WO2021098109A1 - Tension balancing suspension apparatus - Google Patents
Tension balancing suspension apparatus Download PDFInfo
- Publication number
- WO2021098109A1 WO2021098109A1 PCT/CN2020/081085 CN2020081085W WO2021098109A1 WO 2021098109 A1 WO2021098109 A1 WO 2021098109A1 CN 2020081085 W CN2020081085 W CN 2020081085W WO 2021098109 A1 WO2021098109 A1 WO 2021098109A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- cylinder
- magnetorheological
- balance
- tension
- suspension device
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/06—Arrangements of ropes or cables
- B66B7/10—Arrangements of ropes or cables for equalising rope or cable tension
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
Definitions
- the invention relates to a tension balance device, in particular to a tension balance suspension device based on a magnetorheological damper.
- the deep mine hoisting system Due to the characteristics of ultra-deep, high speed, heavy load, strong time-varying and large inertia, the deep mine hoisting system is prone to drastic fluctuations and sudden changes of dynamic load due to vibration under the excitation of multiple disturbances, which will cause huge impact to the lifting container and seriously threaten the lifting Safety. Therefore, it is necessary to suppress the vibration of the wire rope to ensure the smooth operation of the lifting container.
- the purpose of the present invention is to provide a tension balance suspension device based on a magnetorheological damper in view of the defects and deficiencies of the prior art, so as to suppress the vibration of the deep mine hoisting system, thereby ensuring the safe and stable operation of the hoisting system.
- a tension balance suspension device includes at least two tension balance units.
- the tension balance unit includes a rope loop, a balance oil cylinder, at least one magnetorheological damper, and a reversing fork;
- the balance oil cylinder includes an oil cylinder containing hydraulic oil Body and a piston rod inserted into the cylinder body at one end; two ends of the balance cylinder are respectively connected with a rope ring and a reversing fork, and the rope ring and the reversing fork are located on the central axis of the balance cylinder;
- the two ends of the magnetorheological damper are respectively rigidly connected with the two ends of the balance oil cylinder;
- the oil cylinder body of each tension balance unit is connected with a connecting oil pipe, so that the hydraulic oil in each oil cylinder can flow through the connecting oil pipe Between the cylinders of each tension balance unit.
- the tension balance suspension device is further designed in that the magnetorheological damper includes a magnetorheological cylinder body filled with magnetorheological fluid, a piston body, and a piston shaft, and the piston shaft is inserted into the magnetorheological fluid.
- the piston shaft In the rheological cylinder, one end of the piston shaft is located outside the magnetorheological cylinder to form a connecting end, the piston body is connected with the part of the piston shaft in the magnetorheological cylinder, and the piston body is connected to the magnetorheological cylinder.
- the tension balance suspension device is further designed in that the rope loop and the reversing fork are respectively connected with a first connecting pin and a second connecting pin, and one end of the balance oil cylinder is connected to the rope loop via the first connecting pin. The other end is connected to the reversing fork via the second connecting pin; one end of the magnetorheological damper is connected to the first connecting pin, and the other end is connected to the second connecting pin, so that the two magnetorheological damper The ends are respectively rigidly connected with the two ends of the balance oil cylinder; the balance oil cylinder and the magnetorheological damper are arranged parallel to each other between the rope loop and the reversing fork.
- the tension balance suspension device is further designed in that the inner side wall of the magnetorheological cylinder has a plurality of insertion grooves, and an adjustment block with an iron part is inserted into the insertion grooves.
- the tension balance suspension device is further designed in that the end of the adjusting block opposite to the inside of the magnetorheological cylinder has a first inclined surface and a second inclined surface, and the first inclined surface and the second inclined surface They respectively face the two directions in which the magnetorheological fluid reciprocates in the gap.
- the tension balance suspension device is further designed in that the side wall of the insertion slot away from the adjusting block is connected with a leakage hole located in the side wall of the magnetorheological cylinder, and the other of the leakage hole is The port communicates with the inside of the magnetorheological cylinder.
- the tension balance suspension device is further designed in that the end of the adjusting block opposite to the inside of the magnetorheological cylinder is covered with an iron sheet, and the iron sheet is the iron part.
- the tension balance suspension device is further designed in that a hollow cylinder coaxial with the magnetorheological cylinder is provided on the side of the magnetorheological cylinder away from the connecting end, and the other end of the piston shaft extends The magnetorheological cylinder body is inserted into the hollow cylinder.
- the present invention has the advantages of not being easy to lose stability, requiring extremely small external energy, simple structure, rapid response (millisecond level), large output, and continuously adjustable damping force; by installing on the side wall of the magnetorheological cylinder
- the adjustment block with an iron part uses the magnetic field generated by the excitation coil of the magnetorheological damper to attract the adjustment block, which can reduce the cross-sectional area of the gap between the piston body and the side wall of the magnetorheological cylinder, thereby exciting the coil
- the damping force when the magnetorheological fluid passes through the gap can be greatly increased and the damping force adjustment range of the magnetorheological damper can be increased.
- FIG. 1 is a schematic diagram of the structure of Embodiment 1 of the present invention.
- Fig. 2 is a schematic diagram of the structure of the damper of the present invention.
- Fig. 3 is a schematic diagram of the internal structure of the magnetorheological damper of the second embodiment.
- Fig. 4 is a schematic diagram of a partial structure at B in Fig. 3.
- Fig. 5 is a schematic diagram of the application state of the embodiment.
- Embodiment 1 A tension balance suspension device as shown in FIG. 1, including two tension balance units A, the tension balance unit includes a rope loop 1, a balance cylinder 2, two magnetorheological dampers 3, and a commutation Fork 4; the balance cylinder includes a cylinder block containing hydraulic oil and a piston rod inserted into the cylinder block at one end; the two ends of the balance cylinder 2 are respectively connected to the rope ring 1, the reversing fork 4, and the rope The ring and the reversing fork 4 are located on the central axis of the balance cylinder; the two ends of the magnetorheological damper are rigidly connected to the two ends of the balance cylinder, and the two magnetorheological dampers are respectively arranged symmetrically Both sides of the balance oil cylinder; the oil cylinder bodies of each tension balance unit are connected with a connecting oil pipe 5, so that the hydraulic oil in each oil cylinder can flow between the oil cylinder bodies of each tension balance unit through the connecting oil pipe.
