CN105114526B - A kind of intelligent adjustable damping unit of damping force - Google Patents

Abstract

The invention discloses a damping device with intelligent adjustable damping force. The device adopts axisymmetric design, and the part of the rotating shaft located in the working chamber is designed as a fence structure. The size of the shear force will affect the viscosity of the fluid, thereby adjusting the damping force of the device; changing the traditional linear design to an axisymmetric rotating shaft design can not only eliminate radial and axial vibrations and vibrations, but also ensure the stability of the equipment. Quick start, thereby improving work efficiency; the present invention can generate a large damping force in the case of vibration and vibration of the rotating shaft to achieve the purpose of vibration reduction; in the case of smooth operation, maintain a small damping force, so that the mechanism can High speed movement. Therefore, the contradictory problem of the large damping force required in the vibration reduction process and the small resistance required in the motion process can be effectively resolved.

Description

A damping device with intelligent adjustable damping force

technical field

The invention relates to a damping device with intelligent adjustable damping force.

Background technique

Shock and vibration are ubiquitous in industrial production, seriously affecting the positioning, clamping and operation of precision equipment and robots, and even causing damage to the equipment and robots themselves. Various dampers have been used to reduce vibration in industries such as aerospace, automobiles, robots, and processing equipment. Dampers have become an indispensable key functional component in modern industry.

Due to the rapid development of robots in recent years, especially light-load and high-speed 3C robots, new requirements are put forward for dampers. In 3C robots, a large number of axial rotation mechanisms are used to simulate the complex movements that the human arm can perform. Due to the small load, when the robot arm rotates in a large range, the overall center of gravity and inertia of the robot will undergo major changes, which will easily cause the robot arm to vibrate, thereby affecting the operation accuracy. Moreover, this type of robot has the characteristics of high-frequency reciprocating work, requiring the damper to have as little effect on the robot's starting speed as possible.

A viscous liquid damper is a commonly used vibration reduction device. Its viscous medium is generally a Newtonian fluid, that is, its viscosity is constant under any circumstances. Therefore, once its structural size design is completed, its output characteristics such as damping force and stiffness are limited to constant values. A large damping force can quickly suppress vibration when deceleration is required, but a large damping force will become motion resistance during operation, severely restricting the motion speed of equipment and robots. The traditional spring damper also has the same problem. The large damping force required in the vibration reduction process and the low resistance required in the motion process are irreconcilable contradictions in this type of constant damping vibration reduction device, and it is urgent to develop new methods and devices for intelligent vibration reduction.

New active or semi-active smart materials such as electrorheological fluids and magnetorheological fluids are also used in vibration reduction. Under the control of an external electric or magnetic field, the damping force can be changed and thus adapted to different situations. However, it requires an additional electric field or magnetic field device and a control module, resulting in complex equipment structure and difficult control.

Shear Thickening Fluid (STF) is a new type of smart material. Under normal conditions, the viscosity of the shear thickening fluid is low and the damping force is small; once encountering high-speed impact, shearing or extrusion, the viscosity of the fluid increases rapidly, resulting in a sharp increase in the damping force. When the external stimulus disappears, the fluid returns to its original low-viscosity state. Because of this special property, shear-thickening fluids are currently widely used in body armor. It is also used in dampers, such as the invention patent CN101251163B, which proposes a shock-resistant shock absorber based on shear thickening fluid, which solves the problem that the damping and recovery of existing shock absorbers using hydraulic oil are not ideal enough. This type of mechanism makes use of the gap between the high-speed moving piston and the cavity to make the fluid subject to greater shearing action, which thickens the fluid and increases the damping force, and at the same time comprehensively utilizes the compressibility of the bottom gas to buffer shock and vibration . However, this type of damper can only be applied to the vibration reduction of traditional high-speed linear motion actuators, and is not suitable for the vibration reduction of rotary actuators that are widely required in the current rapidly developing 3C robots. Since the 3C robot has just started, there are no relevant literature and patents on the rotary damping device based on shear thickening fluid and intelligently adjustable damping force.

Contents of the invention

The invention proposes a damping device with intelligent adjustable damping force, which uses the change of the shear rate of the shear thickening fluid caused by the change of the rotating shaft speed to adjust the viscosity of the fluid in the working chamber and the resulting damping force, thereby changing the operating time of the mechanism. The resistance to achieve the purpose of intelligent vibration reduction.

