WO2024112293A1

WO2024112293A1 - Position, velocity and acceleration feedback control device

Info

Publication number: WO2024112293A1
Application number: PCT/TR2023/051206
Authority: WO
Inventors: Mustafa Sayed Ahmed Habib; M. Husnu DIRIKOLU
Original assignee: Istanbul Universitesi Cerrahpasa Rektorlugu
Priority date: 2022-11-23
Filing date: 2023-10-26
Publication date: 2024-05-30

Abstract

The invention relates to a passive feedback control device (1 ) used in damping vibrations/shocks. The novelty of the invention is that it comprises a body (10) having at least one shell (11 ), at least one push/pull control mechanism (20) which is at least partially movable along a z-axis within said shell (11 ) and associated with the element to be damped, at least one lever mechanism (30) which allows damping by friction between said push/pull control mechanism (20) and the shell, and at least one first spring (40) and at least one second spring (50) positioned on opposing sides of said lever mechanism (30) and compressible during the movement of the push/pull control mechanism (20) in the opposite direction along the z-axis (I).

Description

DESCRIPTION POSITION, VELOCITY AND ACCELERATION FEEDBACK CONTROL DEVICE

TECHNICAL FIELD

The invention relates to a passive feedback control device used in damping vibrations/shocks.

PRIOR ART

Damping devices are used to reduce the negative effects of shock and vibration excitations on equipment used in civil engineering systems (buildings, stadiums, bridges, towers, etc.), aerospace and defense industry systems (land, sea, air and space, etc.), heavy industry (steel plants, aluminum plants, shipbuilders, offshore oil drilling, etc.) and general industry systems (textile machines, press printing machines, air conditioning machines, hydraulic breakers, machine tools, robotics, electro-optics, electronics, etc.). The design of machines and structures subject to shocks and vibrations can be greatly improved by the addition of isolation or damping devices.

Machines produce vibrations and shocks that are transmitted to the surroundings. These vibrations and shocks affect the production process and therefore the quality of the products. It also negatively affects the production process of other machines. On the other hand, noise caused by vibrations causes health problems for personnel.

In the present art, the isolation of vibrations and shocks is based on system position and velocity feedback. Generally, most passive absorbers use only system position and velocity feedback. Therefore, the equipment cannot be efficiently isolated from ambient vibrations, the deflection cannot be limited and its resonance cannot be reduced. Therefore, better system performance cannot be achieved.

Also in the present art, active vibration control systems are used in machine tools, in robotics to get the right response, in the production of precision apparatus parts for electronic manufacturing, and in the protection of high-rise buildings against earthquakes and winds. In such applications, acceleration is measured by an accelerometer and fed back to the controller to produce an active signal for the actuator to apply control forces to the system. Here the actuator uses an external energy source. Active vibration control systems operate slowly due to the electronic components. They also have low reliability, efficiency and robustness. In addition, active vibration control systems are difficult to manufacture and maintain. Therefore, their costs are high.

Application No. US2003223659A1 , known in the literature, relates to the field of energy distribution devices for various applications, including the distribution of seismic energy. The friction damper generally comprises a channel element comprising at least one friction channel extending along a friction axis and at least one friction wedge corresponding to a respective friction channel. The friction force can be increased by adding more contact surface area. The friction force can also be increased by increasing the normal force through the addition of springs and the like, such as compression springs or other types of spring elements.

As a result, all the above-mentioned problems have made it necessary to introduce an innovation in the relevant technical field.

SUMMARY OF THE INVENTION

The present invention relates to a passive feedback control device for damping vibrations and shocks in order to eliminate the aforementioned disadvantages and provide new advantages to the relevant technical field.

An object of the invention is to provide a passive feedback control device for isolating vibrations and shocks.

Another object of the invention is to provide a passive feedback control device that operates more efficiently by utilizing the acceleration of the system along with position and velocity for damping vibrations and shocks.

Another object of the invention is to provide a passive feedback control device, which is very fast, responsive, easy to manufacture, easy to maintain, inexpensive, efficient, robust and reliable. In order to achieve all the aforementioned objects and those which will be apparent from the detailed description below, the present invention is a passive feedback control device used in damping vibrations/shocks. Accordingly, its novelty is that it comprises a body having at least one shell, at least one push/pull control mechanism which is at least partially movable along a z-axis within said shell and associated with the element to be damped, at least one lever mechanism which allows damping by friction between said push/pull control mechanism and the shell, and at least one first spring and at least one second spring positioned on opposing sides of said lever mechanism and compressible during the movement of the push/pull control mechanism in the opposite direction along the z-axis. Thus, a more efficient damping process is performed by using the acceleration of the system together with the velocity and displacement in the damping of vibrations and shocks.

