阅读说明：本技术 一种吸盘式磁流变阻尼系统及方法 (Sucker type magnetorheological damping system and method ) 是由 陈冰 杨宝通 牛智炀 于 2019-09-03 设计创作，主要内容包括：本发明提出一种吸盘式磁流变阻尼系统及方法,属于阻尼器领域；阻尼系统包括吸盘组件、磁流变阻尼组件、支撑组件、控制器和连接组件；所述吸盘组件、磁流变阻尼组件和支撑组件依次同轴安装,并通过连接组件与控制器连接；所述控制器用于对阻尼系统各部件进行驱动,并对所述吸盘组件采集的信号进行采集处理,所述连接组件包括电机驱动线、线圈驱动线、负压泵驱动线、传感器线以及负压软管；采用磁流变液旁路的设计,结合大气压强以及压电传感器的力感知功能,避免了传统磁流变阻尼器的密封件与轴或孔之间的相对运动,从而降低了磁流变阻尼器的始终存在的不可控摩擦力,使得磁流变阻尼器的可控阻尼力的下限降低,提高了磁流变阻尼器的可控范围。(the invention provides a sucker type magnetorheological damping system and method, belonging to the field of dampers; the damping system comprises a sucker component, a magnetorheological damping component, a supporting component, a controller and a connecting component; the sucker assembly, the magnetorheological damping assembly and the support assembly are sequentially and coaxially arranged and are connected with the controller through the connecting assembly; the controller is used for driving all parts of the damping system and collecting and processing signals collected by the sucker assembly, and the connecting assembly comprises a motor driving wire, a coil driving wire, a negative pressure pump driving wire, a sensor wire and a negative pressure hose; by adopting the design of the magnetorheological fluid bypass, the atmospheric pressure and the force sensing function of the piezoelectric sensor are combined, and the relative motion between a sealing element and a shaft or a hole of the traditional magnetorheological damper is avoided, so that the always existing uncontrollable friction force of the magnetorheological damper is reduced, the lower limit of the controllable damping force of the magnetorheological damper is reduced, and the controllable range of the magnetorheological damper is improved.)

1. A sucking disc formula magnetic current becomes damping system which characterized in that: the magnetorheological damper comprises a sucker component, a magnetorheological damping component, a supporting component, a controller and a connecting component; the sucker assembly, the magnetorheological damping assembly and the support assembly are sequentially and coaxially arranged and are connected with the controller through the connecting assembly; the controller is used for driving all parts of the damping system and collecting and processing signals collected by the sucker assembly, and the connecting assembly comprises a motor driving wire, a coil driving wire, a negative pressure pump driving wire, a sensor wire and a negative pressure hose;

the sucker component comprises a sucker, a sucker seat, a piezoelectric sensor and a negative pressure pump; the sucker seat is of a cylindrical structure, a blind hole is formed in the center of the upper end face of the sucker seat, a threaded blind hole is formed in the center of the lower end face of the sucker seat, a boss is arranged on the side wall of the sucker seat, and an opening in the boss is communicated with the blind hole in the upper end face and is used for being in sealing connection with the negative pressure hose; the convergence port of the sucker is coaxially and hermetically sleeved at the upper end of the sucker seat, and the three piezoelectric sensors are uniformly distributed on the upper end surface of the sucker seat along the circumferential direction; the piezoelectric sensor is connected with the controller through a sensor wire, the negative pressure pump is communicated with the inside of the sucker through a negative pressure hose, and the controller is connected with the negative pressure pump through a negative pressure pump driving wire to control the on-off of negative pressure;