A damping device with intelligent adjustable damping force, comprising a working chamber 1, a left end cover 3, a left sealing cover 4, a left guide wheel 5, a right end cover 6, a right sealing cover 8, a right guide wheel 9 and a rotating shaft 10, inside the working chamber Filled with shear thickening fluid 11;

The rotating shaft 10 is inserted in the working chamber 1, and the rotating shaft part in the working chamber is a fence structure, and is guided by the left guide wheel 5 and the right guide wheel 9 fixed at both ends of the working chamber;

The two ends of the working chamber are respectively provided with a left end cover 4 and a right end cover 6 for assembly;

A left sealing cover 4 and a right sealing cover 8 are respectively provided between the two ends of the rotating shaft 10 and the left end cover and the right end cover;

One end of the rotating shaft 10 is connected to an external motor and is driven by the motor; the other end is connected to the execution unit.

A left sealing ring 2 and a right sealing ring 7 are respectively provided inside the left sealing cover and the right sealing cover.

【Prevent shear thickening fluid from flowing out. 】

The part of the rotating shaft located in the working chamber is a fence structure and is symmetrically distributed in the axial direction.

[Because the shape of the fence is symmetrical in the axial direction, it can make the axial force on the rotating shaft uniform and avoid axial movement. 】

The specific working process is as follows:

When the rotating shaft rotates smoothly, the shear thickening fluid flows in the symmetrically distributed fences on the rotating shaft, and the shearing force generated by the rotating shaft on the shear thickening fluid is small, so that the shear thickening fluid is in an initial low viscosity state, forming a small damping force;

[The damping force applied by the shear thickening fluid to the rotating shaft in the opposite direction is small, which will not increase the resistance of the rotating shaft, and can ensure the rapid start-up of the equipment. 】

When the rotating shaft vibrates and shakes during high-speed operation, the axial vibration and shaking of the rotating shaft increase the shearing effect on the shear thickening fluid through the gap between the fence structures, making the shear thickening fluid thicken sharply; the rotating shaft The axial vibration and vibration of the shaft squeeze the shear-thickening fluid through the cross-section of the fence structure, causing the shear-thickening fluid to thicken sharply; the sharply thickening shear-thickening fluid causes a sharp increase in the damping force on the rotating shaft.

[The damping force of the rapidly thickening fluid rotating shaft movement increases sharply, that is, the rotating shaft receives increased resistance from the fluid in the opposite direction of vibration and shaking, thereby achieving vibration reduction.

When the vibration and jitter of the rotating shaft disappear, the shear thickening fluid returns to its original low-viscosity state, which reduces the resistance of the rotating shaft and ensures that the rotating shaft can perform subsequent actions at high speed. 】

Beneficial effect

The invention proposes a damping device with intelligent adjustable damping force. The device adopts an axially symmetrical design, and the part of the rotating shaft located in the working chamber is set as a fence structure, and the change of the speed of the fence structure is used to change the shear thickening fluid. The size of the shear force affects the viscosity of the fluid, thereby adjusting the damping force generated by the device; compared with the device described in the invention patent CN101251163B, the contact area between the piston on the transmission shaft and the fluid in the invention patent CN101251163B is always constant, resulting in The gap between the piston and the cavity is also constant, and the fluid can only flow from the constant gap between the piston and the cavity, which increases the resistance of the execution shaft movement and limits the starting speed of the equipment. This device changes the traditional linear design to a rotating shaft design, which can not only eliminate radial and axial vibrations and vibrations, but also ensure rapid startup of the equipment, thereby improving execution efficiency.

Compared with the Newtonian viscous liquid damper and the spring damper, the damping force of the damping device proposed by the present invention will not remain constant during the whole process, without adding control modules and manual intervention, and can The damping force is automatically adjusted according to the jitter and vibration conditions, which can achieve the purpose of intelligent and necessary vibration reduction.

In addition, compared with magnetorheological fluid and electrorheological fluid vibration damping devices, the vibration damping device proposed by the present invention does not require additional electric field or magnetic field devices and control modules, and has simple structure, small size, and low cost, and can be widely used in various equipment.