A possible embodiment of the invention is characterized in that it comprises at least one lower container associated with the lever mechanism and movable in an opposite direction along the z-axis to generate a damping force by compressing said second spring, and at least one lower holder configured to interlock with said lower container. Thus, the system takes up less space and the second spring is compressed, resulting in more efficient damping process.

A further possible embodiment of the invention is characterized in that the lower container comprises at least one second inner cylinder group and the lower holder comprises at least one first inner cylinder group to match the form of said second inner cylinder group, so that the lower container and said lower holder can move along the z- axis, interlocked with each other. Thus, the heat conduction surface area is increased, thereby preventing the heat due to friction.

Another possible embodiment of the invention is characterized in that the push/pull control mechanism comprises at least one push/pull shaft movable along the z-axis for damping vibration/shock, and at least one central block, which can be connected to the lever mechanism on the lower side of said push/pull shaft. Thus, the lever mechanism is fixed more rigidly to the push/pull shaft, thereby preventing looseness problems that may occur during damping. A further possible embodiment of the invention is characterized in that at least one viscoelastic material is positioned between said first inner cylinder group and second inner cylinder group to prevent heating due to shear stresses. Thus, friction caused by shear stresses is prevented.

Another possible embodiment of the invention is characterized in that said central block comprises at least one guide insert and at least one fixing slot for connection with the lever mechanism. Thus, the lever mechanism is fixed more rigidly to the central block, thereby preventing problems that may occur during friction.

Another possible embodiment of the invention is characterized in that the friction system comprises at least one first interconnecting element and at least one second interconnecting element, which generate a friction force by contacting the shell for damping vibration/shock during movement of the push/pull shaft along the z-axis, and which can be assembled or disassembled on each other. Thus, if the friction system needs to be replaced or maintained for any reason, it can be assembled or disassembled more easily due to the modular system.

A further possible embodiment of the invention is characterized in that said first interconnecting element and said second interconnecting element are associated with each other in such a way that they at least partially overlap diagonally. Thus, the pressure applied to the surface of the shell to generate the friction force results in a more effective damping process.

Another possible embodiment of the invention is characterized in that the first interconnecting element comprises at least one first connecting arm and the second interconnecting element comprises at least one second connecting arm. Thus, both the connection of the friction system to the central block is realized and the connection of the arms that apply force to the shell surface is realized.

A further possible embodiment of the invention is characterized in that the first interconnecting element comprises at least one first swivel joint allowing said first connecting arm to flex in a direction opposite to the movement of the push/pull shaft during the movement of the push/pull shaft in the z-axis direction, and the second interconnecting element comprises at least one second swivel joint allowing said second connecting arm to flex in a direction opposite to the movement of the push/pull shaft during the movement of the push/pull shaft in the z-axis direction. Thus, a more efficient isolation is achieved by providing flexibility during the formation of friction force in the damping process.

Another possible embodiment of the invention is characterized in that at least one end of said first connecting arm comprises at least one first contact element for connection with the central block, and at least one end of said second connecting arm comprises at least one second contact element for connection with the central block. Thus, the fixing of the friction system to the central block is performed more rigidly.

A further possible embodiment of the invention is characterized in that it comprises at least one first friction arm perpendicularly connected with at least one end of the first connecting arm and at least one second friction arm perpendicularly connected with at least one end of the second connecting arm. Thus, the friction force is increased by providing more friction joints. In addition, for example during downward push/pull movement, the four lower contact friction cylinders provide upward friction forces in response to the acceleration of the object to be damped. In addition, during upward push/pull movement, the four upper contact friction cylinders provide downward friction forces in response to the acceleration of the object to be damped.

Another possible embodiment of the invention is characterized in that said first friction arm comprises at least one first friction joint for damping the vibration/shock by generating a friction force between itself and the shell during movement of the push/pull shaft in the z-axis direction, and said second friction arm comprises at least one second friction joint for damping the vibration/shock by generating a friction force between itself and the shell during movement of the push/pull shaft in the z-axis direction. Thus, the vibration/shock is damped by generating a friction force in contact with the shell.

A further possible embodiment of the invention is characterized in that the shell comprises at least one friction guide slot associated with said first friction joint and said second friction joint for damping the vibration/shock during movement of the friction system in the z-axis (I) direction. Thus, the friction force is increased by increasing the surface area in contact with the friction joints. Another possible embodiment of the invention is characterized in that at least one brake pad is positioned on the surface of said friction guide slot. Thus, overheating of the shell structure and friction system is avoided, thereby preventing structural deterioration. At the same time, a higher friction force is generated.

A further possible embodiment of the invention is characterized in that the first friction joint and the second friction joint have a cylindrical structure. Thus, the friction force used for damping increases since the surface area in contact with the friction guide slot is larger.

BRIEF DESCRIPTION OF THE DRAWINGS

Fig. 1 shows a representative perspective view of the passive feedback control device according to the invention.

