A leveling and vibration reduction device based on magnetorheological elastomer

Abstract

The present invention discloses a leveling and vibration reduction device based on magnetorheological elastomer, comprising a stable platform and a support seat arranged in an upper and lower manner, and also comprising a plurality of magnetorheological elastomers and coils. The magnetorheological elastomer comprises an elastomer for vibration reduction and hard magnetic particles arranged in the elastomer. Each magnetorheological elastomer is magnetized one by one so that the hard magnetic particles inside are magnetized along an inclined direction to form a chain structure with anisotropy. The plurality of magnetorheological elastomers are respectively connected to the stable platform and the support seat. The magnetorheological elastomer is used to tighten and support the stable platform so that the stable platform is suspended on the support seat. When each coil is energized, a corresponding magnetic field is formed. The magnetic field applies a magnetic force to the hard magnetic particles in the corresponding magnetorheological elastomer so that the magnetorheological elastomer undergoes corresponding elastic deformation, thereby adjusting the real-time posture of the stable platform. In this way, the posture leveling of the stable platform can be achieved quickly and accurately, and the device has a vibration reduction function.

Description

Technical Field

[0001] The present invention relates to the technical field of vibration damping, and particularly relates to a leveling and vibration damping device based on magnetorheological elastomers. Background Art

[0002] With the rapid development of microelectromechanical systems (MEMS), various miniaturized detection devices (such as micro spectrometers, nanoscale displacement sensors, micro lidars, etc.) have been widely used in fields such as industrial inspection, medical diagnosis, and consumer electronics. During the operation of these devices, it is necessary to ensure that their acquisition elements (such as optical sensors, imaging modules, etc.) are exactly perpendicular to the detection plane. Any slight attitude deviation and vibration will cause errors in the acquired data, that is, affect the stability and consistency of the acquired data.

[0003] Currently, leveling and vibration damping devices often use mechanical adjustment or piezoelectric ceramic actuators to level the acquisition elements on their stable platforms. However, the transmission mechanisms used in mechanical adjustment have obvious backlash at the millimeter scale, affecting the repeat positioning accuracy and having limited response speed. While piezoelectric ceramic actuators have nanoscale positioning accuracy, their effective driving stroke is limited. Therefore, neither of the above can quickly level the acquisition elements of miniaturized detection devices. Summary of the Invention

[0004] To solve the above problems, the present invention provides a leveling and vibration damping device based on magnetorheological elastomers, which can quickly and accurately achieve the attitude leveling of the stable platform and at the same time has a vibration damping function.

[0005] To achieve the above object, the technical solution provided by the present invention is as follows:

[0006] The present invention provides a leveling and vibration damping device based on magnetorheological elastomers, including a stable platform and a support base arranged up and down, and further including a plurality of magnetorheological elastomers and coils cooperating with the magnetorheological elastomers; the magnetorheological elastomer includes an elastomer for vibration damping and a plurality of hard magnetic particles arranged in the elastomer; each magnetorheological elastomer is magnetized one by one so that the hard magnetic particles therein are magnetized along an inclined direction to form a chain-like structure with anisotropy; one ends of the plurality of magnetorheological elastomers are respectively connected to the stable platform, and the other ends of the plurality of magnetorheological elastomers away from the stable platform are connected to the support base, and the magnetorheological elastomers are used to tension and support the stable platform so that the stable platform is suspended above the support base; when each coil is energized, a corresponding magnetic field is formed, and the magnetic field applies a magnetic couple to the hard magnetic particles in the corresponding magnetorheological elastomer, so that the magnetorheological elastomer undergoes a corresponding elastic deformation, thereby leveling the real-time attitude of the stable platform.

[0007] Further, the plurality of magnetorheological elastomers are arranged in an equidistant ring around the stable platform.

[0008] Furthermore, the number of the magnetorheological elastomer and the number of the coils are each an even number.