- the magnetorheological damper used in this embodiment includes a magnetorheological cylinder 31 filled with magnetorheological fluid 38, a piston body 32, and a piston shaft 33.
- the piston shaft is inserted Connected to the magnetorheological cylinder, one end of the piston shaft is located outside the magnetorheological cylinder to form a connecting end 331, the piston body is connected to the part of the piston shaft located in the magnetorheological cylinder, and the piston body is connected to the magnetorheological cylinder.
- the rope loop and the reversing fork are respectively connected with a first connecting pin 6 and a second connecting pin 7.
- One end of the balance cylinder is connected to the rope loop via the first connecting pin, and the other end is connected to the switching pin via the second connecting pin.
- one end of the magnetorheological damper is connected with the first connecting pin, and the other end is connected with the second connecting pin, so that the two ends of the magnetorheological damper are rigidly connected with the two ends of the balance cylinder respectively Connection; the balance cylinder and the magnetorheological damper are arranged parallel to each other between the rope loop and the reversing fork.
- the specific connection method is the same as or similar to the method disclosed in the prior art including the Chinese patent ZL201720683777.1. Based on this, the structure of this part will not be further described.
- the application technology of the existing magnetorheological damper is as follows: After the magnetorheological damper is manufactured, based on the magnetorheological damping vibration test bench, it can be established from the measured experimental data of the magnetorheological damper vibration table that various influences can be Factors considered accurately reflect the dynamic characteristic model of the magnetorheological damper under different control voltages.
- the longitudinal vibration model of the hoisting wire rope under multi-turbation excitation is modified to obtain the partial differential equation of the hoisting wire rope longitudinal vibration under the multi-perturbation excitation, and the finite difference method is used to partially differentiate the longitudinal vibration of the hoisting wire rope under the multi-perturbation excitation.
- the equation is transformed into an ordinary differential equation of motion.
- the ordinary differential equation of the longitudinal vibration of the hoisting wire rope is transformed into the controlled state equation of the longitudinal vibration of the hoisting wire rope.
- the optimal magnetorheological damping force at each moment is calculated, and the half of the longitudinal vibration of the hoisting wire rope is obtained. Active control law.
- the rope loop 1 is specifically a wedge-shaped rope loop, which is connected to the hoisting wire rope 8.
- the reversing fork 4 is connected to the container 9 to be lifted.
- the vibration acceleration of the lifting container is detected by the acceleration sensor installed on the lifting container, and the acceleration signal is transmitted to the feedback controller, and the controller calculation is performed according to the semi-active control law of the longitudinal vibration of the lifting wire rope, based on the dynamic characteristic model of the magnetorheological damper,
- the magnetorheological damper control voltage that is closest to the active damping control force at each control moment is matched, so that the magnetorheological damper is always in the state of maximum energy consumption, and finally the effective suppression of the longitudinal vibration of the hoisting wire rope is realized.
- the inner side wall of the magnetorheological cylinder body 31 has a plurality of insertion grooves 311 into which an adjustment block 35 with an iron part is inserted.
- Using the magnetic field generated by the magnetorheological damper to attract the adjusting block can reduce the cross-sectional area of the gap between the piston body and the side wall of the magnetorheological cylinder, so that the exciting coil can greatly reduce the power consumption.
- the damping force when the magnetorheological fluid passes through the gap is increased and the damping force adjustment range of the magnetorheological damper is increased.
- the end of the adjusting block opposite to the inside of the magnetorheological cylinder has a first inclined surface 351 and a second inclined surface 352.
- the first inclined surface and the second inclined surface are in the gap with the magnetorheological fluid respectively.
- the two directions of reciprocating flow meet each other. Therefore, when the excitation coil is opposite to the adjustment block, the adjustment block is partially sucked out of the insertion slot, and when the excitation coil continues to move until it is offset from the adjustment block, the first inclined surface or the second inclined surface facing the flow direction of the magnetorheological fluid The surface is scoured by the magnetorheological fluid and retreats into the socket.
- the magnetorheological fluid flows in the gap, it generates a thrust on the adjustment block toward the insertion slot, and the magnetic field generated by the excitation coil attracts the adjustment block.
- the suction force is greater than the thrust, the cross-sectional area of the gap Decrease, and vice versa, the adjusting block will not extend out of the socket.
- the side wall of the insertion groove away from the adjusting block communicates with a leakage hole 36 located in the side wall of the magnetorheological cylinder, and the other port of the leakage hole communicates with the inside of the magnetorheological cylinder.
- the arrangement of the drain channel facilitates the movement of the adjusting block in the insertion slot.
- the adjustment block 35 is made of lightweight ceramics.
- the ends of the adjustment block 35 opposite to the inside of the magnetorheological cylinder, that is, the first inclined surface 351 and the second inclined surface 352 are covered with iron sheets.
- the iron piece is the iron part.
- the magnetorheological cylinder in the first and second embodiments is provided with a hollow cylinder 37 coaxial with the magnetorheological cylinder on the side away from the connecting end, and the other end of the piston shaft extends out of the magnetic
- the rheological cylinder is inserted into the hollow cylinder.
- the piston shaft is provided with rods at both ends of the magnetorheological cylinder body, and the movement stability is good.