Fig. 2 shows a representative perspective view of the body of the passive feedback control device according to the invention.

Fig. 3 shows a representative perspective view of the push/pull control mechanism of the passive feedback control device according to the invention.

Fig. 4 shows a representative perspective view of the lever mechanism of the passive feedback control device according to the invention.

Fig. 5a shows a representative perspective view of the friction system (31 ) of the lever mechanism according to the invention.

Fig. 5b shows a representative perspective view of the first interconnecting element of the friction system according to the invention.

Fig. 5c shows a representative perspective view of the second interconnecting element of the friction system according to the invention.

Fig. 6 shows a representative perspective view of the upper container of the lever mechanism according to the invention. DETAILED DESCRIPTION OF THE INVENTION

In this detailed description, the subject matter of the invention is described only by way of examples for a better understanding of the subject matter, without any limiting effect.

Fig. 1 shows a representative perspective view of the passive feedback control device (1 ) according to the invention. Said passive feedback control device (1 ) is used for damping vibrations and shocks. Damping process is performed mechanically with passive feedback control. The damping of vibrations/shocks with the passive feedback control device (1 ) is based on passive feedback together with the displacement, velocity and acceleration of the vibration/shock generating equipment. During the damping process, the acceleration of the vibration/shock generating equipment is used to distribute the system energy in the form of heat. Accordingly, the passive feedback control device (1 ) comprises at least one body (10), at least one push/pull control mechanism (20), at least one lever mechanism (30), at least one first spring (40) and at least one second spring (50). Said body (10) encloses said push/pull control mechanism (20) and said lever mechanism (30). Vibration/shock generating equipment (not shown in the figures) is connected to the top of the push/pull control mechanism (20). The push/pull rod mechanism can move along the z-axis (I) within the body (10). The push/pull control mechanism (20) is connected to the lever mechanism (30). The damping process is performed by moving the lever mechanism (30) along the z-axis (I) in the body (10). Said first spring (40) is positioned in the body (10) on the lower side of the lever mechanism (30) and said second spring (50) is positioned in the body (10) on the upper side of the lever mechanism (30). The first spring (40) and the second spring (50) are used to provide an elastic force during the movement of the push/pull control mechanism (20) along the z-axis (I) during and after damping. The first spring (40) and the second spring (50) provide a force in response to the displacement. During damping of the vibration/shock, the second spring (50) is compressed during the movement of the push/pull control mechanism (20) in the downward direction (III) on the z-axis (I). After the damping process is completed, the second spring (50) allows the push/pull control mechanism (20) to move to its initial position or in the upward direction (II) on the z-axis (I) with the energy it stores. The first spring (40) is compressed during the movement of the push/pull control mechanism (20) in the upward direction (II) on the z-axis (I). Thus, a more efficient system is obtained during the movement of the push/pull control mechanism (20) along the z-axis (I).

Fig. 2 shows a representative perspective view of the body (10) of the passive feedback control device (1 ) according to the invention. The body (10) comprises at least one shell

(11 ), at least one upper holder (12) and at least one lower holder (13). Said upper holder

(12) and said lower holder (13) are connected to said shell (1 1 ) with connecting elements. The shell (1 1 ) comprises at least one friction guide slot (1 1 1 ). Said friction guide slot (1 11 ) is formed along the z-axis (I). Preferably, the shell (1 1 ) comprises four friction guide slots (11 1 ). The first spring (40) and the second spring (50) are connected to the upper holder (12) and the lower holder (13) respectively. The upper holder (12) comprises at least one first spring slot (121 ) for positioning the first spring (40) in the shell (11 ). The first spring (40) is fixed and its movement is limited by connection with the said first spring slot (121 ). The upper holder (12) comprises at least one bearing (122) for the movement of the push/pull control mechanism (20) along the z-axis (I). Said bearing (122) has a prismatic form. The lower holder (13) comprises at least one second spring slot (131 ) for positioning the second spring (50) in the shell (1 1 ). The second spring (50) is fixed and its movement is limited by connection with the said second spring slot (131 ). The lower holder (13) has a structure that can be interlocked with the lever mechanism (30). Therefore, the lower holder (13) comprises at least one first inner cylinder group (132), forming a single structure. The heat transfer surface area is increased by said first inner cylinder group (132). Thus, heating due to internal friction of the passive feedback control device (1 ) is prevented.