the magnetorheological damping component comprises a shaft, an upper end cover, a lower end cover, an upper cylinder body, a lower cylinder body, an upper damping disc, a lower damping disc, an upper gasket, a lower gasket, an upper sealing bowl, a lower sealing bowl, an upper guide sleeve, a lower guide sleeve, a plunger and a coil; the upper cylinder body and the lower cylinder body are of hollow cylindrical structures with equal diameters, and are coaxially installed into a cylinder body through matching of external threads at the lower end of the upper cylinder body and internal threads at the upper end of the lower cylinder body; the two open ends of the cylinder body are respectively sealed by an upper end cover and a lower end cover, the centers of the upper end cover and the lower end cover are respectively provided with a through hole, and an upper guide sleeve and a lower guide sleeve are respectively and coaxially arranged; the shaft sequentially penetrates through the upper guide sleeve and the lower guide sleeve, axially penetrates through the cylinder body, and is in clearance fit with the upper guide sleeve and the lower guide sleeve; an annular stepped boss is arranged on the inner surface of the upper cylinder body, and the annular boss arranged on the lower surface of the upper end cover is matched with the stepped surface facing the upper end cover to coaxially clamp and fix the upper sealing bowl; the upper sealing bowl is an annular part made of elastic materials, and an inner hole of the upper sealing bowl is in interference fit with the shaft; an inner hole of the annular boss facing the lower end cover in the upper cylinder body is in clearance fit with the shaft; the internal structures of the lower cylinder body and the upper cylinder body are symmetrical, and the mounting positions of the lower sealing bowl and the upper sealing bowl are symmetrical; the coil is coaxially arranged in a cavity between the upper cylinder body and the lower cylinder body, the coil is of an annular structure, two ends of the coil are respectively and hermetically arranged on annular step surfaces in the upper cylinder body and the lower cylinder body through the upper gasket and the lower gasket, the outer peripheral surface of the coil is in interference fit with the inner surface of the cylinder body and is connected with a controller through a coil driving wire; the upper damping disc and the lower damping disc are of annular structures with the same structure and are coaxially fixed on the inner circumferential surface of the coil, and the mounting surfaces of the upper damping disc and the lower damping disc are attached and are pressed tightly through the upper gasket and the lower gasket to prevent the magnetorheological fluid from polluting the coil; the inner peripheral surfaces of the upper damping disc and the lower damping disc are provided with annular bosses which are in clearance fit with the shaft; the shaft is of a hollow tubular structure with one closed end, and an annular boss arranged on the peripheral surface of the shaft is positioned in a cavity between the upper damping disc and the lower damping disc; the closed end of the shaft is matched and installed with the threaded blind hole of the sucker seat through threads, and the open end of the shaft is closed through the plunger; the pipe wall of the shaft is provided with a plurality of through holes which are respectively positioned between the upper sealing bowl and the upper damping disc and between the lower sealing bowl and the lower damping disc, so that magnetorheological fluids in the two spaces can mutually circulate;

The support assembly includes: the device comprises a first support, a second support, a linear motor, a support screw, a motor shaft screw and a clamp; the hoop is fixedly arranged at the center of the outer peripheral surface of the cylinder body; the first support and the second support are both of U-shaped frame structures, the center of the bottom end of the second support is coaxially and fixedly installed with a telescopic shaft of the linear motor through a motor shaft screw, and the linear motor is connected with a controller through a motor driving wire; the first support and the second support are crossed to form a universal joint structure, the bottom end of the first support is mounted with two lugs at the upper end of the second support through support screws, the two lugs at the upper end of the first support are mounted with a hoop through the support screws, and the magnetorheological damping component is mounted between the two lugs of the first support; the rotation or fixation state of the magnetorheological damping component and the first support can be respectively adjusted by adjusting the tightness state of each support screw.

2. The sucker-type magnetorheological damping system of claim 1, wherein: the upper cylinder body and the lower cylinder body are made of magnetic conductive materials, the upper damping disc, the lower damping disc and the shaft are made of non-magnetic conductive materials, and the upper gasket and the lower gasket are made of annular elastic materials.

3. The sucker-type magnetorheological damping system of claim 1, wherein: the expansion opening of the sucker is made of sponge materials, and the rest of the sucker is made of rubber materials.

4. The sucker-type magnetorheological damping system of claim 1, wherein: the upper sealing bowl and the lower sealing bowl are identical in structure, and the part between the central hole and the outer edge of the upper sealing bowl is wavy and used for increasing the axial variable distance of the upper sealing bowl and the lower sealing bowl.