- the hollow cylinder 37 forms a protection for the corresponding ends of the piston shaft.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Fluid-Damping Devices (AREA)
- Axle Suspensions And Sidecars For Cycles (AREA)
Abstract
A tension balancing suspension apparatus, comprising at least two tension balancing units (A), each tension balancing unit (A) comprising a rope loop (1), a balancing cylinder (2), at least one magnetorheological damper (3), and a reversing fork (4); the balancing cylinder (2) comprises a cylinder body containing hydraulic oil and a piston rod with one end inserted into the cylinder body; the two ends of the balancing cylinder (2) are respectively connected to the rope loop (1) and the reversing fork (4), and the rope loop (1) and the reversing fork (4) are positioned on the central axis of the balancing cylinder (2); the two ends of the magnetorheological damper (3) are respectively rigidly connected to the two ends of the balancing cylinder (2); and the cylinder bodies of the tension balancing units (A) are all in communication with a communicating oil pipe (5), such that the hydraulic oil in each cylinder body can flow via the communicating oil pipe (5) between the cylinder bodies of the tension balancing units (A). The present apparatus can balance the tension between steel ropes and can also effectively suppress the vibration of the steel ropes, ensuring the stability of the lifting system.
Description
本发明涉及的是一种张力平衡装置，具体涉及一种基于磁流变阻尼器的张力平衡悬挂装置。The invention relates to a tension balance device, in particular to a tension balance suspension device based on a magnetorheological damper.
深部矿井提升***由于超深、高速、重载、强时变及大惯量等特点，在多扰动激励下容易因振动导致动载荷的剧烈波动与突变，会给提升容器造成巨大冲击，严重威胁提升安全。因此，有必要对钢丝绳振动进行抑制，保证提升容器平稳运行。Due to the characteristics of ultra-deep, high speed, heavy load, strong time-varying and large inertia, the deep mine hoisting system is prone to drastic fluctuations and sudden changes of dynamic load due to vibration under the excitation of multiple disturbances, which will cause huge impact to the lifting container and seriously threaten the lifting Safety. Therefore, it is necessary to suppress the vibration of the wire rope to ensure the smooth operation of the lifting container.
目前，对于矿井提升的振动抑制多停留在参数优化方面，尚无有效的执行装置可对提升过程中出现的振动进行控制。尤其在超深井提升中，因末端载荷大，提升速度快，钢丝绳应力变化大等诸多因素，会导致在普通矿井中可以忽略的振动在超深井提升中变得异常剧烈。At present, the vibration suppression of mine hoisting mostly stays in parameter optimization, and there is no effective execution device to control the vibration that occurs during the hoisting process. Especially in the ultra-deep shaft hoisting, due to the large end load, fast hoisting speed, and large wire rope stress changes, many factors, such as the vibration that can be ignored in ordinary mines, become extremely violent in the ultra-deep shaft hoisting.
发明内容Summary of the invention
本发明的目的在于针对现有技术的缺陷和不足，提供了一种基于磁流变阻尼器的张力平衡悬挂装置，实现对深部矿井提升***振动的抑制，从而保证提升***的安全平稳运行。The purpose of the present invention is to provide a tension balance suspension device based on a magnetorheological damper in view of the defects and deficiencies of the prior art, so as to suppress the vibration of the deep mine hoisting system, thereby ensuring the safe and stable operation of the hoisting system.
为实现上述目的，本发明采用了如下技术方案：In order to achieve the above objectives, the present invention adopts the following technical solutions:
一种张力平衡悬挂装置，包括至少两个张力平衡单元，所述张力平衡单元包括绳环、平衡油缸、至少一个磁流变阻尼器以及换向叉；所述平衡油缸包括内容有液压油的油缸体以及一端插接于所述油缸体中的活塞杆；所述平衡油缸的两端分别连接绳环、换向叉，并且所述绳环、换向叉位于所述平衡油缸的中轴线上；所述磁流变阻尼器的两端分别与所述平衡油缸的两端刚性连接；所述各张力平衡单元的油缸体均与一连通油管连通，从而各油缸体内的液压油可经由连通油管流动于各张力平衡单元的油缸体之间。A tension balance suspension device includes at least two tension balance units. The tension balance unit includes a rope loop, a balance oil cylinder, at least one magnetorheological damper, and a reversing fork; the balance oil cylinder includes an oil cylinder containing hydraulic oil Body and a piston rod inserted into the cylinder body at one end; two ends of the balance cylinder are respectively connected with a rope ring and a reversing fork, and the rope ring and the reversing fork are located on the central axis of the balance cylinder; The two ends of the magnetorheological damper are respectively rigidly connected with the two ends of the balance oil cylinder; the oil cylinder body of each tension balance unit is connected with a connecting oil pipe, so that the hydraulic oil in each oil cylinder can flow through the connecting oil pipe Between the cylinders of each tension balance unit.
所述的张力平衡悬挂装置，其进一步设计在于，所述磁流变阻尼器包括内部充满磁流变液的磁流变缸体、活塞体以及活塞轴，所述活塞轴插接于所述磁流变缸体中，活塞轴一端位于磁流变缸体外部形成连接端，所述活塞体与活塞轴位于磁流变缸体内的部分连接，所述活塞体与所述磁流变缸体的内壁之间存留有间隙并且活塞体中部缠绕有与外部电源连接的励磁线圈；所述活塞体在磁流变缸体中往复运动时，磁流变液在所述间隙中往复流动。The tension balance suspension device is further designed in that the magnetorheological damper includes a magnetorheological cylinder body filled with magnetorheological fluid, a piston body, and a piston shaft, and the piston shaft is inserted into the magnetorheological fluid. In the rheological cylinder, one end of the piston shaft is located outside the magnetorheological cylinder to form a connecting end, the piston body is connected with the part of the piston shaft in the magnetorheological cylinder, and the piston body is connected to the magnetorheological cylinder. There is a gap between the inner walls of the piston body and an excitation coil connected to an external power supply is wound in the middle of the piston body; when the piston body reciprocates in the magnetorheological cylinder, the magnetorheological fluid reciprocates in the gap.
所述的张力平衡悬挂装置，其进一步设计在于，所述绳环、换向叉分别连接有第一连接销、第二连接销，所述平衡油缸的一端经由第一连接销与绳环连接、另一端经由第二连 接销与所述换向叉连接；所述磁流变阻尼器的一端与第一连接销连接、另一端与第二连接销连接，使得所述磁流变阻尼器的两端分别与所述平衡油缸的两端刚性连接；平衡油缸与所述磁流变阻尼器互相平行地设置于所述绳环与换向叉之间。The tension balance suspension device is further designed in that the rope loop and the reversing fork are respectively connected with a first connecting pin and a second connecting pin, and one end of the balance oil cylinder is connected to the rope loop via the first connecting pin. The other end is connected to the reversing fork via the second connecting pin; one end of the magnetorheological damper is connected to the first connecting pin, and the other end is connected to the second connecting pin, so that the two magnetorheological damper The ends are respectively rigidly connected with the two ends of the balance oil cylinder; the balance oil cylinder and the magnetorheological damper are arranged parallel to each other between the rope loop and the reversing fork.
所述的张力平衡悬挂装置，其进一步设计在于，所述磁流变缸体的内侧壁具有若干插接槽，所述插接槽内插接带有铁质部的调节块。The tension balance suspension device is further designed in that the inner side wall of the magnetorheological cylinder has a plurality of insertion grooves, and an adjustment block with an iron part is inserted into the insertion grooves.
所述的张力平衡悬挂装置，其进一步设计在于，所述调节块与磁流变缸体内部相对的端部具有第一倾斜面、第二倾斜面，所述第一倾斜面、第二倾斜面分别与磁流变液在所述间隙中往复流动的两个方向相迎。The tension balance suspension device is further designed in that the end of the adjusting block opposite to the inside of the magnetorheological cylinder has a first inclined surface and a second inclined surface, and the first inclined surface and the second inclined surface They respectively face the two directions in which the magnetorheological fluid reciprocates in the gap.
所述的张力平衡悬挂装置，其进一步设计在于，所述插接槽远离所述调节块的侧壁连通有位于磁流变缸体侧壁内的泄流孔道，所述泄流孔道的另一端口与所述磁流变缸体内部连通。The tension balance suspension device is further designed in that the side wall of the insertion slot away from the adjusting block is connected with a leakage hole located in the side wall of the magnetorheological cylinder, and the other of the leakage hole is The port communicates with the inside of the magnetorheological cylinder.
所述的张力平衡悬挂装置，其进一步设计在于，所述调节块与磁流变缸体内部相对的端部包覆有铁片，所述铁片即为所述铁质部。The tension balance suspension device is further designed in that the end of the adjusting block opposite to the inside of the magnetorheological cylinder is covered with an iron sheet, and the iron sheet is the iron part.
所述的张力平衡悬挂装置，其进一步设计在于，所述磁流变缸体远离所述连接端的一侧设置有与磁流变缸体同轴的空心筒，所述活塞轴的另一端延伸出所述磁流变缸体至所述空心筒中。The tension balance suspension device is further designed in that a hollow cylinder coaxial with the magnetorheological cylinder is provided on the side of the magnetorheological cylinder away from the connecting end, and the other end of the piston shaft extends The magnetorheological cylinder body is inserted into the hollow cylinder.
本发明的有益效果：本发明具有不易失稳，所需外加能源极小、结构简单、反应迅速(毫秒级)、出力大、阻尼力连续可调优势；通过在磁流变缸体内侧壁设置带有铁质部的调节块，利用磁流变阻尼器的励磁线圈产生的磁场吸引调节块，可以减小活塞体与磁流变缸体内侧壁之间的间隙的横截面积，从而励磁线圈以较小的功耗即可大幅增加磁流变液通过间隙时的阻尼力并且增大了磁流变阻尼器的阻尼力调节范围。The beneficial effects of the present invention: the present invention has the advantages of not being easy to lose stability, requiring extremely small external energy, simple structure, rapid response (millisecond level), large output, and continuously adjustable damping force; by installing on the side wall of the magnetorheological cylinder The adjustment block with an iron part uses the magnetic field generated by the excitation coil of the magnetorheological damper to attract the adjustment block, which can reduce the cross-sectional area of the gap between the piston body and the side wall of the magnetorheological cylinder, thereby exciting the coil With less power consumption, the damping force when the magnetorheological fluid passes through the gap can be greatly increased and the damping force adjustment range of the magnetorheological damper can be increased.
图1是本发明实施例1的结构示意图。FIG. 1 is a schematic diagram of the structure of Embodiment 1 of the present invention.
图2是本发明的阻尼器结构示意图。Fig. 2 is a schematic diagram of the structure of the damper of the present invention.
图3是实施例2的磁流变阻尼器内部结构示意图。Fig. 3 is a schematic diagram of the internal structure of the magnetorheological damper of the second embodiment.
图4是图3中B处局部结构示意图。Fig. 4 is a schematic diagram of a partial structure at B in Fig. 3.
图5是实施例的应用状态示意图。Fig. 5 is a schematic diagram of the application state of the embodiment.
为了使本发明的目的、技术方案更加容易理解，以下结合具体实施方式，对本发明进行描述解释。In order to make the objectives and technical solutions of the present invention easier to understand, the present invention will be described and explained below in conjunction with specific embodiments.
实施例1：如图1所示的一种张力平衡悬挂装置，包括两个张力平衡单元A，所述张力平衡单元包括绳环1、平衡油缸2、两个磁流变阻尼器3以及换向叉4；平衡油缸包括内容有液压油的油缸体以及一端插接于所述油缸体中的活塞杆；所述平衡油缸2的两端分别连接绳环1、换向叉4，并且所述绳环、换向叉4位于所述平衡油缸的中轴线上；所述磁流变阻尼器的两端分别与所述平衡油缸的两端刚性连接，并且两个磁流变阻尼器分别对称设置在平衡油缸的两侧；所述各张力平衡单元的油缸体均与一连通油管5连通，从而各油缸体内的液压油可经由连通油管流动于各张力平衡单元的油缸体之间。具体而言，如图2所示，本实施例所采用的磁流变阻尼器包括内部充满磁流变液38的磁流变缸体31、活塞体32以及活塞轴33，所述活塞轴插接于所述磁流变缸体中，活塞轴一端位于磁流变缸体外部形成连接端331，所述活塞体与活塞轴位于磁流变缸体内的部分连接，所述活塞体与所述磁流变缸体的内壁之间存留有间隙并且活塞体中部缠绕有与外部电源连接的励磁线圈34；所述活塞体在磁流变缸体中往复运动时，磁流变液在所述间隙中往复流动。Embodiment 1: A tension balance suspension device as shown in FIG. 1, including two tension balance units A, the tension balance unit includes a rope loop 1, a balance cylinder 2, two magnetorheological dampers 3, and a commutation Fork 4; the balance cylinder includes a cylinder block containing hydraulic oil and a piston rod inserted into the cylinder block at one end; the two ends of the balance cylinder 2 are respectively connected to the rope ring 1, the reversing fork 4, and the rope The ring and the reversing fork 4 are located on the central axis of the balance cylinder; the two ends of the magnetorheological damper are rigidly connected to the two ends of the balance cylinder, and the two magnetorheological dampers are respectively arranged symmetrically Both sides of the balance oil cylinder; the oil cylinder bodies of each tension balance unit are connected with a connecting oil pipe 5, so that the hydraulic oil in each oil cylinder can flow between the oil cylinder bodies of each tension balance unit through the connecting oil pipe. Specifically, as shown in FIG. 2, the magnetorheological damper used in this embodiment includes a magnetorheological cylinder 31 filled with magnetorheological fluid 38, a piston body 32, and a piston shaft 33. The piston shaft is inserted Connected to the magnetorheological cylinder, one end of the piston shaft is located outside the magnetorheological cylinder to form a connecting end 331, the piston body is connected to the part of the piston shaft located in the magnetorheological cylinder, and the piston body is connected to the magnetorheological cylinder. There is a gap between the inner walls of the magnetorheological cylinder and an excitation coil 34 connected to an external power source is wound around the middle of the piston body; when the piston body reciprocates in the magnetorheological cylinder, the magnetorheological fluid is in the Flow back and forth in the gap.
所述绳环、换向叉分别连接有第一连接销6、第二连接销7，所述平衡油缸的一端经由第一连接销与绳环连接、另一端经由第二连接销与所述换向叉连接；所述磁流变阻尼器的一端与第一连接销连接、另一端与第二连接销连接，使得所述磁流变阻尼器的两端分别与所述平衡油缸的两端刚性连接；平衡油缸与所述磁流变阻尼器互相平行地设置于所述绳环与换向叉之间。The rope loop and the reversing fork are respectively connected with a first connecting pin 6 and a second connecting pin 7. One end of the balance cylinder is connected to the rope loop via the first connecting pin, and the other end is connected to the switching pin via the second connecting pin. To the fork connection; one end of the magnetorheological damper is connected with the first connecting pin, and the other end is connected with the second connecting pin, so that the two ends of the magnetorheological damper are rigidly connected with the two ends of the balance cylinder respectively Connection; the balance cylinder and the magnetorheological damper are arranged parallel to each other between the rope loop and the reversing fork.
为了确保平衡油缸以及同样采用缸体结构的磁流变阻尼器在作业过程中的结构稳定性，两者均采用了中板、侧板、压板等部件连接第一连接销和第二连接销，具体连接方式与包括中国专利ZL201720683777.1在内的现有技术披露的方式相同或者相似，基于此，不对该部分结构进行进一步赘述。In order to ensure the structural stability of the balance cylinder and the magnetorheological damper, which also adopts the cylinder structure, during operation, both use the middle plate, side plate, pressure plate and other components to connect the first connecting pin and the second connecting pin. The specific connection method is the same as or similar to the method disclosed in the prior art including the Chinese patent ZL201720683777.1. Based on this, the structure of this part will not be further described.
现有磁流变阻尼器的应用技术如下：在磁流变阻尼器制作完成后，基于磁流变阻尼振动实验台，从实测的磁流变阻尼器振动台实验数据中建立能够将各种影响因素考虑在内的准确反应磁流变阻尼器在不同控制电压下的磁流变阻尼器动力特性模型。The application technology of the existing magnetorheological damper is as follows: After the magnetorheological damper is manufactured, based on the magnetorheological damping vibration test bench, it can be established from the measured experimental data of the magnetorheological damper vibration table that various influences can be Factors considered accurately reflect the dynamic characteristic model of the magnetorheological damper under different control voltages.
考虑磁流变阻尼力，修正多扰动激励下的提升钢丝绳纵向振动模型，得到多扰动激励下的提升钢丝绳纵向振动偏微分方程，并应用有限差分法将多扰动激励下的提升钢丝绳纵向振动偏微分方程转化为常微分运动方程。然后，将提升钢丝绳纵向振动常微分方程转化为提升钢丝绳纵向振动受控状态方程，基于Lyapunov直接法与Bang-Bang控制方法计算得到每时刻最优磁流变阻尼力，得到提升钢丝绳纵向振动的半主动控制律。Considering the magnetorheological damping force, the longitudinal vibration model of the hoisting wire rope under multi-turbation excitation is modified to obtain the partial differential equation of the hoisting wire rope longitudinal vibration under the multi-perturbation excitation, and the finite difference method is used to partially differentiate the longitudinal vibration of the hoisting wire rope under the multi-perturbation excitation. The equation is transformed into an ordinary differential equation of motion. Then, the ordinary differential equation of the longitudinal vibration of the hoisting wire rope is transformed into the controlled state equation of the longitudinal vibration of the hoisting wire rope. Based on the Lyapunov direct method and the Bang-Bang control method, the optimal magnetorheological damping force at each moment is calculated, and the half of the longitudinal vibration of the hoisting wire rope is obtained. Active control law.
实施例1在具体应用时，绳环1具体为楔形绳环，与提升钢丝绳8连接，结合图5 所示，换向叉4连接待提升的容器9。通过安装在提升容器上的加速度传感器检测提升容器的振动加速度，将加速度信号传送至反馈控制器，根据提升钢丝绳纵向振动的半主动控制律进行控制器运算，基于磁流变阻尼器动力特性模型，匹配出每一控制瞬时最接近主动阻尼控制力的磁流变阻尼器控制电压，从而使得磁流变阻尼器始终处于最大耗能状态，最终实现提升钢丝绳纵向振动的有效抑制。In the specific application of Embodiment 1, the rope loop 1 is specifically a wedge-shaped rope loop, which is connected to the hoisting wire rope 8. As shown in FIG. 5, the reversing fork 4 is connected to the container 9 to be lifted. The vibration acceleration of the lifting container is detected by the acceleration sensor installed on the lifting container, and the acceleration signal is transmitted to the feedback controller, and the controller calculation is performed according to the semi-active control law of the longitudinal vibration of the lifting wire rope, based on the dynamic characteristic model of the magnetorheological damper, The magnetorheological damper control voltage that is closest to the active damping control force at each control moment is matched, so that the magnetorheological damper is always in the state of maximum energy consumption, and finally the effective suppression of the longitudinal vibration of the hoisting wire rope is realized.
实施例1的磁流变阻尼器对阻尼力的调节完全依赖励磁线圈对磁流变液物理性状的改变；为了进一步增大阻尼力的调节范围，仅对实施例1的磁流变缸体作如下改进，形成实施例2：The adjustment of the damping force of the magnetorheological damper of embodiment 1 is completely dependent on the change of the physical properties of the magnetorheological fluid by the excitation coil; in order to further increase the adjustment range of the damping force, only the magnetorheological cylinder of embodiment 1 is used. The following improvements were made to form embodiment 2:
所述磁流变缸体31的内侧壁具有若干插接槽311，所述插接槽内插接带有铁质部的调节块35。利用磁流变阻尼器的励磁线圈产生的磁场吸引调节块，可以减小活塞体与磁流变缸体内侧壁之间的间隙的横截面积，从而励磁线圈以较小的功耗即可大幅增加磁流变液通过间隙时的阻尼力并且增大了磁流变阻尼器的阻尼力调节范围。The inner side wall of the magnetorheological cylinder body 31 has a plurality of insertion grooves 311 into which an adjustment block 35 with an iron part is inserted. Using the magnetic field generated by the magnetorheological damper to attract the adjusting block can reduce the cross-sectional area of the gap between the piston body and the side wall of the magnetorheological cylinder, so that the exciting coil can greatly reduce the power consumption. The damping force when the magnetorheological fluid passes through the gap is increased and the damping force adjustment range of the magnetorheological damper is increased.
所述调节块与磁流变缸体内部相对的端部具有第一倾斜面351、第二倾斜面352，所述第一倾斜面、第二倾斜面分别与磁流变液在所述间隙中往复流动的两个方向相迎。从而在励磁线圈与调节块相对时，调节块被部分吸出插接槽，在励磁线圈继续移动至其与调节块错开时，与磁流变液流动方向相迎的第一倾斜面或者第二倾斜面受磁流变液的冲刷从而退入插接槽中。具体来说，磁流变液在所述的间隙中的流动时对调节块产生朝向插接槽中的推力，而励磁线圈产生的磁场吸引调节块，当吸力大于推力时，间隙的横截面积减小，反之，则调节块不会伸出插接槽。The end of the adjusting block opposite to the inside of the magnetorheological cylinder has a first inclined surface 351 and a second inclined surface 352. The first inclined surface and the second inclined surface are in the gap with the magnetorheological fluid respectively. The two directions of reciprocating flow meet each other. Therefore, when the excitation coil is opposite to the adjustment block, the adjustment block is partially sucked out of the insertion slot, and when the excitation coil continues to move until it is offset from the adjustment block, the first inclined surface or the second inclined surface facing the flow direction of the magnetorheological fluid The surface is scoured by the magnetorheological fluid and retreats into the socket. Specifically, when the magnetorheological fluid flows in the gap, it generates a thrust on the adjustment block toward the insertion slot, and the magnetic field generated by the excitation coil attracts the adjustment block. When the suction force is greater than the thrust, the cross-sectional area of the gap Decrease, and vice versa, the adjusting block will not extend out of the socket.
所述插接槽远离所述调节块的侧壁连通有位于磁流变缸体侧壁内的泄流孔道36，所述泄流孔道的另一端口与所述磁流变缸体内部连通。泄流孔道的设置，有利于调节块在插接槽内移动。The side wall of the insertion groove away from the adjusting block communicates with a leakage hole 36 located in the side wall of the magnetorheological cylinder, and the other port of the leakage hole communicates with the inside of the magnetorheological cylinder. The arrangement of the drain channel facilitates the movement of the adjusting block in the insertion slot.
为了减小调节块的重量，调节块35采用轻质陶瓷制成，其与磁流变缸体内部相对的端部也就是第一倾斜面351和第二倾斜面352上包覆有铁片，所述铁片即为所述铁质部。In order to reduce the weight of the adjustment block, the adjustment block 35 is made of lightweight ceramics. The ends of the adjustment block 35 opposite to the inside of the magnetorheological cylinder, that is, the first inclined surface 351 and the second inclined surface 352 are covered with iron sheets. The iron piece is the iron part.
另外，实施例1和实施例2中的磁流变缸体远离所述连接端的一侧设置有与磁流变缸体同轴的空心筒37，所述活塞轴的另一端延伸出所述磁流变缸体至所述空心筒中。活塞轴在磁流变缸体的两端分别出杆，移动稳定性较好，空心筒37形成对活塞轴相应端部的保护。In addition, the magnetorheological cylinder in the first and second embodiments is provided with a hollow cylinder 37 coaxial with the magnetorheological cylinder on the side away from the connecting end, and the other end of the piston shaft extends out of the magnetic The rheological cylinder is inserted into the hollow cylinder. The piston shaft is provided with rods at both ends of the magnetorheological cylinder body, and the movement stability is good. The hollow cylinder 37 forms a protection for the corresponding ends of the piston shaft.
Claims (8)
- 一种张力平衡悬挂装置，其特征在于，包括至少两个张力平衡单元，所述张力平衡单元包括绳环、平衡油缸、至少一个磁流变阻尼器以及换向叉；所述平衡油缸包括内容有液压油的油缸体以及一端插接于所述油缸体中的活塞杆；所述平衡油缸的两端分别连接绳环、换向叉，并且所述绳环、换向叉位于所述平衡油缸的中轴线上；所述磁流变阻尼器的两端分别与所述平衡油缸的两端刚性连接；所述各张力平衡单元的油缸体均与一连通油管连通，从而各油缸体内的液压油可经由连通油管流动于各张力平衡单元的油缸体之间。A tension balance suspension device, characterized in that it comprises at least two tension balance units, the tension balance unit includes a rope loop, a balance oil cylinder, at least one magnetorheological damper and a reversing fork; the balance oil cylinder includes The cylinder body of hydraulic oil and the piston rod whose one end is inserted into the cylinder body; the two ends of the balance cylinder are respectively connected to the rope ring and the reversing fork, and the rope ring and the reversing fork are located in the balance cylinder On the central axis; both ends of the magnetorheological damper are rigidly connected to the two ends of the balance oil cylinder; the oil cylinder bodies of each tension balance unit are connected with a connecting oil pipe, so that the hydraulic oil in each oil cylinder can be It flows between the oil cylinders of each tension balance unit via the connecting oil pipe.
- 根据权利要求1所述的张力平衡悬挂装置，其特征在于，所述磁流变阻尼器包括内部充满磁流变液的磁流变缸体、活塞体以及活塞轴，所述活塞轴插接于所述磁流变缸体中，活塞轴一端位于磁流变缸体外部形成连接端，所述活塞体与活塞轴位于磁流变缸体内的部分连接，所述活塞体与所述磁流变缸体的内壁之间存留有间隙并且活塞体中部缠绕有与外部电源连接的励磁线圈；所述活塞体在磁流变缸体中往复运动时，磁流变液在所述间隙中往复流动。The tension balance suspension device according to claim 1, wherein the magnetorheological damper comprises a magnetorheological cylinder body filled with magnetorheological fluid, a piston body and a piston shaft, and the piston shaft is inserted in In the magnetorheological cylinder, one end of the piston shaft is located outside the magnetorheological cylinder to form a connecting end, the piston body is connected to the part of the piston shaft located in the magnetorheological cylinder, and the piston body is connected to the magnetorheological cylinder. There is a gap between the inner walls of the variable cylinder and an excitation coil connected to an external power supply is wound in the middle of the piston body; when the piston body reciprocates in the magnetorheological cylinder, the magnetorheological fluid reciprocates in the gap .
- 根据权利要求2所述的张力平衡悬挂装置，其特征在于，所述绳环、换向叉分别连接有第一连接销、第二连接销，所述平衡油缸的一端经由第一连接销与绳环连接、另一端经由第二连接销与所述换向叉连接；所述磁流变阻尼器的一端与第一连接销连接、另一端与第二连接销连接，使得所述磁流变阻尼器的两端分别与所述平衡油缸的两端刚性连接；平衡油缸与所述磁流变阻尼器互相平行地设置于所述绳环与换向叉之间。The tension balance suspension device according to claim 2, wherein the rope loop and the reversing fork are respectively connected with a first connecting pin and a second connecting pin, and one end of the balance cylinder is connected to the rope via the first connecting pin. The ring is connected, and the other end is connected to the reversing fork via the second connecting pin; one end of the magnetorheological damper is connected to the first connecting pin, and the other end is connected to the second connecting pin, so that the magnetorheological damper The two ends of the device are respectively rigidly connected with the two ends of the balance oil cylinder; the balance oil cylinder and the magnetorheological damper are arranged parallel to each other between the rope loop and the reversing fork.
- 根据权利要求2所述的张力平衡悬挂装置，其特征在于，所述磁流变缸体的内侧壁具有若干插接槽，所述插接槽内插接带有铁质部的调节块。The tension balance suspension device according to claim 2, wherein the inner side wall of the magnetorheological cylinder has a plurality of insertion grooves, and an adjustment block with an iron part is inserted into the insertion grooves.
- 根据权利要求4所述的一种张力平衡悬挂装置，其特征在于，所述调节块与磁流变缸体内部相对的端部具有第一倾斜面、第二倾斜面，所述第一倾斜面、第二倾斜面分别与磁流变液在所述间隙中往复流动的两个方向相迎。The tension balance suspension device according to claim 4, wherein the end of the adjusting block opposite to the inside of the magnetorheological cylinder has a first inclined surface and a second inclined surface, and the first inclined surface , The second inclined surface respectively faces the two directions of the reciprocating flow of the magnetorheological fluid in the gap.
- 根据权利要求4所述的张力平衡悬挂装置，其特征在于，所述插接槽远离所述调节块的侧壁连通有位于磁流变缸体侧壁内的泄流孔道，所述泄流孔道的另一端口与所述磁流变缸体内部连通。The tension balance suspension device according to claim 4, wherein the side wall of the insertion slot away from the adjusting block communicates with a drain hole located in the side wall of the magnetorheological cylinder, and the drain hole The other port of is communicated with the inside of the magnetorheological cylinder.
- 根据权利要求4所述的张力平衡悬挂装置，其特征在于，所述调节块与磁流变缸体内部相对的端部包覆有铁片，所述铁片即为所述铁质部。The tension balance suspension device according to claim 4, wherein the end of the adjusting block opposite to the inside of the magnetorheological cylinder is covered with an iron piece, and the iron piece is the iron part.