Fig. 3 shows a representative perspective view of the push/pull control mechanism (20) of the passive feedback control device (1 ) according to the invention. Accordingly, the push/pull control mechanism (20) and its components are manufactured from low weight and high strength materials to reduce the inertia effect on shock/vibration absorber performance. The push/pull control mechanism (20) comprises at least one push/pull shaft (21 ) and at least one central block (22) for damping vibration/shock. Said push/pull shaft (21 ) comprises at least one head portion (211 ) for connecting the vibration/shock generating equipment. Said head portion (21 1 ) is manufactured as a whole with the push/pull shaft (21 ). The head portion (211 ) has a circular form. The push/pull shaft (21 ) is connected to the said central block (22) on the lower side. The central block (22) is firmly connected to the push/pull shaft (21 ) via connecting elements. The central block (22) comprises at least one guide insert (221 ) and at least one fixing slot (222) for connection with the lever mechanism (30). Said guide insert (221 ) comprises at least one first cylinder element (2211 ) and at least one second cylinder element (2212). Said first cylinder element (221 1 ) and said second cylinder element (2212) are positioned diagonally on each other. The guide insert (221 ) is connected to the bottom of the central block (22). The components of the lever mechanism (30) are positioned in the said fixing slot (222). The push/pull shaft (21 ) has a prismatic structure, which slidably fits into the upper holder (12) and can be guided along the z-axis (I) so as to conform to the prismatic insert on the upper holder (12). Spring rubber gaskets (not shown in the figures) are placed between the push/pull shaft (21 ) and the upper holder (12) to prevent dust and dirt from entering the passive feedback control device (1 ).

Fig. 4 shows a representative perspective view of the lever mechanism (30) of the passive feedback control device (1 ) according to the invention. Accordingly, said lever mechanism (30) and its components are manufactured from low weight and high strength materials to reduce the inertia effect on shock/vibration absorber performance. The lever mechanism (30) comprises at least one friction system (31 ), at least one upper container (32) and at least one lower container (33). Said friction system (31 ) is connected to the central block (22). Said upper container (32) is positioned between the friction system

(31 ) and the upper holder (12). The inner surface of the upper container (32) is in contact with the outer surface of the upper holder (12) during the upward (II) and downward (III) movements of the push/pull shaft (21 ) on the z-axis (I) and makes a sliding movement thereon. The first spring (40) is positioned on the outer surface of the upper container

(32). The upper container (32) comprises at least one third spring slot (321 ) for positioning the first spring (40) in the shell (11 ). The first spring (40) is fixed and its movement is limited by connection with the said third spring slot (321 ). The first spring (40) stores energy by being compressed during its movement in the upward direction (II) on the z-axis (I) of the upper container (32). Said lower container (33) is positioned under the central block (22) and the push/pull shaft (21 ). The lower container (33) has a structure that can be interlocked with the lower holder (13). Thus, the lower container

(33) can make a sliding movement along the z-axis (I) on the first inner cylinder group (132) during the movement of the push/pull shaft (21 ) in the downward direction (III). The lower container (33) comprises at least one second inner cylinder group (331 ), forming a single structure. The heat transfer surface area is increased by said second inner cylinder group (331 ). Thus, heating due to internal friction of the passive feedback control device (1 ) is prevented. At least one viscoelastic material (34) is positioned between the first inner cylinder group (132) of the lower holder (13) and the second inner cylinder group (331 ) of the lower container (33). Friction caused by shear stresses is prevented with said viscoelastic material (34). Thus, the heating due to internal friction is damped by the viscoelastic material (34). The entire volume of the viscoelastic material (34) is utilized, with the lower holder (13) comprising a first inner cylinder group (132) and the lower container comprising a second inner cylinder group (331 ). This is because the first inner cylinder group (132) and the second inner cylinder group (331 ) consist of interlocking cylinders. Thus, the surface area in contact with the viscoelastic material (34) is increased. The second spring (50) is positioned on the outer surface of the lower container (33). The lower container (33) comprises at least one fourth spring slot (332) for positioning the second spring (50) in the shell (1 1 ). The second spring (50) is fixed and its movement is limited by connection with the said fourth spring slot (332). The second spring (50) stores energy by being compressed during its movement in the downward direction (III) on the z-axis (I) of the lower container (33). After the damping process is completed, the second spring (50) together with the viscoelastic material (34) allow the push/pul I control mechanism (20) to move to its initial position or in the upward direction (II) on the z-axis (I) with the energy it stored.

Fig. 5a shows a representative perspective view of the friction system (31 ) of the lever mechanism (30) according to the invention. Accordingly, the friction system (31 ) comprises at least one first interconnecting element (31 1 ) and at least one second interconnecting element (312). Said first interconnecting element (31 1 ) and said second interconnecting element (312) are associated with each other in such a way that they at least partially overlap diagonally.

Fig. 5b shows a representative perspective view of the first interconnecting element (31 1 ) of the friction system (31 ) according to the invention. Accordingly, the first interconnecting element (31 1 ) comprises at least one first swivel joint (31 11 ). Said first swivel joint (31 1 1 ) is connected to at least one first connecting arm (3112). The first swivel joint (31 11 ) enables the said first connecting arm (31 12) and the first interconnecting element (31 1 ) to be connected to each other. The first swivel joint (311 1 ) allows the first connecting arm (3112) to flex in a direction opposite to the movement of the push/pull shaft (21 ) during the movement of the push/pull shaft (21 ) in the direction of the z-axis (I). At least one end of the first connecting arm (3112) comprises at least one first contact element (3113) for connection with the central block (22). Said first contact element (3113) is connected to the central block (22). Thus, the movement of the push/pull shaft (21 ) along the z-axis (I) is transferred to the lever mechanism (30). The other end of the first connecting arm (31 12) is connected perpendicularly to the at least one first friction arm (3114). At least one first friction joint (3115) is provided at both ends of said first friction arm (31 14). Said first friction joint (3115) makes a sliding movement in the friction guide slot (1 1 1 ) in the direction of the z-axis (I). Thus, during the movement of the push/pull shaft (21 ) in the direction of the z-axis (I), a friction force is generated between the first friction joint (31 15) and the friction guide slot (1 11 ). Thus, damping of the vibration/shock is achieved. The first interconnecting element (31 1 ) comprises at least one first contact channel (3116). The first cylinder element (2211 ) located on the guide insert (221 ) can make a sliding movement in the upward direction (II) and in the downward direction (III) along the z-axis (I) on the said first contact channel (31 16). Thus, the force transmission during the movement of the push/pull shaft (21 ) is achieved without any problems. At the same time, heating is prevented by increasing the heat transfer surface area between the central block (22) and the guide insert (221 ). The first interconnecting element (31 1 ) comprises at least one first concave recess (3117) and at least one first convex recess (31 18) for being positioned in such a way as to at least partially overlap diagonally with the second interconnecting element (312). Said first concave recess (3117) and said first convex recess (31 18) has a “U” form.

Fig. 5c shows a representative perspective view of the second interconnecting element (312) of the friction system (31 ) according to the invention. Accordingly, the second interconnecting element (312) comprises at least one second swivel joint (3121 ). Said second swivel joint (3121 ) is connected to at least one second connecting arm (3122). The second joint (3121 ) enables the said second connecting arm (3122) and the second interconnecting element (312) to be connected to each other. The second swivel joint (3121 ) allows the second connecting arm (3122) to flex in a direction opposite to the movement of the push/pull shaft (21 ) during the movement of the push/pull shaft (21 ) in the direction of the z-axis (I). At least one end of the second connecting arm (3122) comprises at least one second contact element (3123) for connection with the central block (22). Said second contact element (3123) is connected to the central block (22). Thus, the movement of the push/pull shaft (21 ) along the z-axis (I) is transferred to the lever mechanism (30). The other end of the second connecting arm (3122) is connected perpendicularly to the at least one second friction arm (3124). At least one second friction joint (3125) is provided at both ends of said second friction arm (3124). Said second friction joint (3125) makes a sliding movement in the friction guide slot (11 1 ) in the direction of the z-axis (I). Thus, during the movement of the push/pull shaft (21 ) in the direction of the z-axis (I), a friction force is generated between the second friction joint (3125) and the friction guide slot (1 11 ). Thus, damping of the vibration/shock is achieved. The second interconnecting element (312) comprises at least one second contact channel (3126). The second cylinder element (2212) located on the guide insert (221 ) can make a sliding movement in the upward direction (II) and in the downward direction (III) along the z-axis (I) on the said second contact channel (3126). Thus, the force transmission during the movement of the push/pull shaft (21 ) is increased. At the same time, heating is prevented by increasing the heat transfer surface area between the central block (22) and the guide insert (221 ). The second interconnecting element (312) comprises at least one second concave recess (3127) and at least one second convex recess (3128) for being positioned in such a way as to at least partially overlap diagonally with the first interconnecting element (31 1 ). Said second concave recess (3127) and said second convex recess (3128) has a “U” form. The first concave recess (3117) and the second convex recess (3128), and the first convex recess (31 18) and the second concave recess (3127) are connected to each other so that the second interconnecting element (312) and the first interconnecting element (31 1 ) are positioned diagonally on each other.

Fig. 6 shows a representative perspective view of the upper container (32) of the lever mechanism (30) according to the invention. Accordingly, said upper container (32) comprises at least one cavity (322) for connection with the first connecting arm (3112) and the second connecting arm (3122). Said cavity (322) is in contact with the first connecting arm (31 12) and the second connecting arm (3122) during the movement of the push/pull shaft (21 ) in the upward direction (II) on the z-axis (I). Thus, the first spring (40) is compressed when the upper container (32) moves in the upward direction (II) on the z-axis (I). The first spring (40) stores energy during compression. The upper container (32) can move in the downward direction (II) for discharging the energy stored by the first spring (40).

