Semi-active vibration reduction intelligent vacuum contactor and vibration reduction control method

Abstract

The invention discloses a semi-active vibration reduction intelligent vacuum contactor and a vibration reduction control method. The vacuum contactor comprises a contactor body, a steel wire rope vibration isolator, a semi-active adjustable friction vibration reduction platform and a central processing unit. The contactor is arranged on the upper portion, the semi-active adjustable friction damping platform is arranged on the lower portion, the steel wire rope vibration isolator is connected with the contactor and the semi-active adjustable friction damping platform through bolts, and the central processing unit is arranged on the right rear portion of the inner wall of the bottom of the contactor. The semi-active adjustable friction vibration reduction platform comprises eight universal joints, a vibration reduction support, a second vibration sensor, a platform and a vibration reduction shell. The second vibration sensor is fixed to the inner bottom of the vibration reduction shell, the vibration reduction shell is connected with the bottom of an internal electrical cabinet of the coal mining machine through bolts, and the vibration reduction support is arranged in the vibration reduction shell. According to the invention, the vibration amplitude of equipment is effectively reduced, the stability of the system is improved, adaptive control is realized, and human intervention is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of electrical equipment control and protection, and in particular to an intelligent vacuum contactor for semi-active vibration reduction and a vibration reduction control method. Background Art

[0002] Vacuum contactor is an important component used to control and protect electrical equipment, and is widely used in the coal mining industry. The contactor is based on the principle of electromagnetic induction, and drives the opening and closing of the contacts by controlling the on and off of the coil current, thereby achieving control and protection of the circuit. However, in actual applications, the working environment of the vacuum AC contactor is complex and changeable, and is greatly affected by external vibrations. For example, the vacuum contactor on the coal mining machine is subjected to the violent vibrations generated by the coal mining machine when it is working, causing the installation parts of the contactor to loosen, thereby affecting its normal operation. In addition, the irregular vibrations generated by the coal mining machine itself may cause uneven wear of the contacts inside the contactor, resulting in poor contact, insensitive opening and closing, or even failure to close the switch, which will not only affect the stability and reliability of the equipment, but may also cause damage and failure of the equipment. Therefore, applying vibration reduction technology is crucial to improving the performance of vacuum AC contactors.

[0003] Existing contactor vibration reduction technology mainly uses physical methods to reduce vibration. Mechanical vibration reduction mainly absorbs and buffers vibration energy by adding springs, shock pads and other components, thereby reducing the impact of vibration on the equipment. However, there are some problems with mechanical vibration reduction, such as the inability to monitor and adjust vibration impact in real time, and it is easy to be damaged and needs to be replaced regularly. It faces self-vibration during vibration reduction, and it is easy to transmit medium-frequency vibration, which may cause secondary vibration to enhance the original vibration. At the same time, the damping capacity is poor and the vibration isolation ability near the resonant frequency is poor. In some harsh environments such as mines, it will cause performance degradation and aging, and a short service life.

[0004] Moreover, the current semi-active vibration reduction technology is mainly based on electro-hydraulic and air pump types, and both require the placement of oil cylinders and air cylinders when in use, which is very unfavorable to the already narrow space of the electronic control box. Moreover, the technology is currently mainly used for vibration reduction of large equipment such as semi-active electro-hydraulic vibration reduction of automobile suspensions, which is not very favorable for use on small vibration equipment. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an intelligent vacuum contactor with semi-active vibration reduction and a vibration reduction control method, which can monitor the vibration state of the equipment in real time and automatically adjust the vibration reduction strategy as needed to achieve the best vibration reduction effect. The vibration reduction platform can not only slow down the external high-frequency signal, but also reduce the impact of the contactor's own vibration on the contactor, and can better meet the needs of different application scenarios.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0007] Smart vacuum contactor with semi-active vibration reduction, including:

[0008] Contactor, wire rope vibration isolator, semi-active adjustable friction vibration reduction platform and central processing unit; the contactor is arranged at the top, the semi-active adjustable friction vibration reduction platform is arranged at the bottom, the wire rope vibration isolator is used to connect the contactor and the semi-active adjustable friction vibration reduction platform, and the central processing unit is arranged at the right rear of the bottom inner wall of the contactor.

[0009] Among them, the contactor includes a contactor contact system, a first vibration sensor, a wiring terminal and a communication module; the contactor contact system is fixedly installed in the middle position inside the contactor, the first vibration sensor is connected to the contactor contact system, the wiring terminal is fixedly installed on the left rear of the bottom inner wall of the contactor, and the communication module is fixedly installed in front of the bottom inner wall of the contactor.