[0009] Furthermore, each two magnetorheological elastomers are symmetrically distributed on both sides of the central axis of the stable platform, and the directions of the magnetic fields formed by the two oppositely arranged coils when energized are parallel to each other.

[0010] Furthermore, when all coils are not powered and the stable platform is in neutral balance, the magnetorheological elastomer is naturally tightened by the gravity of the stable platform, and at the same time, the suspended section of the magnetorheological elastomer is straightened and extended in an inclined direction, and the magnetic pole direction of the magnetized hard magnetic particles in the suspended section is parallel to the horizontal surface of the stable platform.

[0011] Furthermore, the support seat has a plurality of protrusions extending toward the stabilizing platform, and one end of the magnetorheological elastomer away from the stabilizing platform is clamped on the protrusions; and one end of the magnetorheological elastomer away from the protrusions is clamped on the stabilizing platform.

[0012] Furthermore, it also includes a detachable clamping plate, through which the two ends of the magnetorheological elastomer are clamped and fixed to the protruding portion and the stable platform respectively.

[0013] Furthermore, the coil is assembled between the magnetorheological elastomer and the support seat.

[0014] Furthermore, the coil is fed with current in positive and reverse directions to form a corresponding magnetic field, thereby ensuring that the posture of the stable platform is always balanced.

[0015] Furthermore, the elastomer is a polymer rubber body; the hard magnetic particles are neodymium iron boron magnetic particles.

[0016] The technical solution provided by the present invention has the following beneficial effects:

[0017] By magnetizing each magnetorheological elastomer one by one, the hard magnetic particles inside are magnetized along the inclined direction to form an anisotropic chain structure, so that a magnetorheological elastomer with a muscle fiber arrangement can be constructed. Therefore, the chain extension direction of the chain structure can affect the deformation direction of the magnetorheological elastomer itself.

[0018] When the stable platform tilts, by passing forward or reverse current through each coil and adjusting the current value of the coil in real time to generate a magnetic field with a corresponding magnetic field direction and intensity, at this time, each magnetorheological elastomer is subjected to the corresponding magnetic field, that is, the magnetic field exerts a magnetic couple on the hard magnetic particles in the corresponding magnetorheological elastomer, so that the magnetorheological elastomer undergoes corresponding elastic deformation, thereby realizing the real-time attitude adjustment of the stable platform quickly and accurately, and being able to achieve attitude balance control at the millisecond level, and also having a vibration damping function at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure shows a schematic structural diagram of a leveling and vibration damping device based on magnetorheological elastomers in the embodiment;

[0020] Figure 2 The figure shows a cross-sectional view of a leveling and vibration damping device based on magnetorheological elastomers in the embodiment;

[0021] Figure 3 The figure shows a working principle diagram of a leveling and vibration damping device based on magnetorheological elastomers in the embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] To further illustrate each embodiment, the present invention provides drawings. These drawings are part of the disclosure of the present invention, which are mainly used to illustrate the embodiments and can be combined with the relevant descriptions in the specification to explain the operating principle of the embodiments. With reference to these contents, those of ordinary skill in the art should be able to understand other possible implementation manners and the advantages of the present invention. The components in the figures are not drawn to scale, and similar component symbols are usually used to represent similar components.

[0023] The present invention will be further described below in conjunction with the drawings and specific embodiments.

[0024] Referring to Figures 1 to 3 As shown, this embodiment provides a leveling and vibration damping device based on magnetorheological elastomers (hereinafter simply referred to as the vibration damping device) for leveling the attitude of the acquisition element of various miniaturized detection devices during operation and achieving a vibration damping effect at the same time.

[0025] As Figure 1 and Figure 2 shown, the vibration damping device of this embodiment includes 4 magnetorheological elastomers 2, 4 coils 5 cooperating with the magnetorheological elastomers 2, and a stable platform 1 and a support base 4 arranged one above the other, wherein the stable platform 1 is used to carry or fixedly support the acquisition element (such as an optical sensor, an imaging module, etc.).