5. The sucker-type magnetorheological damping system of claim 1, wherein: the inner diameters of the upper gasket and the lower gasket are the same as the inner diameters of the upper damping disc and the lower damping disc.

6. The sucker-type magnetorheological damping system of claim 1, wherein: the outer peripheral surfaces of the upper cylinder body and the lower cylinder body are parallelly provided with annular bosses, and the hoop is arranged between the annular bosses.

7. The sucker-type magnetorheological damping system of claim 1, wherein: the upper end in the upper cylinder body and the upper sealing bowl form a first space, and the lower end and the upper surface of the upper damping disc form a second space; the lower end in the lower cylinder body and the lower sealing bowl form a sixth space, and the upper end and the lower surface of the lower damping disc form a fifth space; the annular boss of the shaft, the lower surface of the upper damping disc and the upper surface of the lower damping disc respectively form a third space and a fourth space; the tube wall of the shaft is provided with a plurality of through holes which are respectively communicated with the sixth space of the first space, so that the magnetorheological fluid in the first space, the second space, the fifth space and the sixth space can mutually circulate.

8. a method of controlling the suction disc magnetorheological damping system of claim 1, comprising the steps of:

Initial state: the part to be damped is positioned on the upper side of the sucker, a telescopic shaft of the linear motor does not extend out, and a support screw is not screwed down;

The method comprises the following steps: the controller collects the electric signals of the three piezoelectric sensors and converts the electric signals into stress values;

Step two: the controller drives the linear motor to enable a telescopic shaft of the linear motor to extend out of a set distance;

Step three: the controller judges whether the stress values reflected by the three piezoelectric sensors are within an initial setting range in pairs; if so, driving the negative pressure pump to work, so as to ensure that the three piezoelectric sensors are in contact with the part to be damped under the action of the sucker, keeping the current position of the linear motor by the controller, and manually screwing the support screw at the moment; if not, jumping to the second step;

Step four: the controller drives the coil to work;

Step five: and detecting a piezoelectric sensor signal at intervals of set time, giving an alarm when the stress value reflected by the piezoelectric sensor is smaller than a set value, and stopping the driving coil from working, otherwise, the controller continues to drive the coil to work.

Technical Field

The invention belongs to the field of dampers, and particularly relates to a sucker type magnetorheological damping system and method, which are suitable for a vibration damping scene without damaging the surface integrity of a vibration damped target.

Background

the magnetorheological damper is widely applied to the scenes of shock absorption, vibration isolation and the like in various industries, and the scenes adopt the modes of bolts, welding and the like to connect the magnetorheological damper with a damped part. However, in some special cases such as: parts such as large-scale skin, blades with complex curved surface characteristics, casings and the like need to be subjected to vibration suppression by adopting dampers in machining engineering, but the parts cannot be stably connected with a magnetorheological damper and a damped part in the manner. In addition, due to the fact that the friction force is large due to the sealing design of the magnetorheological damper, the magnetorheological fluid cannot generate small damping force, and the controllable range of the damping force of the magnetorheological damper is reduced.

Patent document CN102278410 discloses a magnetorheological damper without an external power supply, which is sealed by a sealing plug, the sealing is realized by installing parts such as piston rings between a hole and a shaft, the sealing principle is relative friction between the hole or the shaft and the piston ring, and the effect caused by the sealing is the generation of larger friction force. In addition, the design of the damper with earrings is difficult to connect with a curved part without damage.

The patent document CN 103148157 discloses a multistage extrusion magnetorheological damper, which is sealed by a sealing ring, and has the above-mentioned drawbacks.

in conclusion, the invention adopts the sucker design of the integrated piezoelectric sensor, and solves the problem of no damage on connection between the damper and the curved surface piece; the design of the sealing bowl and the tubular shaft made of elastic materials realizes the innovative solution of the sealing problem of the magnetorheological damper, and simultaneously, the controllable range of the damping force of the magnetorheological damper is enlarged. In addition, the control flow of the controller is designed for the sucker type magnetorheological damper.