[0010] The semi-active adjustable friction vibration reduction platform includes eight universal joints, a vibration reduction bracket, a second vibration sensor, a platform and a vibration reduction shell; the second vibration sensor is fixed to the inner bottom of the vibration reduction shell, and the vibration reduction shell is connected to the bottom of the internal electrical cabinet of the coal mining machine through bolts.

[0011] The vibration-damping bracket is arranged inside the vibration-damping shell, and the vibration-damping bracket includes a telescopic bracket, a shell connecting frame, a friction block, a spring, a metal steering gear, a gear, a rack, a rack shell, a steering gear mounting support, a shell one and a shell two.

[0012] The wire rope vibration isolator is divided into a first wire rope vibration isolator and a second wire rope vibration isolator. The first wire rope vibration isolator is arranged around the outer wall of the bottom of the contactor, and the second wire rope vibration isolator is arranged at the center of the outer wall of the bottom of the contactor.

[0013] Furthermore, the wire rope isolator is connected to the contactor and the semi-active adjustable friction vibration reduction platform through bolts.

[0014] Furthermore, the contactor contact system is fixedly installed at the middle position inside the contactor by bolts to perform the basic functions of the contactor; the wiring terminals are connected to the central processing unit, the first vibration sensor, the second vibration sensor and the semi-active adjustable friction vibration reduction platform through wires.

[0015] Furthermore, the first vibration sensor is connected to a fixing bolt of the contact system of the contactor by means of threads.

[0016] Furthermore, the first vibration sensor is connected to the fixing bolt of the contactor contact system by magnetic attraction.

[0017] Furthermore, the Ethernet wireless communication interface of the communication module is connected to the central processing unit for transmitting the status of the contactor in real time through the network.

[0018] Furthermore, the wire rope isolator includes an upper mounting support, a lower mounting support and a wire rope. The two ends of the wire rope are connected to the upper mounting support and the lower mounting support through holes on the upper mounting support and the lower mounting support respectively. The upper mounting support is connected to the outer wall of the bottom of the contactor through bolts, and the lower mounting support is connected to the outer wall of the top of the platform through bolts.

[0019] The upper mounting support and the lower mounting support of the first steel wire rope vibration isolator are both circular, and the upper mounting support and the lower mounting support of the second steel wire rope vibration isolator are both square.

[0020] Furthermore, the eight universal joints are divided into four first universal joints and four second universal joints; the first universal joints are all arranged at the top end of the telescopic bracket, and the second universal joints are all arranged at the bottom end of the telescopic bracket.

[0021] The universal joint includes two mounting supports, the top end of the first universal joint is fixedly connected to the lower surface of the platform through the mounting supports, and the bottom end of the first universal joint is fixedly connected to the top end of the telescopic bracket through the mounting supports; the top end of the second universal joint is fixedly connected to the bottom end of the telescopic bracket through the mounting supports, and the bottom end of the second universal joint is fixedly connected to the vibration damping shell through the mounting supports.

[0022] Furthermore, the metal servo is connected to the servo mounting support through threads, the servo mounting support is connected to the inside of the shell one through bolts, the gear is connected to the metal servo through a key, the rack shell is connected to the inside of the shell one through bolts, the rack is arranged inside the rack shell, the bottom end of the telescopic bracket is fixedly connected to the cylindrical hole of the shell two; the shell connecting frame is connected to the shell one and the shell two; the friction blocks are respectively fixed on the shell two and the top end of the rack; the spring sleeve is arranged on the outside of the telescopic bracket.

[0023] Furthermore, the present invention also proposes a vibration reduction control method for an intelligent vacuum contactor with semi-active vibration reduction, comprising:

[0024] S1. Use a first vibration sensor and a second vibration sensor to respectively monitor the vibration of the vibration-damping housing caused by the platform and the coal mining machine to obtain vibration signals.

[0025] S2. After receiving the vibration signal, the main control board of the central processing unit transmits electrical signals to the four servos to control the output torque of the servos.

[0026] S3. The output torque of the servo drives the gear and rack to move, causing the friction block to generate friction.

[0027] S4. Frictional force produces resistance to the movement of the telescopic bracket. Based on Ruzicka's motion analysis of resistance, the specific formula is:

[0028]

[0029] Among them, F 0 represents the force of the telescopic bracket acting on the platform, M represents the mass of the telescopic bracket, Indicates the acceleration of the telescopic bracket movement.