Description of drawings

Fig. 1 device structural representation of the present invention;

Fig. 2 device structure damping effect diagram of the present invention;

Label description: 1-working cavity, 2-sealing ring, 3-end cover, 4-sealing cover, 5-left guide wheel, 6-right end cover, 7-right sealing ring, 8-right sealing cover, 9-right guide Wheel, 10-rotating shaft, 11-shear thickening fluid.

detailed description

Below in conjunction with accompanying drawing, the present invention will be further described to specific embodiment:

As shown in Figure 1, a rotary damping device with intelligent adjustable damping force includes a working chamber 1, a left end cover 3, a left sealing cover 4, a left guide wheel 5, a right end cover 6, a right sealing cover 8, and a right guide wheel 9 And the rotating shaft 10, the working chamber is filled with a shear thickening fluid 11;

The rotating shaft 10 is inserted in the working chamber 1, and the rotating shaft part in the working chamber is a fence structure, and is guided by the left guide wheel 5 and the right guide wheel 9 fixed at both ends of the working chamber;

The two ends of the working chamber are respectively provided with a left end cover 4 and a right end cover 6 for assembly;

A left sealing cover 4 and a right sealing cover 8 are respectively provided between the two ends of the rotating shaft 10 and the left end cover and the right end cover;

One end of the rotating shaft 10 is connected to an external motor and is driven by the motor; the other end is connected to the execution unit.

A left sealing ring 2 and a right sealing ring 7 are respectively provided inside the left sealing cover and the right sealing cover.

【Prevent shear thickening fluid from flowing out. 】

The part of the rotating shaft located in the working chamber is a fence structure and is symmetrically distributed in the axial direction.

[Because the shape of the fence is symmetrical in the axial direction, it can make the rotating shaft receive an even force in the axial direction and avoid axial rotation. 】

Under different working conditions of the rotating shaft, through the change of the speed of the fence structure of the rotating shaft, the viscosity of the shear thickening fluid and the damping force generated are changed, and the damping force is intelligently adjustable.

The specific process is as follows:

When the rotating shaft rotates smoothly, the shear thickening fluid flows in the symmetrically distributed fences on the rotating shaft, and the shearing force generated by the rotating shaft on the shear thickening fluid is small, so that the shear thickening fluid is in an initial low viscosity state, forming a small damping force;

[The damping force applied by the shear thickening fluid to the rotating shaft in the opposite direction is small, which will not increase the resistance of the rotating shaft, and can ensure the rapid start-up of the equipment. 】

When the rotating shaft vibrates and shakes during high-speed operation, the axial vibration and shaking of the rotating shaft increase the shearing effect on the shear thickening fluid through the gap between the fence structures, making the shear thickening fluid thicken sharply; the rotating shaft The axial vibration and vibration of the shaft squeeze the shear-thickening fluid through the cross-section of the fence structure, causing the shear-thickening fluid to thicken sharply; the sharply thickening shear-thickening fluid causes a sharp increase in the damping force on the rotating shaft.

[The damping force of the rapidly thickening fluid rotating shaft movement increases sharply, that is, the rotating shaft is subjected to the resistance imposed by the fluid in the opposite direction of vibration and shaking, so as to achieve vibration reduction.

When the vibration and jitter of the rotating shaft disappear, the shear thickening fluid returns to its original low-viscosity state, which reduces the resistance of the rotating shaft and ensures that the rotating shaft can perform subsequent actions at high speed. 】

As shown in FIG. 2 , it is an intelligent adjustable damping force method and a vibration reduction effect diagram of the rotary damper according to the present invention. When a random vibration with an amplitude of 0.5mm is applied to the rotating shaft 10 of the vibration damping device, the measured movement of the actuator is shown in FIG. 2 . It can be seen from the figure that the vibration and jitter amplitude of the actuator is significantly reduced, and the smooth operation can be maintained.

Claims (1)

1. the intelligent adjustable damping unit of a kind of damping force, it is characterised in that including working chamber (1), left end cap (3), left sealing Lid (4), left directive wheel (5), right end cap (6), right closure (8), right directive wheel (9) and rotating shaft (10), work intracavity is full of to be cut Cut thickened fluid (11)；

The rotating shaft (10) is interspersed in working chamber (1), and is axial symmetry fence structure positioned at the spindle portion of work intracavity, and It is oriented to by the left directive wheel (5) and right directive wheel (9) that are fixed on working chamber two ends；

Working chamber is respectively arranged at two ends with left end cap (4) and right end cap (6) for assembling；

Rotating shaft (10) is respectively equipped with left closure (4) and right closure (8) between two ends and left end cap and right end cap；

The external motor in rotating shaft (10) one end, by Motor drive；The other end connects execution unit；

Left sealing ring (2) and right sealing ring (7) are respectively equipped with the inside of the left closure and right closure.