbing device imitating a cervical vertebrae structure of a human body according to an exemplary embodiment.

Fig. 2 is a schematic structural view illustrating a self-balancing vibration-absorbing device imitating a cervical vertebrae structure of a human body according to an exemplary embodiment.

Fig. 3 is a schematic structural view of a connection plate according to an exemplary embodiment.

Fig. 4 is a schematic structural view of a bent piece according to an exemplary embodiment.

The marks in the figure: 1. a gyroscope; 2. a top plate; 3. an electromagnet; 4. a first spring; 5. a suction cup; 6. a middle layer plate; 7. a connecting plate; 8. a second spring; 9. a third spring; 10. a curved member; 11. a fourth spring; 12. a bottom plate.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" depending on the context.

Referring to fig. 1 to 4, an embodiment of the present invention provides a self-balancing vibration-damping device imitating a cervical vertebra structure of a human body, including: the gyroscope comprises a gyroscope 1, a top plate 2, a middle plate 6, a bottom plate 12, a plurality of first springs 4, a plurality of electromagnet modules, a second spring 8, a plurality of spring assemblies and a control unit, wherein the top plate 2, the middle plate 6 and the bottom plate 12 are arranged from top to bottom; the gyroscope 1 is arranged on the top plate 2; two ends of the first spring 4 pairs are respectively connected with the top layer plate 2 and the middle layer plate 6; a plurality of electromagnet modules are uniformly arranged between the top layer plate 2 and the middle layer plate 6; two ends of the second spring 8 are respectively connected with the middle layer plate 6 and the bottom layer plate 12; the spring assemblies are uniformly distributed around the circumference of the second spring 8, two ends of each spring assembly are respectively connected with the middle layer plate 6 and the bottom layer plate 12, each spring assembly comprises a third spring 9, a bent part 10 and a fourth spring 11 which are sequentially connected, when in an initial position, the axis of the third spring 9 forms a preset angle with the axis of the second spring 8, and the axis of the fourth spring 11 is mutually perpendicular to the axis of the second spring 8; the control unit is respectively and electrically connected with the gyroscope 1 and the electromagnet module, and is used for receiving a change signal of the pose angle of the top plate 2, which is detected by the gyroscope 1 positioned on the top plate 2, so as to control the on-off of the electromagnet module opposite to the inclination direction of the top plate 2, enable the electromagnet module to start to work, generate magnetic attraction force, and enable the pose angle of the top plate 2 to recover to be horizontal, thereby realizing self-balancing.

From the above embodiments, it can be seen that the human cervical vertebra imitation structure: the structure formed by the top plate 2, the middle plate 6 and the first spring 4 in the middle is similar to a cervical vertebra section of a human body, and meanwhile, the device imitates the multi-angle range damping effect of the cervical vertebra of the human body. According to the application, the first springs arranged between the top plate and the middle plate realize the damping and buffering in the vertical direction, and the third springs between the middle plate and the bottom plate are distributed at a certain angle and then are connected with four fourth springs in the horizontal direction, so that the multidirectional damping and buffering including the horizontal direction is completed.

In one embodiment, the gyroscope 1 is fixed to the middle position of the upper surface of the top plate 2 through copper studs. The stability of the gyroscope can be improved through the copper stud fixed gyroscope, meanwhile, the gyroscope can be raised due to the fact that the copper stud is of a certain length, the gyroscope pins are prevented from touching the top plate, damage to the gyroscope can be reduced, and the gyroscope is located in the middle position, so that the acquired attitude information is more accurate.

In one embodiment, the first springs 4 have 5 springs, one spring is arranged at the center, and the other four springs are uniformly distributed around the center. The first springs are arranged at the center, so that shock absorption can be realized at the center, and the four springs are uniformly distributed around the center, so that the deformation degree of the four springs is different when the device is stressed by different angles, and the gyroscope can detect the change of the gesture.

In an embodiment, the electromagnet module includes an electromagnet 3, a sucker 5, and a relay, where the electromagnet 3 and the sucker 5 are fixed on the top plate 2 and the middle plate 6, respectively, and are arranged oppositely, and the relay is electrically connected with the control unit and controlled by the control unit. The relative arrangement can lead the whole device to be balanced and stable when being stressed, and prevent the device from being damaged due to uneven stress.

In one embodiment, the electromagnet modules have four electromagnet modules and are uniformly distributed along the circumferential direction. Without losing generality, the four electromagnet modules are uniformly distributed along the circumferential direction, so that the optimal self-balance can be realized.