[0030] S5. Decompose the force applied by the telescopic bracket to the platform. The specific expression is:

[0031] F X =(F 1 +F 2 +F 3 +F 4 )×cosγ×cosβ

[0032] F y =(F 1 +F 2 +F 3 +F 4 )×cosα×cosα

[0033] F Z =(F 1 +F 2 +F 3 +F 4 )×sinγ

[0034] Among them, F 1 、F 2 、F 3 、F 4 They represent the forces exerted by the four telescopic brackets on the platform; F X 、F y 、F Z They respectively represent the decomposition of the resultant force acting on the platform in the X, Y, and Z directions; γ represents the angle between the telescopic bracket and the base in the X direction, β represents the angle between the telescopic bracket and the base in the Y direction, and α represents the angle between the telescopic bracket and the base in the Z direction.

[0035] By adjusting F 1 、F 2 、F 3 、F 4 Achieve adaptive closed-loop vibration reduction.

[0036] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0037] 1. The control method proposed in the present invention can quickly adjust the vibration reduction strategy according to the real-time monitored vibration data, thereby effectively reducing the vibration amplitude of the equipment and improving the stability of the system. At the same time, it reduces mechanical wear and prolongs the service life, and is suitable for operation in high-frequency and high-load environments.

[0038] 2. The present invention integrates intelligent algorithms so that the contactor can automatically identify vibration characteristics under different working conditions, optimize vibration reduction parameters in real time, achieve adaptive control, and reduce human intervention.

[0039] 3. The present invention can be widely used in many fields such as industrial equipment and building structures to improve overall performance and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a back view of the overall structure of the present invention.

[0041] Figure 2 It is a front view of the overall structure of the present invention.

[0042] Figure 3 It is a structural diagram of the vibration-damping bracket of the present invention.

[0043] Figure 4 It is a structural diagram of the wire rope vibration damper of the present invention.

[0044] Figure 5 It is the overall control flow chart of the present invention.

[0045] Figure 6 It is a Ruzicka model diagram of the force on the telescopic bracket in the vibration-damping bracket of the present invention.

[0046] Figure 7 It is a schematic diagram of the force decomposition of the telescopic bracket on the platform of the present invention.

[0047] Figure numerals: 1-contactor contact system, 2-central processing unit, 3-universal joint, 4-vibration damping bracket, 5-first vibration sensor, 6-connecting terminal, 7-first wire rope vibration damper, 8-second vibration sensor, 9-second wire rope vibration damper, 10-communication module, 11-platform, 12-vibration damping housing, 13-telescopic bracket, 14-housing connecting frame, 15-friction block, 16-spring, 17-metal servo, 18-gear, 19-rack, 20-rack housing, 21-servo mounting support, 22-housing one, 23-housing two, 24-upper mounting support, 25-lower mounting support, 26-wire rope. DETAILED DESCRIPTION

[0048] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0049] To achieve the above object, the present invention proposes an intelligent vacuum contactor with semi-active vibration reduction, such as Figure 1 , 2 As shown, including:

[0050] Contactor, wire rope vibration isolator, semi-active adjustable friction vibration reduction platform, and central processing unit 2 that maintains the operation of the entire system.

[0051] The contactor is arranged at the top, the semi-active adjustable friction vibration reduction platform is arranged at the bottom, the wire rope vibration isolator is connected to the contactor and the semi-active adjustable friction vibration reduction platform by bolts, and the central processing unit 2 is arranged at the right rear of the bottom inner wall of the contactor; the central processing unit 2 is used to collect and process the vibration signal of the three-axis vibration sensor and control the steering of the servo, and the servo is used to connect the gears to control the movement of the rack to apply friction force.

[0052] Among them, the contactor includes a contactor contact system 1, a first vibration sensor 5, a terminal block 6 and a communication module 10; the contactor contact system 1 is fixedly installed in the middle position inside the contactor by bolts, and is used to perform the basic functions of the contactor; the first vibration sensor 5 is connected to the contactor contact system 1 by threads or magnetic attraction, and is used to monitor the vibration signal generated when the contactor is working; the terminal block 6 is fixedly installed on the left rear of the bottom inner wall of the contactor; the communication module 10 is fixedly installed in front of the bottom inner wall of the contactor, and the Ethernet wireless communication interface of the communication module 10 is connected to the central processing unit 2, and is used to transmit the status of the contactor in real time through the network.

[0053] like Figure 3 As shown, the vibration-damping bracket 4 includes a telescopic bracket 13, a shell connecting frame 14, a friction block 15, a spring 16, a metal servo 17, a gear 18, a rack 19, a rack housing 20, a servo mounting support 21, a shell 1 22, and a shell 2 23.

[0054] The metal servo 17 is connected to the servo mounting support 21 by threads, the servo mounting support 21 is connected to the inside of the shell 1 22 by bolts, the gear 18 is connected to the metal servo 17 by a key, the rack shell 20 is connected to the inside of the shell 1 22 by bolts, the rack 19 is arranged inside the rack shell 20, the bottom end of the telescopic bracket 13 is fixedly connected to the cylindrical hole of the shell 23, and moves along the axial direction of the cylindrical hole; the shell connecting frame 14 is connected to the shell 1 22 and the shell 2 23; the friction block 15 is respectively fixed on the shell 23 and the top of the rack 19, the friction block 15 is used to provide resistance when the telescopic bracket 13 moves, and the magnitude of the force can be adjusted by the servo; the spring 16 is sleeved on the outside of the telescopic bracket 13, and is used to provide resistance when the telescopic bracket 13 moves.

[0055] The wire rope vibration isolator is divided into a first wire rope vibration isolator 7 and a second wire rope vibration isolator 9. The first wire rope vibration isolator 7 is arranged around the outer wall of the bottom of the contactor, and the second wire rope vibration isolator 9 is arranged at the center of the outer wall of the bottom of the contactor.

[0056] like Figure 4 As shown, the wire rope isolator includes an upper mounting support 24, a lower mounting support 25 and a wire rope 26. The two ends of the wire rope 26 are connected to the upper mounting support 24 and the lower mounting support 25 through holes on the upper mounting support 24 and the lower mounting support 25 respectively. The upper mounting support 24 is connected to the outer wall of the bottom of the contactor through bolts, and the lower mounting support 25 is connected to the outer wall of the top of the platform 11 through bolts.

[0057] The upper mounting support 24 and the lower mounting support 25 of the first wire rope isolator 7 are both circular and can withstand multi-directional forces applied from the surroundings; the upper mounting support 24 and the lower mounting support 25 of the second wire rope isolator 9 are both square and are mainly responsible for connecting and supporting the contactor of the vibration reduction platform.

[0058] The semi-active adjustable friction vibration reduction platform includes eight universal joints 3, a vibration reduction bracket 4, a second vibration sensor 8, a platform 11 and a vibration reduction shell 12; the vibration reduction bracket 4 is arranged inside the vibration reduction shell 12, the second vibration sensor 8 is fixed to the inner bottom of the vibration reduction shell 12, and the vibration reduction shell 12 is connected to the bottom of the internal electrical cabinet of the coal mining machine by bolts.

[0059] Four first universal joints are arranged at the top end of the telescopic bracket 13 , and four second universal joints are arranged at the bottom end of the telescopic bracket 13 .

[0060] The universal joint 3 includes two mounting supports, the top end of the first universal joint is fixedly connected to the lower surface of the platform 11 through the mounting support, and the bottom end of the first universal joint is fixedly connected to the top end of the telescopic bracket 13 through the mounting support; the top end of the second universal joint is fixedly connected to the bottom end of the telescopic bracket 13 through the mounting support, and the bottom end of the second universal joint is fixedly connected to the vibration damping shell 12 through the mounting support.

[0061] The connection terminal 6 is connected to the central processing unit 2, the first vibration sensor 5, the second vibration sensor 8 and the semi-active adjustable friction vibration reduction platform through wires.

[0062] In this embodiment, the vibration sensor uses a three-axis vibration sensor.

[0063] Vibration reduction control method of intelligent vacuum contactor with semi-active vibration reduction, such as Figure 5 As shown, including:

[0064] S1. Using a first three-axis vibration sensor and a second three-axis vibration sensor to respectively monitor the vibration of the vibration-damping housing caused by the platform (ie, the contactor) and the coal mining machine to obtain vibration signals.

[0065] S2. After receiving the vibration signal, the main control board of the central processing unit transmits electrical signals to the four servos, thereby controlling the output torque of the servos.

[0066] S3. The output torque of the servo drives the gear and rack to move, thereby causing the friction block to generate friction.

[0067] S4. Friction will create resistance to the movement of the telescopic bracket. The force is simplified to the Ruzicka model of a single bracket, such as Figure 6 As shown. In order to facilitate the force and motion analysis, the motion analysis is performed:

[0068]

[0069] Among them, F 0 represents the force of the telescopic bracket on the platform, M represents the mass of the telescopic bracket, K represents the lateral stiffness of the empty spring, and X 0 represents the displacement of the telescopic bracket, D represents the damping coefficient of the friction damper, represents the acceleration of the telescopic bracket movement, Indicates the speed of the telescopic bracket movement.