The passive feedback control device (1 ) for damping the vibration/shock operates as follows: the vibration/shock generating equipment is connected to the head portion (211 ) of the push/pull shaft (21 ). Due to vibration/shock, the push/pull control mechanism (20) moves in the downward direction (III) on the z-axis (I). The push/pull control mechanism (20) is connected to the friction system (31 ). The first friction joint (31 15) and the second friction joint (3125) located in the friction system (31 ) move in the friction guide slot (1 11 ) in the downward direction (III) on the z-axis (I). Thus, a friction force is generated in the opposite direction to the movement of the push/pull shaft (21 ). In this way, damping is achieved. The friction system (31 ) is connected to the lower container (33). As the friction system (31 ) moves in the downward direction (III) on the z-axis (I), the lower container (33) also moves in the downward direction (III). The lower container (33) can make a sliding movement along the z-axis (I) on the first inner cylinder group (132). Friction caused by shear stresses is prevented by the viscoelastic material (34) positioned between the first inner cylinder group (132) of the lower holder (13) and the second inner cylinder group (331 ) of the lower container (33). Thus, the shear stresses resulting from the deformation of the viscoelastic material (34) provide a damping force in response to the velocity of the object to be damped. The viscoelastic material (34) positioned between the first inner cylinder group (132) of the lower holder (13) and the second inner cylinder group (331 ) of the lower container (33) provides damping force between the inner cylinder group (132) of the lower holder (13) and the second inner cylinder group (331 ) of the lower container (33). The second spring (50) is compressed as the lower container (33) moves in the downward direction (III). Thus, the damping of vibration/shock is more efficient. As the push/pull shaft (21 ) moves in the upward direction (II) on the z-axis (I), the first friction joint (31 15) and the second friction joint (3125) move in the downward direction (II) in the friction guide slot (1 11 ). Damping is achieved precisely thanks to the friction force generated between the first friction joint (31 15) and second friction joint (3125) and the friction guide slot (11 1 ). As the friction system (31 ) moves in the upward direction (II) on the z-axis (I), the upper container (32) also moves in the upward direction (II). The first spring (40) is compressed as the upper container (32) moves in the upward direction (II). In this way, the damping of vibration/shock is more efficient.

According to a possible embodiment of the invention, at least one brake pad (not shown in the figures) is assembled on the surface of the friction guide slot (11 1 ) to increase the friction force. Said brake pad prevents heating and material loss during the movement of the first friction joint (31 15) and the second friction joint (3125) along the z-axis (I) in the friction guide slot (11 1 ). According to a possible embodiment of the invention, the first friction joint (3115) and the second friction joint (3125) moving along the z-axis (I) in the friction guide slot (11 1 ) are made of a steel material. This results in a more effective friction force. In this way, the damping of vibrations/shocks is more efficient. At the same time, the steel material of the first friction joint (31 15) and the second friction joint (3125) increases the strength of the friction system (31 ). This prevents breakage and material loss.

According to a possible embodiment of the invention, two first connecting arms (31 12) are provided on the first interconnecting element (31 1 ). Therefore, a total of two first contact elements (31 13) are provided on the first interconnecting element (31 1 ). Also, a total of four first friction joints (3115) are provided on the first interconnecting element

(31 1 ). Thus, the desired friction force is obtained on the friction guide slot (111 ), resulting in an efficient damping process.

According to a possible embodiment of the invention, two second connecting arms (3122) are provided on the second interconnecting element (312). Therefore, a total of two second contact elements (3123) are provided on the second interconnecting element

(312). Also, a total of four second friction joints (3125) are provided on the second interconnecting element (312). Therefore, a total of four contact elements (the first contact element (31 13) and the second contact element (3123)) and a total of eight friction joints (the first friction joint (31 15) and the second friction joint (3125)) are provided on the friction system (31 ). Also, a total of four friction guide slots (1 1 1 ) are provided on the shell (11 ). Thus, the desired friction force is obtained on the friction guide slot (1 11 ), resulting in an efficient damping process.

According to a possible embodiment of the invention, the first friction joint (3115) and the second friction joint (3125) have a cylindrical structure. Thus, when a sudden force occurs due to vibration/shock, a higher friction force is obtained due to the cylindrical structure of the first friction joint (3115) and the second friction joint (3125). In this way, the damping process can be performed more efficiently.

According to a possible embodiment of the invention, two first contact channels (3116) are provided on the first interconnecting element (31 1 ). Both ends of the first cylinder element (221 1 ) are connected with the first contact channels (3116). The first cylinder element (2211 ) can make a sliding movement on the first contact channels (3116). Thus, the force transmission during the movement of the push/pull shaft (21 ) along the z-axis (I) is increased. At the same time, the heat transfer surface area between the central block (22) and the guide insert (221 ) is increased. This reduces the heating generated during operation of the passive feedback control device (1 ).

According to a possible embodiment of the invention, two second contact channels (3126) are provided on the second interconnecting element (312). Both ends of the second cylinder element (2212) are connected with the second contact channels. The second cylinder element (2212) can make a sliding movement on the second contact channels (3126). Thus, the force transmission during the movement of the push/pull shaft (21 ) along the z-axis (I) is increased. At the same time, the heat transfer surface area between the central block (22) and the guide insert (221 ) is increased. This reduces the heating generated during operation of the passive feedback control device (1 ).

According to a possible embodiment of the invention, solid oil (not shown in the figures) is applied to the areas outside the friction guide slot (1 11 ), between the body (10), the push/pull control mechanism (20), the lever mechanism (30), and the components thereof, to prevent internal friction during operation of the passive feedback control device (1 ). This prevents internal friction during system operation. In this way, heating is prevented. Said solid oil is grease.

The assembly steps of the components of the passive feedback control device (1 ) are as follows.

First, the brake pad is assembled on the surface of the friction guide slot (1 1 1 ). The lower container (33) is inserted into the lower holder (13). Then the viscoelastic material (34) is assembled between the lower container (33) and the lower holder (13). The second spring (50) is positioned in the second spring slot (131 ) on the lower holder (13) and the fourth spring slot (332) on the lower container (33). The lower holder (13) is then fixed to the shell (11 ) with a connecting element.

The first interconnecting element (31 1 ) and the second interconnecting element (312) are joined to obtain the friction system (31 ). The first contact element (3113) and the second contact element (3123) on the friction system (31 ) are connected to the central block (22). The friction system (31 ) and the central block (22) are then assembled into the shell (1 1 ).

- The push/pull shaft (21 ) is connected to the central block (22) with connecting elements.

- The upper container is assembled such that it fits over the first interconnecting element (31 1 ) and the second interconnecting element (312) located in the friction system (31 ). The first spring (40) is then positioned in the third spring slot (321 ) on the upper container (32).

The upper holder (12) is fixed to the shell (11 ) with connecting elements by positioning the first spring (40) such that it fits into the first spring slot (121 ). At the same time, the upper holder (12) is fixed to the shell (11 ) with connecting elements such that the prismatic form of the push/pull shaft (21 ) and the prismatic form of the bearing (122) fit together.

In accordance with all these descriptions, the damping of vibrations/shocks with the passive feedback control device (1 ) according to the invention is based on passive feedback together with the displacement, velocity and acceleration of the vibration/shock generating object. Thus, the passive feedback control device (1 ) can be used even when the acceleration is zero or changing. The passive feedback control device (1 ) provides the damping force, which is a function of the system velocity, and the elastic force, which is a function of the system displacement. And with the function of acceleration, an damping is performed throughout the entire cycle during the operation of the system by using energy absorbing elements. The energy absorbing elements basically include all passive feedback control device (1 ) components. In this way, ambient vibrations/shocks are efficiently isolated, deflection is limited, resonance is reduced and a much better system performance is achieved. Furthermore, the passive feedback control device (1 ) consists of a mechanical system. This makes the passive feedback control device (1 ) fast, responsive, easy to manufacture, easy to maintain, inexpensive, efficient, robust and reliable.

The scope of protection of the invention is set out in the appended claims and shall in no way be limited to what is described in this detailed description for illustrative purposes. Indeed, it is clear that a person skilled in the art can come up with similar embodiments in light of the foregoing description without departing from the main theme of the invention. REFERENCE NUMBERS IN THE DRAWING