[0026] The magnetorheological elastomer 2 of this embodiment includes an elastomer for vibration damping and a plurality of hard magnetic particles arranged in the elastomer, and the non-deformed elastomer is in a strip shape.

[0027] The four magnetorheological elastomers 2 are respectively clamped on the circumferential wall of the stable platform 1 at their inner ends in the long direction, and are respectively clamped on the four protruding ends of the support seat 4 at their outer ends in the long direction away from the stable platform 1.

[0028] If Figure 3 As shown in FIG. 1 , when the magnetorheological elastomer 2 is tightened and supports the stable platform 1, the stable platform 1 is suspended in the center of the support seat 4. At the same time, the magnetorheological elastomer 2 has a suspended section 21 to ensure that the magnetorheological elastomer 2 can produce free deformation under the action of external force, thereby ensuring that the posture of the stable platform 1 can be accurately controlled and a contact-free friction setting can be achieved.

[0029] In this embodiment, four magnetorheological elastomers 2 are arranged in a ring at equal intervals on the circumferential wall of the stable platform 1, that is, the four magnetorheological elastomers 2 are cross-shaped and symmetrically distributed in pairs.

[0030] If Figure 3 As shown in , the directions of the magnetic field H formed by the two oppositely arranged coils 5 when energized are parallel to each other, thus ensuring that the magnetorheological elastomer 2 can deform more stably and reliably during leveling, and the control of the magnetic field H is also relatively simple.

[0031] By magnetizing each magnetorheological elastomer 2 one by one, the hard magnetic particles inside are magnetized along the inclined direction to form an anisotropic chain structure 22, so that a magnetorheological elastomer 2 with a muscle fiber arrangement can be constructed. Therefore, the chain extension direction of the chain structure 22 can affect the deformation direction of the magnetorheological elastomer 2 itself.

[0032] If Figure 3 As shown in FIG. 1 , when all coils 5 are not powered and the stable platform 1 is in neutral balance, the magnetorheological elastomer 2 is naturally tightened by the gravity of the stable platform 1, and at the same time, the suspended section 21 of the magnetorheological elastomer 2 is straightened and extended in the inclined direction. At this time, the magnetic pole direction of the magnetized hard magnetic particles in the suspended section 21 is parallel to the horizontal surface of the stable platform 1, that is, only the chain extension direction of the chain structure 22 in the inclined extended suspended section 21 is parallel to the horizontal surface of the stable platform 1, and the chain extension direction of the chain structure 22 in the magnetorheological elastomer 2 in other sections (such as the clamped sections at both ends of the magnetorheological elastomer 2 in the long direction) is inclined and crosses the horizontal surface of the stable platform 1.

[0033] ​​​​When the stable platform 1 tilts, by passing forward or reverse current through each coil 5 and adjusting the current value of each coil 5 in real time, corresponding forward and reverse magnetic fields H are generated. At this time, each magnetorheological elastomer 2 is affected by the corresponding magnetic field H, that is, the magnetic field H applies a magnetic couple to the hard magnetic particles in the corresponding magnetorheological elastomer 2, so that the magnetorheological elastomer 2 undergoes corresponding elastic deformation, thereby realizing the real-time attitude adjustment of the stable platform 1 quickly and accurately, and being able to achieve attitude balance control at the millisecond level. At the same time, it also has a vibration damping function.

[0034] Certainly, in other embodiments, the set numbers of the magnetorheological elastomers 2 and the coils 5 can also be even numbers such as 6 or 8, etc., and can be adjusted accordingly according to the number of degrees of freedom of the stable platform 1 and the required balance angle. For example, increasing the set number of the magnetorheological elastomers 2 from 4 to 8, so that more-dimensional attitude adjustment capabilities and better vibration damping performance can be provided.

[0035] In addition, the set numbers of the magnetorheological elastomers 2 and the coils 5 can also be odd numbers such as 3 or 5, etc., but the attitude control method of the stable platform 1 is relatively complex, that is, it is necessary to control the current magnitude and direction of all the coils 5 at the same time.

[0036] In another preferred embodiment, the support base 4 has 4 protruding portions 41 protruding and extending towards the stable platform 1, and the inner ends of each magnetorheological elastomer 2 are respectively clamped between the corresponding protruding portions 41. At this time, the protruding portion 41 is the protruding end of the support base 4. Certainly, in other embodiments, the two ends of the magnetorheological elastomer 2 can also be fixedly assembled to the support base 4 and the stable platform 1 respectively by means of clamping or bonding.

[0037] More specifically, the vibration damping device of this embodiment further includes a detachable clamping plate 3. The two ends of the magnetorheological elastomer 2 in its longitudinal direction are respectively clamped and fixed to the protruding portion 41 and the stable platform 1 through the clamping plate 3 and the locking bolts, and each coil 5 is assembled between the corresponding magnetorheological elastomer 2 and the support base 4.

[0038] In this specific embodiment, the specific elastomer is a high molecular rubber such as silicone rubber, and the specific hard magnetic particles are neodymium iron boron magnetic particles. When preparing the magnetorheological elastomer 2, first, the liquid silicone rubber matrix and the unmagnetized hard magnetic particles are fully mixed to make the hard magnetic particles evenly dispersed in the silicone rubber matrix. Then, it is injected into a shaping mold and thermoset molded to prepare an elastomer in a long strip shape with embedded hard magnetic particles. Next, the inclined directional magnetization technology is adopted (that is, using a high-voltage capacitor to instantaneously discharge a low-resistance coil to generate a pulsed magnetic field with a peak value of 1 to 3 T), so that the hard magnetic particles are magnetized along the preset inclined direction to form a magnetorheological elastomer 2 with a chain-like structure 22 extending obliquely to a certain extent. At this time, the chain extension direction of the chain-like structure 22 is parallel to the magnetization direction. Because the chain-like structure 22 endows the magnetorheological elastomer 2 with certain anisotropy, it can undergo controllable deformation along a specific direction under the subsequent magnetic field H excitation, and is driven by the uniform magnetic field H and maintains a certain static equilibrium angle. In this way, the real-time attitude of the stable platform 1 can be effectively leveled.

[0039] The coercive force of the magnetized hard magnetic particles is large, so their residual magnetization intensity is also high. When the magnetorheological elastomer 2 is placed in the magnetic field H formed by the coil 5, if the magnetic pole direction of the hard magnetic particles inside it is inconsistent with the magnetic field H direction formed by the coil 5, the magnetic pole direction of the hard magnetic particles will tend to rotate towards the magnetic field H direction, and at the same time, a magnetic couple is generated. Therefore, the magnetorheological elastomer 2 can generate complex and controllable deformations under the action of the magnetic field H formed by the coil 5, and the deformation direction of the magnetorheological elastomer 2 is controlled by the magnetic field H in the positive and negative directions, that is, a magneto-mechanical coupling response mechanism is formed.

[0040] By restricting the magnetorheological elastomer 2 through the magnetic field H generated by the coil 5, the magnetorheological elastomer 2 can deform quickly, and then quickly control the attitude of the stable platform 1 to be stable again, so as to achieve a fast response speed.

[0041] In addition, by inputting currents of different magnitudes to generate magnetic fields H of different intensities, in this way, the deformation degree of the magnetorheological elastomer 2 can be controlled, and stepless adjustment can be achieved, so as to ensure that the stable platform 1 can achieve leveling or control with sub-micron-level precision.

[0042] In addition, the magnetorheological elastomer 2 itself has a certain elasticity, which can not only effectively buffer external impacts, but also change its material properties by changing the magnetic field H to achieve a vibration damping effect.

[0043] In summary, the vibration damping device of this embodiment can quickly and accurately achieve the attitude stability of the stable platform 1, has a vibration damping function, and realizes the simultaneous compatibility of fast response and high precision through magnetorheology. Therefore, the vibration damping device of this embodiment has the advantages of fast response speed, non-contact friction, and stepless adjustment, and is also applicable to leveling the acquisition elements of miniaturized detection equipment.

[0044] Although the present invention has been specifically shown and described in connection with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the present invention without departing from the spirit and scope of the present invention as defined by the appended claims, and all such changes are within the scope of protection of the present invention.

Claims

1. A leveling and vibration reduction device based on magnetorheological elastomer, comprising a stable platform and a support seat arranged in upper and lower positions, characterized in that: It also includes a plurality of magnetorheological elastomers and coils matched to the magnetorheological elastomers; The magnetorheological elastomer includes an elastomer for vibration reduction and a plurality of hard magnetic particles arranged in the elastomer; each magnetorheological elastomer is magnetized one by one so that the hard magnetic particles therein are magnetized along an inclined direction to form an anisotropic chain structure; One end of a plurality of magnetorheological elastomers is respectively connected to the stable platform, one end of a plurality of magnetorheological elastomers away from the stable platform is connected to the support seat, and the magnetorheological elastomers are used to tighten and support the stable platform so that the stable platform is suspended on the support seat; When each coil is energized, a corresponding magnetic field is formed, and the magnetic field applies a magnetic force to the hard magnetic particles in the corresponding magnetorheological elastomer, so that the magnetorheological elastomer undergoes corresponding elastic deformation, thereby leveling the real-time posture of the stable platform; When all coils are not energized and the stable platform is in neutral balance, the magnetorheological elastomer is naturally tightened by the gravity of the stable platform, and at the same time, the suspended section of the magnetorheological elastomer is straightened and extended in an inclined direction, and the magnetic pole direction of the magnetized hard magnetic particles in the suspended section is parallel to the horizontal surface of the stable platform.

2. The leveling and vibration reduction device based on magnetorheological elastomer according to claim 1 is characterized in that: A plurality of magnetorheological elastomers are arranged in a ring with equal intervals on the stable platform.

3. The leveling and vibration reduction device based on magnetorheological elastomer according to claim 2 is characterized in that: The number of the magnetorheological elastomer and the number of the coils are both even numbers.

4. The leveling and vibration reduction device based on magnetorheological elastomer according to claim 3 is characterized in that: Every two magnetorheological elastomers are symmetrically distributed on both sides of the central axis of the stable platform, and the directions of the magnetic fields formed by the two oppositely arranged coils when energized are parallel to each other.

5. The leveling and vibration reduction device based on magnetorheological elastomer according to any one of claims 1 to 4, characterized in that: The support seat has a plurality of protrusions extending toward the stable platform, and one end of the magnetorheological elastomer away from the stable platform is clamped on the protrusions; one end of the magnetorheological elastomer away from the protrusions is clamped on the stable platform.

6. The leveling and vibration reduction device based on magnetorheological elastomer according to claim 5 is characterized in that: It also includes a detachable clamping plate, and the two ends of the magnetorheological elastomer are clamped and fixed to the protruding portion and the stabilizing platform respectively through the clamping plate.

7. The leveling and vibration reduction device based on magnetorheological elastomer according to claim 5 is characterized in that: The coil is assembled between the magnetorheological elastomer and the support seat.

8. The leveling and vibration reduction device based on magnetorheological elastomer according to any one of claims 1 to 4, characterized in that: The coil is fed with current in positive and reverse directions to form a corresponding magnetic field, thereby ensuring that the posture of the stable platform is always balanced.

9. The leveling and vibration reduction device based on magnetorheological elastomer according to any one of claims 1 to 4, characterized in that: The elastomer is a polymer rubber body; the hard magnetic particles are neodymium iron boron magnetic particles.

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