[0070] The damping coefficient of the friction damper depends on the servo output torque -T 0 , gear rack transmission coefficient-K and friction coefficient of friction material-μ.

[0071] S5. The force applied by each telescopic bracket to the platform is Figure 7 Angle diagram for decomposition:

[0072] F X =(F 1 +F 2 +F 3 +F 4 )×cosγ×cosβ

[0073] F y =(F 1 +F 2 +F 3 +F 4 )×cosα×cosα

[0074] F Z =(F 1 +F 2 +F 3 +F 4 )×sinγ

[0075] Among them, F 1 ,F 2 ,F 3 ,F4 are the forces exerted on the platform by the four telescopic brackets; F X F y F Z They are the decomposition of the resultant force on the platform in the X, Y, and Z directions respectively; γ represents the angle between the telescopic bracket and the base in the X direction, β represents the angle between the telescopic bracket and the base in the Y direction, and α represents the angle between the telescopic bracket and the base in the Z direction.

[0076] By changing F 1 ,F 2 ,F 3 ,F 4 This will offset the impact of vibration on the contactor, thus achieving the effect of adaptive closed-loop vibration reduction.

[0077] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. Intelligent vacuum contactor with semi-active vibration reduction, characterized in that: include: contactor, wire rope vibration isolator, semi-active adjustable friction vibration reduction platform and central processing unit (2); The contactor is arranged at the top, the semi-active adjustable friction vibration reduction platform is arranged at the bottom, the wire rope vibration isolator is used to connect the contactor and the semi-active adjustable friction vibration reduction platform, and the central processing unit (2) is arranged at the right rear of the inner wall at the bottom of the contactor; The contactor comprises a contactor contact system (1), a first vibration sensor (5), a wiring terminal (6) and a communication module (10); the contactor contact system (1) is fixedly mounted at a middle position inside the contactor, the first vibration sensor (5) is connected to the contactor contact system (1), the wiring terminal (6) is fixedly mounted at the left rear of the bottom inner wall of the contactor, and the communication module (10) is fixedly mounted at the front of the bottom inner wall of the contactor; The semi-active adjustable friction vibration reduction platform comprises eight universal joints (3), a vibration reduction bracket (4), a second vibration sensor (8), a platform (11) and a vibration reduction housing (12); the second vibration sensor (8) is fixed to the inner bottom of the vibration reduction housing (12), and the vibration reduction housing (12) is connected to the bottom of the internal electrical cabinet of the coal mining machine through bolts; The vibration-damping bracket (4) is arranged inside the vibration-damping housing (12), and the vibration-damping bracket (4) comprises a telescopic bracket (13), a housing connecting frame (14), a friction block (15), a spring (16), a metal steering gear (17), a gear (18), a rack (19), a rack housing (20), a steering gear mounting support (21), a housing 1 (22), and a housing 2 (23); The wire rope vibration isolator is divided into a first wire rope vibration isolator (7) and a second wire rope vibration isolator (9). The first wire rope vibration isolator (7) is arranged around the outer wall of the bottom of the contactor, and the second wire rope vibration isolator (9) is arranged at the center of the outer wall of the bottom of the contactor.

2. The semi-active vibration-reducing intelligent vacuum contactor according to claim 1, characterized in that: The wire rope isolator is connected to the contactor and the semi-active adjustable friction vibration reduction platform by bolts.

3. The semi-active vibration-reducing intelligent vacuum contactor according to claim 1, characterized in that: The contactor contact system (1) is fixedly installed at a middle position inside the contactor by means of bolts and is used to perform the basic functions of the contactor; the wiring terminal (6) is connected to the central processing unit (2), the first vibration sensor (5), the second vibration sensor (8) and the semi-active adjustable friction vibration reduction platform by means of wires.

4. The semi-active vibration-reducing intelligent vacuum contactor according to claim 1, characterized in that: The first vibration sensor (5) is connected to the fixing bolt of the contactor contact system (1) by means of threads.

5. The semi-active vibration-reducing intelligent vacuum contactor according to claim 1, characterized in that: The first vibration sensor (5) is connected to the fixing bolt of the contactor contact system (1) by magnetic attraction.