- 根据权利要求2所述的张力平衡悬挂装置，其特征在于，所述磁流变缸体远离所述连接端的一侧设置有与磁流变缸体同轴的空心筒，所述活塞轴的另一端延伸出所述磁流变缸体至所述空心筒中。The tension balance suspension device according to claim 2, wherein a hollow cylinder coaxial with the magnetorheological cylinder is provided on the side of the magnetorheological cylinder away from the connecting end, and the other of the piston shaft is provided with a hollow cylinder that is coaxial with the magnetorheological cylinder. One end extends from the magnetorheological cylinder into the hollow cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ZA2022/06114A ZA202206114B (en) | 2019-11-22 | 2022-06-01 | Tension balancing suspension device |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911156940.9 | 2019-11-22 | ||
| CN201911156940.9A CN110861996B (en) | 2019-11-22 | 2019-11-22 | Tension balance suspension device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2021098109A1 true WO2021098109A1 (en) | 2021-05-27 |
Family
ID=69655454
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2020/081085 WO2021098109A1 (en) | 2019-11-22 | 2020-03-25 | Tension balancing suspension apparatus |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN110861996B (en) |
| WO (1) | WO2021098109A1 (en) |
| ZA (1) | ZA202206114B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861996B (en) * | 2019-11-22 | 2021-07-30 | 南通大学 | Tension balance suspension device |
| CN114940430B (en) * | 2022-05-30 | 2023-01-20 | 安徽理工大学环境友好材料与职业健康研究院(芜湖) | Using method of self-excitation adjusting rope adjusting device of multi-rope hoister |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2739412Y (en) * | 2004-10-29 | 2005-11-09 | 中国民用航空学院 | Gap sealed throttling channel damper |
| CN102767589A (en) * | 2012-07-02 | 2012-11-07 | 江苏科技大学 | Magneto-rheological damper adjustable in damping channel height |
| CN205350184U (en) * | 2015-02-16 | 2016-06-29 | 卡特彼勒公司 | Magnetorheological damper system |
| JP2017111464A (en) * | 2015-12-14 | 2017-06-22 | シンフォニアマイクロテック株式会社 | Mrf device and joy stick device |
| CN110861996A (en) * | 2019-11-22 | 2020-03-06 | 南通大学 | Tension balance suspension device |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104632979A (en) * | 2015-02-02 | 2015-05-20 | 江苏大学 | Adjustable damping shock absorber |
| JP7104530B2 (en) * | 2018-03-13 | 2022-07-21 | Ｋｙｂ株式会社 | Solenoids, solenoid valves, and shock absorbers |
| CN108518444B (en) * | 2018-03-22 | 2020-02-28 | 杭州电子科技大学 | Permanent magnet and excitation coil mixed magnetorheological damper and damping adjustment method thereof |
-
2019
- 2019-11-22 CN CN201911156940.9A patent/CN110861996B/en active Active
-
2020
- 2020-03-25 WO PCT/CN2020/081085 patent/WO2021098109A1/en active Application Filing
-
2022
- 2022-06-01 ZA ZA2022/06114A patent/ZA202206114B/en unknown
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2739412Y (en) * | 2004-10-29 | 2005-11-09 | 中国民用航空学院 | Gap sealed throttling channel damper |
| CN102767589A (en) * | 2012-07-02 | 2012-11-07 | 江苏科技大学 | Magneto-rheological damper adjustable in damping channel height |
| CN205350184U (en) * | 2015-02-16 | 2016-06-29 | 卡特彼勒公司 | Magnetorheological damper system |
| JP2017111464A (en) * | 2015-12-14 | 2017-06-22 | シンフォニアマイクロテック株式会社 | Mrf device and joy stick device |
| CN110861996A (en) * | 2019-11-22 | 2020-03-06 | 南通大学 | Tension balance suspension device |
Non-Patent Citations (1)
| Title |
|---|
| MA YANSONG: "Instability Mechanism and Suppress Strategy of Multi-direction Coupled Vibration of Hoisting Main Rope Under Disturbance Conditions in Deep Mine Shaft", CHINA DOCTORAL DISSERTATIONS FULL-TEXT DATABASE; ENGINEERING SCIENCE AND TECHNOLOGY I, 1 May 2019 (2019-05-01), XP055813907 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110861996B (en) | 2021-07-30 |
| CN110861996A (en) | 2020-03-06 |
| ZA202206114B (en) | 2023-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106763465B (en) | A kind of passive vibration reduction platform of six degree of freedom master | |
| WO2021098109A1 (en) | Tension balancing suspension apparatus | |
| CN101519120A (en) | Semi-active shimmy damper of undercarriage and control method thereof | |
| CN103912535B (en) | Luffing gravity declines crane load sensitivity multiple directional control valve | |
| WO2019085491A1 (en) | Highly efficient and energy-saving return cylinder for hydraulic machine and operating method thereof | |
| CN105745832A (en) | Lifting system, method for electrical testing, vibration damper, and machine assembly | |
| CN105221509B (en) | Balance valve to open in phases | |
| WO2023279748A1 (en) | Hybrid damping mode-based high-output-force vibration isolation mount | |
| AU2020201901A1 (en) | System and method for improved heave compensation | |
| CN102678813B (en) | Buffer device and anti-back-tilting device of arm support with same | |
| CN206458760U (en) | A kind of buffer plunger structure | |
| CN115059729B (en) | Graded vibration damper based on electromagnetic and hydraulic damping | |
| CN108019391A (en) | A kind of board-like damping adjustable one-way balance valve of connection | |
| CN104627828B (en) | Unhooking control method, equipment and system of loaded lowering device and engineering machinery | |
| CN106438555A (en) | Hydraulic control valve and hydraulic system | |
| Rashid et al. | An experimental design of bypass magneto-rheological (MR) damper | |
| CN102141108A (en) | External electromagnet retractable type magnetorheological damper | |
| CN106679922A (en) | System for actively controlling the generation of control load waveforms | |
| CN106122144B (en) | The pilot-actuated valve to operate steadily | |
| CN105398079A (en) | Pressing plate multi-cylinder movement balancing device | |
| CN209041213U (en) | A kind of two-stage hydraulic cylinder | |
| CN111536102B (en) | Hydraulic cylinder loading system and method for simulating counterweight mass force | |
| CN207522207U (en) | Lathe negative pressure counter weight device | |
| CN203374727U (en) | Impact-load-oriented magnetorheological buffering unit structure and test platform used in same | |
| CN207715456U (en) | A kind of high reliability buffering throttling oil cylinder connection valve block assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20889162 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 20889162 Country of ref document: EP Kind code of ref document: A1 |