1 Passive Feedback Control Device

10 Body

11 Shell

111 Friction Guide Slot

12 Upper Holder

121 First Spring Slot

122 Bearing

13 Lower Holder

131 Second Spring Slot

132 First Inner Cylinder Group

20 Push/Pull Control Mechanism

21 Push/Pull Shaft

211 Head Portion

22 Central Block

221 Guide Insert

2211 First Cylinder Element

2212 Second Cylinder Element

222 Fixing Slot

30 Lever Mechanism

31 Friction System

311 First Interconnecting Element

3111 First Swivel Joint

3112 First Connecting Arm*

3113 First Contact Element

3114 First Friction Arm

3115 First Friction Joint

3116 First Contact Channel

3117 First Concave Recess

3118 First Convex Recess

312 Second Interconnecting Element 3121 Second Swivel Joint

3122 Second Connecting Arm

3123 Second Contact Element

3124 Second Friction Arm

3125 Second Friction Joint

3126 Second Contact Channel

3127 Second Concave Recess

3128 Second Convex Recess

32 Upper container

321 Third Spring Slot

322 Cavity

33 Lower Container

331 Second Inner Cylinder Group

332 Fourth Spring Slot

34 Viscoelastic Material

40 First Spring

50 Second Spring

(I) Z-Axis

(II) Upward Direction

(III) Downward Direction

Claims

CLAIMS A passive feedback control device (1 ) used in damping vibrations/shocks, characterized in that it comprises a body (10) having at least one shell (1 1 ), at least one push/pull control mechanism (20) which is at least partially movable along a z-axis within the said shell (1 1 ) and associated with the element to be damped, at least one lever mechanism (30) which allows damping by friction between said push/pull control mechanism (20) and the shell, and at least one first spring (40) and at least one second spring (50) positioned on opposing sides of said lever mechanism (30) and compressible during the movement of the push/pull control mechanism (20) in the opposite direction along the z-axis (I). A passive feedback control device (1 ) according to claim 1 , characterized in that it comprises at least one lower container (33) associated with the lever mechanism (30) and movable in an opposite direction along the z-axis (I) to generate a damping force by compressing said second spring (50), and at least one lower holder (13) configured to interlock with said lower container (33). A passive feedback control device (1 ) according to claim 2, characterized in that the lower container (33) comprises at least one second inner cylinder group (331 ) and the lower holder (13) comprises at least one first inner cylinder group (132) to match the form of said second inner cylinder group (331 ), so that the lower container (33) and said lower holder (13) can move along the z-axis (I), interlocked with each other. A passive feedback control device (1 ) according to claim 1 , characterized in that the push/pull control mechanism (10) comprises at least one push/pull shaft (21 ) movable along the z-axis (I) for damping vibration/shock and at least one central block (22) which can be connected to the lever mechanism (30) on the lower side of said push/pull shaft (21 ). A passive feedback control device (1 ) according to claim 2, characterized in that at least one viscoelastic material (34) is positioned between said first inner cylinder group (132) and second inner cylinder group (331 ) to prevent heating due to shear stresses.

6. A passive feedback control device (1 ) according to claim 4, characterized in that said central block (22) comprises at least one guide insert (221 ) and at least one fixing slot (222) for connection with the lever mechanism (30).

7. A passive feedback control device (1 ) according to claim 1 , characterized in that the friction system (31 ) comprises at least one first interconnecting element (311 ) and at least one second interconnecting element (312), which generate a friction force by contacting the shell (11 ) for damping vibration/shock during movement of the push/pull shaft (21 ) along the z-axis (I), and which can be assembled or disassembled on each other.

8. A passive feedback control device (1 ) according to claim 7, characterized in that said first interconnecting element (31 1 ) and said second interconnecting element (312) are associated with each other in such a way that they at least partially overlap diagonally.

9. A passive feedback control device (1 ) according to claim 7, characterized in that the first interconnecting element (31 1 ) comprises at least one first connecting arm (31 12) and the second interconnecting element (312) comprises at least one second connecting arm (3122).

10. A passive feedback control device (1 ) according to claim 7 or claim 9, characterized in thatVne first interconnecting element (311 ) comprises at least one first swivel joint (31 1 1 ) allowing said first connecting arm (31 12) to flex in a direction opposite to the movement of the push/pull shaft (21 ) during the movement of the push/pull shaft (21 ) in the z-axis (I) direction, and the second interconnecting element (312) comprises at least one second swivel joint (3121 ) allowing said second connecting arm (3122) to flex in a direction opposite to the movement of the push/pull shaft (21 ) during the movement of the push/pull shaft (21 ) in the z-axis (I) direction.

11 . A passive feedback control device (1 ) according to claim 9, characterized in that at least one end of said first connecting arm (31 12) comprises at least one first contact element (3113) for connection with the central block (22), and at least one end of said second connecting arm (3122) comprises at least one second contact element (3123) for connection with the central block (22). A passive feedback control device (1 ) according to claim 9, characterized in that it comprises at least one first friction arm (31 14) perpendicularly connected with at least one end of the first connecting arm (31 12) and at least one second friction arm (3124) perpendicularly connected with at least one end of the second connecting arm (3122). A passive feedback control device (1 ) according to claim 12, characterized in that said first friction arm (31 14) comprises at least one first friction joint (3115) for damping the vibration/shock by generating a friction force between itself and the shell (11 ) during movement of the push/pull shaft (21 ) in the z-axis (I) direction, and said second friction arm (3124) comprises at least one second friction joint (3125) for damping the vibration/shock by generating a friction force between itself and the shell (11 ) during movement of the push/pull shaft (21 ) in the z-axis (I) direction. A passive feedback control device (1 ) according to claim 1 or claim 13, characterized in that the shell (11 ) comprises at least one friction guide slot (1 1 1 ) associated with said first friction joint (31 15) and said second friction joint (3125) for damping the vibration/shock during movement of the friction system (31 15) in the z- axis (I) direction. A passive feedback control device (1 ) according to claim 14, characterized in that at least one brake pad is positioned on the surface of said friction guide slot (1 11 ). A passive feedback control device (1 ) according to claim 13, characterized in that the first friction joint (3115) and the second friction joint (3125) have a cylindrical structure.