6. The semi-active vibration-reducing intelligent vacuum contactor according to claim 1, characterized in that: The Ethernet wireless communication interface of the communication module (10) is connected to the central processing unit (2) and is used to transmit the status of the contactor in real time through the network.

7. The semi-active vibration-reducing intelligent vacuum contactor according to claim 1, characterized in that: The wire rope vibration isolator comprises an upper mounting support (24), a lower mounting support (25) and a wire rope (26); two ends of the wire rope (26) are connected to the upper mounting support (24) and the lower mounting support (25) through holes on the upper mounting support (24) and the lower mounting support (25), respectively; the upper mounting support (24) is connected to the outer wall of the bottom of the contactor through bolts, and the lower mounting support (25) is connected to the outer wall of the top of the platform (11) through bolts; The upper mounting support (24) and the lower mounting support (25) of the first wire rope vibration isolator (7) are both circular, and the upper mounting support (24) and the lower mounting support (25) of the second wire rope vibration isolator (9) are both square.

8. The semi-active vibration-reducing intelligent vacuum contactor according to claim 1, characterized in that: The eight universal joints (3) are divided into four first universal joints and four second universal joints; the first universal joints are all arranged at the top end of the telescopic bracket (13), and the second universal joints are all arranged at the bottom end of the telescopic bracket (13); The universal joint (3) comprises two mounting supports, the top end of the first universal joint is fixedly connected to the lower surface of the platform (11) via the mounting supports, and the bottom end of the first universal joint is fixedly connected to the top end of the telescopic bracket (13) via the mounting supports; the top end of the second universal joint is fixedly connected to the bottom end of the telescopic bracket (13) via the mounting supports, and the bottom end of the second universal joint is fixedly connected to the vibration-damping housing (12) via the mounting supports.

9. The semi-active vibration-reducing intelligent vacuum contactor according to claim 1, characterized in that: The metal steering gear (17) is connected to the steering gear mounting support (21) by threads, the steering gear mounting support (21) is connected to the inside of the housing (22) by bolts, the gear (18) is connected to the metal steering gear (17) by keys, the rack housing (20) is connected to the inside of the housing (22) by bolts, the rack (19) is arranged inside the rack housing (20), the bottom end of the telescopic bracket (13) is fixedly connected to the cylindrical hole of the housing (23); the housing connecting frame (14) is connected to the housing (22) and the housing (23); the friction block (15) is respectively fixed to the housing (23) and the top end of the rack (19); the spring (16) is sleeved on the outside of the telescopic bracket (13).

10. The vibration reduction control method for the intelligent vacuum contactor for semi-active vibration reduction according to claim 1, characterized in that: include: S1, using a first vibration sensor and a second vibration sensor to respectively monitor the vibration of the vibration-damping housing caused by the platform and the coal mining machine to obtain a vibration signal; S2, after receiving the vibration signal, the main control board of the central processing unit transmits the electrical signal to the four servos to control the output torque of the servos; S3, the output torque of the servo drives the gear and rack to move, causing the friction block to generate friction; S4. Frictional force produces resistance to the movement of the telescopic bracket. Based on Ruzicka's motion analysis of resistance, the specific formula is: Where F0 represents the force of the telescopic bracket acting on the platform, M represents the mass of the telescopic bracket, Indicates the acceleration of the telescopic bracket movement; S5. Decompose the force applied by the telescopic bracket to the platform. The specific expression is: <h2 style=";text-align:left;direction:ltr">F<h2 style=";text-align:left;direction:ltr"> X <h2 style=";text-align:left;direction:ltr"> (F1+F2+F3+F4)×cosα×cosβ <h2 style=";text-align:left;direction:ltr">F<h2 style=";text-align:left;direction:ltr"> y <h2 style=";text-align:left;direction:ltr"> (F1+F2+F3+F4)×cosγ×cosα <h2 style=";text-align:left;direction:ltr">F<h2 style=";text-align:left;direction:ltr"> Z <h2 style=";text-align:left;direction:ltr"> (F1+F2+F3+F4)×sinγ Wherein, F1, F2, F3, and F4 represent the forces exerted on the platform by the four telescopic brackets respectively; F X 、F y 、F Z They respectively represent the decomposition of the resultant force on the platform in the X, Y, and Z directions; γ represents the angle between the telescopic bracket and the base in the X direction, β represents the angle between the telescopic bracket and the base in the Y direction, and α represents the angle between the telescopic bracket and the base in the Z direction; Adaptive closed-loop vibration reduction is achieved by adjusting F1, F2, F3, and F4.

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