Disclosure of Invention

the technical problem to be solved is as follows:

in order to avoid the defects of the prior art, the invention provides a sucker type magnetorheological damping system and a sucker type magnetorheological damping method, and particularly aims at the scenes that the conventional magnetorheological damper is large in friction force, poor in sealing performance, limited in controllable range and incapable of reliably connecting objects without connecting pairs. By adopting the design of the magnetorheological fluid bypass, the atmospheric pressure and the force sensing function of the piezoelectric sensor are combined, and the relative motion between a sealing element and a shaft or a hole of the traditional magnetorheological damper is avoided, so that the always existing uncontrollable friction force of the magnetorheological damper is reduced, the lower limit of the controllable damping force of the magnetorheological damper is reduced, and the controllable range of the magnetorheological damper is improved.

The technical scheme of the invention is as follows: a sucking disc formula magnetic current becomes damping system which characterized in that: the magnetorheological damper comprises a sucker component, a magnetorheological damping component, a supporting component, a controller and a connecting component; the sucker assembly, the magnetorheological damping assembly and the support assembly are sequentially and coaxially arranged and are connected with the controller through the connecting assembly; the controller is used for driving all parts of the damping system and collecting and processing signals collected by the sucker assembly, and the connecting assembly comprises a motor driving wire, a coil driving wire, a negative pressure pump driving wire, a sensor wire and a negative pressure hose;

The sucker component comprises a sucker, a sucker seat, a piezoelectric sensor and a negative pressure pump; the sucker seat is of a cylindrical structure, a blind hole is formed in the center of the upper end face of the sucker seat, a threaded blind hole is formed in the center of the lower end face of the sucker seat, a boss is arranged on the side wall of the sucker seat, and an opening in the boss is communicated with the blind hole in the upper end face and is used for being in sealing connection with the negative pressure hose; the convergence port of the sucker is coaxially and hermetically sleeved at the upper end of the sucker seat, and the three piezoelectric sensors are uniformly distributed on the upper end surface of the sucker seat along the circumferential direction; the piezoelectric sensor is connected with the controller through a sensor wire, the negative pressure pump is communicated with the inside of the sucker through a negative pressure hose, and the controller is connected with the negative pressure pump through a negative pressure pump driving wire to control the on-off of negative pressure;

The magnetorheological damping component comprises a shaft, an upper end cover, a lower end cover, an upper cylinder body, a lower cylinder body, an upper damping disc, a lower damping disc, an upper gasket, a lower gasket, an upper sealing bowl, a lower sealing bowl, an upper guide sleeve, a lower guide sleeve, a plunger and a coil; the upper cylinder body and the lower cylinder body are of hollow cylindrical structures with equal diameters, and are coaxially installed into a cylinder body through matching of external threads at the lower end of the upper cylinder body and internal threads at the upper end of the lower cylinder body; the two open ends of the cylinder body are respectively sealed by an upper end cover and a lower end cover, the centers of the upper end cover and the lower end cover are respectively provided with a through hole, and an upper guide sleeve and a lower guide sleeve are respectively and coaxially arranged; the shaft sequentially penetrates through the upper guide sleeve and the lower guide sleeve, axially penetrates through the cylinder body, and is in clearance fit with the upper guide sleeve and the lower guide sleeve; an annular stepped boss is arranged on the inner surface of the upper cylinder body, and the annular boss arranged on the lower surface of the upper end cover is matched with the stepped surface facing the upper end cover to coaxially clamp and fix the upper sealing bowl; the upper sealing bowl is an annular part made of elastic materials, and an inner hole of the upper sealing bowl is in interference fit with the shaft; an inner hole of the annular boss facing the lower end cover in the upper cylinder body is in clearance fit with the shaft; the internal structures of the lower cylinder body and the upper cylinder body are symmetrical, and the mounting positions of the lower sealing bowl and the upper sealing bowl are symmetrical; the coil is coaxially arranged in a cavity between the upper cylinder body and the lower cylinder body, the coil is of an annular structure, two ends of the coil are respectively and hermetically arranged on annular step surfaces in the upper cylinder body and the lower cylinder body through the upper gasket and the lower gasket, the outer peripheral surface of the coil is in interference fit with the inner surface of the cylinder body and is connected with a controller through a coil driving wire; the upper damping disc and the lower damping disc are of annular structures with the same structure and are coaxially fixed on the inner circumferential surface of the coil, and the mounting surfaces of the upper damping disc and the lower damping disc are attached and are pressed tightly through the upper gasket and the lower gasket to prevent the magnetorheological fluid from polluting the coil; the inner peripheral surfaces of the upper damping disc and the lower damping disc are provided with annular bosses which are in clearance fit with the shaft; the shaft is of a hollow tubular structure with one closed end, and an annular boss arranged on the peripheral surface of the shaft is positioned in a cavity between the upper damping disc and the lower damping disc; the closed end of the shaft is matched and installed with the threaded blind hole of the sucker seat through threads, and the open end of the shaft is closed through the plunger; the pipe wall of the shaft is provided with a plurality of through holes which are respectively positioned between the upper sealing bowl and the upper damping disc and between the lower sealing bowl and the lower damping disc, so that magnetorheological fluids in the two spaces can mutually circulate;

the support assembly includes: the device comprises a first support, a second support, a linear motor, a support screw, a motor shaft screw and a clamp; the hoop is fixedly arranged at the center of the outer peripheral surface of the cylinder body; the first support and the second support are both of U-shaped frame structures, the center of the bottom end of the second support is coaxially and fixedly installed with a telescopic shaft of the linear motor through a motor shaft screw, and the linear motor is connected with a controller through a motor driving wire; the first support and the second support are crossed to form a universal joint structure, the bottom end of the first support is mounted with two lugs at the upper end of the second support through support screws, the two lugs at the upper end of the first support are mounted with a hoop through the support screws, and the magnetorheological damping component is mounted between the two lugs of the first support; the rotation or fixation state of the magnetorheological damping component and the first support can be respectively adjusted by adjusting the tightness state of each support screw.

the further technical scheme of the invention is as follows: the upper cylinder body and the lower cylinder body are made of magnetic conductive materials, the upper damping disc, the lower damping disc and the shaft are made of non-magnetic conductive materials, and the upper gasket and the lower gasket are made of annular elastic materials.

The further technical scheme of the invention is as follows: the expansion opening of the sucker is made of sponge materials, and the rest of the sucker is made of rubber materials.

The further technical scheme of the invention is as follows: the upper sealing bowl and the lower sealing bowl are identical in structure, and the part between the central hole and the outer edge of the upper sealing bowl is wavy and used for increasing the axial variable distance of the upper sealing bowl and the lower sealing bowl.

The further technical scheme of the invention is as follows: the inner diameters of the upper gasket and the lower gasket are the same as the inner diameters of the upper damping disc and the lower damping disc.

The further technical scheme of the invention is as follows: the outer peripheral surfaces of the upper cylinder body and the lower cylinder body are parallelly provided with annular bosses, and the hoop is arranged between the annular bosses.

The further technical scheme of the invention is as follows: the upper end in the upper cylinder body and the upper sealing bowl form a first space, and the lower end and the upper surface of the upper damping disc form a second space; the lower end in the lower cylinder body and the lower sealing bowl form a sixth space, and the upper end and the lower surface of the lower damping disc form a fifth space; the annular boss of the shaft, the lower surface of the upper damping disc and the upper surface of the lower damping disc respectively form a third space and a fourth space; the tube wall of the shaft is provided with a plurality of through holes which are respectively communicated with the sixth space of the first space, so that the magnetorheological fluid in the first space, the second space, the fifth space and the sixth space can mutually circulate.

a control method of a suction disc type magnetorheological damping system is characterized by comprising the following steps:

Initial state: the part to be damped is positioned on the upper side of the sucker, a telescopic shaft of the linear motor does not extend out, and a support screw is not screwed down;

the method comprises the following steps: the controller collects the electric signals of the three piezoelectric sensors and converts the electric signals into stress values;

step two: the controller drives the linear motor to enable a telescopic shaft of the linear motor to extend out of a set distance;

step three: the controller judges whether the stress values reflected by the three piezoelectric sensors are within an initial setting range in pairs; if so, driving the negative pressure pump to work, so as to ensure that the three piezoelectric sensors are in contact with the part to be damped under the action of the sucker, keeping the current position of the linear motor by the controller, and manually screwing the support screw at the moment; if not, jumping to the second step;

step four: the controller drives the coil to work;

Step five: and detecting a piezoelectric sensor signal at intervals of set time, giving an alarm when the stress value reflected by the piezoelectric sensor is smaller than a set value, and stopping the driving coil from working, otherwise, the controller continues to drive the coil to work.

advantageous effects

The invention has the beneficial effects that:

1) The magnetorheological damper is connected with the vibration-damped part by adopting a sucker combined by sponge and rubber, the surface of the connecting part to be treated cannot be damaged, and the connection condition of the damper and the vibration-damped part can be reflected in real time by the integrated piezoelectric sensor of the sucker component.

2) The magnetorheological fluid circulation bypass is formed by the design of the tubular shaft, and the design of the upper sealing bowl and the lower sealing bowl is matched, so that the magnetorheological fluid is completely sealed and excessive friction force cannot be generated due to the defect that the traditional magnetorheological damper sealing piece and the piston shaft move relatively; in addition, the controllable range of the magneto-rheological damper is improved; the wave-shaped features are designed between the central holes and the outer edges of the upper sealing bowl and the lower sealing bowl, and the wave-shaped features act to improve the axial variable distance of the sealing bowls.

3) the first support and the second support form a universal joint structure, and the adaptability of the magneto-rheological damper to a common curved surface is improved.

4) The adoption of the piezoelectric sensor forms a closed loop of the magnetorheological controller, and realizes the detection of the contact reliability and the real-time measurement of the damping force.

Drawings

FIG. 1 is an isometric view of an overall model of the invention;

FIG. 2 is a flow chart of the controller operation of the present invention;

FIG. 3 is a three-dimensional model of the chuck assembly, magnetorheological damping assembly, and support assembly of the present invention;

FIG. 4 is a three-dimensional isometric view of the suction cup assembly of the present invention;

FIG. 5 is a cross-sectional view of the chuck assembly of the present invention;

FIG. 6 is a cross-sectional view of a magnetorheological damping assembly in accordance with the invention;

FIG. 7 is a cross-sectional view of the magnetorheological damping assembly of the present invention extending outwardly for a maximum travel;

FIG. 8 is a cross-sectional view of the magnetorheological damping assembly of the present invention retracted inwardly for a maximum travel;

FIG. 9 is a schematic view of a flow-through bypass of magnetorheological fluid of the magnetorheological damping assembly of the present invention;

FIG. 10 is a schematic view of a sealing bowl of the magnetorheological damping assembly of the present invention.

Description of reference numerals: 101. the suction cup assembly comprises a suction cup, 102, a suction cup seat, 103, a piezoelectric sensor, 104, a negative pressure pump and 101-104, wherein the suction cup assembly 100 is formed together; 201. the magnetorheological damper comprises a shaft, 202, an upper end cover, 203, a lower end cover, 204, an upper cylinder body, 205, a lower cylinder body, 206, an upper damping disc, 207, a lower damping disc, 208, an upper gasket, 209, a lower gasket, 210, an upper sealing bowl, 211, a lower sealing bowl, 212, an upper guide sleeve, 213, a lower guide sleeve, 214, a plunger, 215, a coil, 216, magnetorheological fluid, and 200 to 216, wherein the magnetorheological damping component is formed by the magnetorheological fluid from 201 to 216; 301. the support assembly comprises a first support, 302, a second support, 303, a linear motor, 304, a support screw, 305, a motor shaft screw, 306, a hoop and 301-306, which together form a 300 support assembly; 400. a controller; 501. the connecting assembly 500 is formed by a motor driving wire, 502, a coil driving wire, 503, a negative pressure pump driving wire, 504, a sensor wire, 505, a negative pressure hose and 501-505.

Detailed Description

The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

in the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.