In one embodiment, a plurality of spring assemblies are fixed to the lower surface of the middle plate 6 through a connecting plate 7, and the connecting plate 7 is fixed below the middle plate 6 by screws and shock absorbing rings. Adopt the connecting plate to connect and can promote joint strength, increase the damping ring and can prevent that the screw from receiving external force to drop makes the screw fixation more firm.

In one embodiment, the connection plate 7 is made of an aluminum alloy material. The aluminum alloy material has relatively low cost and moderate strength, and the material for the connecting plate can meet the requirements and reduce the manufacturing cost.

In an embodiment, the spring assembly includes a third spring 9, a bent part 10 and a fourth spring 11 which are sequentially connected, wherein the lower end of the third spring 9 is connected with one end of the bent part 10 by adopting a bolt and a nut, the other end of the bent part 10 is connected with the fourth spring 11 by adopting a screw, the other end of the fourth spring 11 is connected with a side threaded hole of the bottom plate 12 by adopting a screw, the upper end of one second spring 8 is fixed in the center of the connecting plate 7 by adopting a screw, and the lower end is fixed on the bottom plate 12 by adopting a screw. The third spring and the fourth spring can be firmly connected through the connection to form a whole, so that the transmission of force is convenient, and the damping process is smoother.

In one embodiment, the predetermined angle is 35 degrees. The third spring is 35 degrees with the vertical face, can reduce the occupation space of third spring horizontal plane and can guarantee the shock attenuation effect simultaneously.

In one embodiment, the bending member 10 is made of an aluminum alloy material. Because the bending degree of the bending part is higher, the aluminum alloy is convenient to bend under a proper process, and therefore, the bending part adopts an aluminum alloy material, and the manufacturing difficulty can be reduced.

The control unit can be a single chip microcomputer or a PLC.

Damping: when the self-balancing damping device receives acting force and the whole device vibrates, the first spring 4 between the top layer plate 2 and the middle layer plate 6 completes damping and buffering in the vertical direction; the spring assembly connected to the middle layer 6 is stressed from different directions to perform shock absorption, then the third spring 9 is connected with the fourth spring 11 positioned in the horizontal direction through the bent part 10, and the stressed force is transferred to the fourth spring 11 to perform shock absorption and buffering, so that the multi-directional shock absorption and buffering including the horizontal direction are realized.

Self-balancing: when the top plate 2 positioned horizontally receives acting force, the top plate 2 can incline, at the moment, the gyroscope 1 positioned on the top plate 2 can detect the change of the pose angle of the top plate 2, a change signal is transmitted to an external control unit, the control unit controls the on-off of the electromagnet module opposite to the inclination direction of the top plate 2, the electromagnet module starts to work, magnetic attraction force is generated, and the pose angle of the top plate 2 is restored to be horizontal, so that self-balancing is realized.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A self-balancing shock absorbing device imitating a human cervical vertebra structure, comprising:

Top, middle and bottom plates arranged from top to bottom;

the gyroscope is arranged on the top plate;

2. The self-balancing vibration-damping device simulating the cervical vertebra structure of a human body according to claim 1, wherein the gyroscope is fixed at the middle position of the upper surface of the top plate through copper studs.

3. The self-balancing vibration damper of a human cervical vertebra-like structure according to claim 1, wherein the first springs have 5 springs, one of which is centrally disposed, and the remaining four springs are uniformly distributed around the center.

4. The self-balancing damping device simulating the cervical vertebra structure of a human body according to claim 1, wherein the electromagnet module comprises an electromagnet, a sucker and a relay, the electromagnet and the sucker are respectively fixed on the top plate and the middle plate and are arranged oppositely, and the relay is electrically connected with the control unit.

5. The self-balancing vibration damper of a human cervical vertebra-like structure according to claim 1, wherein the electromagnet modules are four and are uniformly distributed along the circumferential direction.

6. The self-balancing vibration-damping device imitating cervical vertebra structure of human body according to claim 1, wherein the plurality of spring assemblies are fixed on the lower surface of the middle layer plate through the connecting plate.

7. The self-balancing vibration-damping device imitating the cervical vertebra structure of a human body according to claim 6, wherein the connecting plate is made of aluminum alloy materials.

8. The self-balancing vibration damper of the human cervical vertebra imitation structure according to claim 1, wherein the bending piece is made of aluminum alloy material.

9. The self-balancing vibration-damping device of claim 1, wherein the predetermined angle is 35 degrees.

10. The control method of the self-balancing vibration-damping device imitating the cervical vertebra structure of a human body according to claim 1, which is characterized by comprising the following steps: