A direction control device based on controllable magnetic fluid

Abstract

The invention provides a direction control device based on controllable magnetic fluid. A specific magnetic field is formed by controlling an electromagnet array to control the distribution of the magnetic fluid to change the center of gravity of the device, and to change the movement posture and direction of the device. When no power is supplied, the magnetic fluid flows freely in the upper layer of the cavity. After the electromagnet is energized, the magnetic fluid will be affected by the magnetic field of the electromagnet array. If the device needs to maintain horizontal plane balance, the magnetic fluid array can be fully opened or only the electromagnets of the outer layer of the magnetic fluid array can be opened to achieve the effect of maintaining balance in the horizontal direction. If the device needs to deviate in a specific direction, an embedded system of an electric control mechanism sends instructions to the electromagnet array to generate a corresponding magnetic field as required to control the flow of the magnetic fluid. The device can also be used in conjunction with equipment such as a gyroscope. In a bumpy state, the entire device can be kept balanced by using information feedback from the gyroscope and dynamic adjustment of the magnetic fluid and the electromagnet array.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerospace submersible navigation and other fields requiring attitude control in the horizontal direction, and in particular relates to a direction control device based on controllable magnetic fluid. Background Art

[0002] Magnetic fluid, also known as magnetic liquid, ferromagnetic fluid or magnetic liquid, is a new type of functional material that has both the fluidity of liquid and the magnetism of solid magnetic material. It is a stable colloidal liquid mixed with magnetic solid particles with a diameter of nanometers (less than 10 nanometers), base carrier liquid (also called media) and surfactant. The fluid has no magnetic attraction when static, and only exhibits magnetism when an external magnetic field is applied. It has a wide range of applications in practice.

[0003] Many spacecraft need to adjust their horizontal attitude after launch to ensure the value or tilt movement in a specific direction, including but not limited to rockets, missiles, buoys, torpedoes launched underwater, and some surface vehicles. Most related machinery is equipped with tail rudders or side rudders, and other external devices to achieve the purpose of steering by disturbing the airflow or water flow. However, since the steering device is set on the outside, it is very easy to be damaged by collision during operation, which affects the steering function. In addition, complex airflow and hydrological conditions will also involve a large amount of computing data and unexpected situations, which creates great uncertainty for the stable operation of the device. At present, there is a directional control device that changes the center of gravity mechanically, but due to some characteristics of the machine, it requires regular maintenance and is prone to failure and damage, and the mechanical structure is complex and not easy to repair and maintain. Summary of the invention

[0004] In order to solve the above problems, the present invention provides an effective internal steering solution for machinery that needs horizontal attitude control, such as aerospace submarines. The device can control the accuracy at the pixel level, and the accuracy and efficiency of the device can be changed by adjusting the size and number of electromagnets.

[0005] The present invention is implemented as follows: a direction control device based on controllable magnetic fluid includes a double-layer pancake-shaped cavity shell, magnetic fluid, an electromagnet array and an electric control mechanism;

[0006] The double-layer pancake-shaped cavity shell is arranged at the outermost layer of the device, and the double-layer pancake-shaped cavity shell is divided into two parts, the upper layer is a sealed pancake-shaped cavity and the interior of the cavity is used to hold the magnetic fluid, and the lower layer is a semi-open cylinder and the interior of the empty cylinder has a plurality of fixed positions for fixing the electromagnet array;

[0007] The magnetic fluid is located in the upper layer of the double-layer pancake-shaped cavity shell as the main counterweight part;

[0008] The electromagnet array is composed of a plurality of electromagnets, and the plurality of electromagnets are evenly distributed in an array in a circular area of ​​a horizontal plane, and are mainly used to control the flow and distribution of the magnetic fluid;

[0009] The electric control mechanism is connected to the electromagnet array by an embedded system and sends a signal thereto to control the on and off of each electromagnet.

[0010] Preferably, the double-layer pancake-shaped cavity shell is made of non-magnetic material.

[0011] Preferably, the magnetic fluid is affected by the magnetic force distribution of the electromagnet therebelow, thereby changing the distribution of the magnetic fluid and further changing the center of gravity distribution of the entire device.

[0012] Preferably, the magnetic fluid is completely sealed around to prevent leakage.

[0013] Preferably, the electromagnet array is used to attract the magnetic fluid to move and distribute in a corresponding direction, so as to achieve the effects of changing the center of gravity and controlling the direction.

[0014] Preferably, the positive and negative poles of the electromagnet are both connected to the embedded system of the electric control mechanism.

[0015] Preferably, the embedded system of the electric control mechanism sends a signal to the electromagnet at each position to achieve the purpose of balancing or shifting in a certain direction.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the present invention, a specific magnetic field is formed by controlling the electromagnet array to control the distribution of the magnetic fluid, thereby further changing the center of gravity of the device, thereby further changing the movement posture and direction of the device, and achieving the purpose of direction control;

[0018] 2. In the present invention, when no power is supplied, the magnetic fluid flows freely in the upper layer of the cavity. However, when the electromagnet is energized, the magnetic fluid will be affected by the magnetic field of the electromagnet array. If the device needs to maintain balance in the horizontal direction, a magnetic fluid array symmetrical at any angle is opened. For example, the effect of maintaining balance in the horizontal direction can be achieved by opening all the magnetic fluid arrays or only opening the electromagnets of the outer layer of the magnetic fluid array.

[0019] 3. If the device of the present invention needs to be offset in a specific direction, the embedded system of the electronic control mechanism of the device can send instructions to the electromagnet array to generate a corresponding magnetic field as required to control the flow of the magnetic fluid. It can also be used in conjunction with equipment such as a gyroscope. In a bumpy state, the information feedback of the gyroscope and the dynamic adjustment of the magnetic fluid and the electromagnet array can be used to keep the entire device balanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A three-dimensional diagram of the overall structure of the present invention;

[0021] Figure 2 A top view of the overall structure of the present invention;

[0022] Figure 3 The magnetic fluid distribution diagram on the horizontal plane in the equilibrium state of the present invention;

[0023] Figure 4 This is a magnetic fluid distribution diagram on a horizontal plane under a slight deviation of the present invention;

[0024] Figure 5 This is a magnetic fluid distribution diagram on the horizontal plane under the more biased condition of the present invention;

[0025] Figure 6 It is a magnetic fluid distribution diagram on the horizontal plane under the extremely biased condition of the present invention;

[0026] Figure 7 A diagram of an embodiment of the present invention;

[0027] Figure 8 is the circuit diagram of the electromagnet array;

[0028] Fig. 9 It is a module diagram of 74HC95 module circuit (series-parallel) in the embodiment;

[0029] Fig.10 The pin diagram of the 74HC95 module circuit in the embodiment;

[0030] Fig.11 It is a circuit function table diagram of the 74HC95 module in the embodiment.

[0031] In the figure:

[0032] 1. Double-layer pancake-shaped cavity shell; 2. Magnetic fluid; 3. Electromagnet array; 31. Electromagnet; 4. Electric control mechanism. DETAILED DESCRIPTION

[0033] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0034] The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention.

[0035] Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in the field without making any creative work shall fall within the scope of protection of the present invention.

[0036] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] See also Figure 1 , Figure 2 and Figure 3 , the present invention provides a technical solution: a direction control device based on controllable magnetic fluid, comprising a double-layer pancake-shaped cavity shell 1, a magnetic fluid 2, an electromagnet array 3 and an electric control mechanism 4;

[0039] The double-layer pancake-shaped cavity shell 1 is arranged at the outermost layer of the device. The double-layer pancake-shaped cavity shell 1 is divided into two parts, the upper layer is a sealed pancake-shaped cavity and the interior of the cavity is used to hold the magnetic fluid 2, and the lower layer is a semi-open cylinder and the interior of the empty cylinder has a number of fixed positions for fixing the electromagnet array 3;

[0040] The magnetic fluid 2 is located in the upper layer of the double-layer pancake-shaped cavity shell 1 and is the main counterweight part;

[0041] The electromagnet array 3 is composed of a plurality of electromagnets 31, which are evenly distributed in an array in a circular area on a horizontal plane, and are mainly used to control the flow and distribution of the magnetic fluid 2;

[0042] The electric control mechanism 4 is connected to the electromagnet array 3 by an embedded system and sends a signal thereto to control the on and off of each electromagnet 31 .

[0043] In this embodiment, the present invention changes the center of gravity to make the device generate an offset force in a specific direction. The magnetic fluid 2 is placed in the upper layer of the double-layer pancake-shaped cavity shell 1, and the magnetic fluid 2 is completely sealed around to prevent leakage; the electromagnet array 3 is placed in the lower layer of the double-layer pancake-shaped cavity shell 1, and a specific magnetic field is formed by controlling the electromagnet array 3 to control the distribution of the magnetic fluid 2, thereby further changing the center of gravity of the device, thereby further changing the movement posture and direction of the device to achieve the purpose of direction control; the electric control mechanism 4 is connected to the electromagnet array 3 by an embedded system, and an electrical signal is sent to it to control the on and off of the electromagnet 31. When no power is applied, the magnetic fluid 2 flows freely in the upper layer of the cavity, but when the electromagnet 31 is energized, the magnetic The fluid 2 will be affected by the magnetic field of the electromagnet array 3. If the device needs to maintain balance in the horizontal direction, open a magnetic fluid array 2 that is symmetrical at any angle. For example, opening the entire magnetic fluid array 2 or only opening the electromagnets 31 in the outer layer of the magnetic fluid array 2 can achieve the effect of maintaining balance in the horizontal direction. If it is necessary to deviate in a specific direction, it can be controlled by the electronic control mechanism 4 of the device. The embedded system of the electronic control mechanism 4 sends instructions to the electromagnet array 3 to generate a corresponding magnetic field as required to control the flow of the magnetic fluid 2. It can also be used in conjunction with equipment such as a gyroscope. In a bumpy state, the information feedback from the gyroscope and the dynamic adjustment of the magnetic fluid 2 and the electromagnet array 3 are used to keep the entire device balanced.

[0044] For further information, see Figure 1 The double-layer pancake-shaped cavity shell 1 is made of non-magnetic material.

[0045] In this embodiment, the entire double-layer pancake-shaped cavity shell 1 is made of non-magnetic material to prevent the double-layer pancake-shaped cavity shell 1 from affecting the magnetic fluid 2 after the electromagnet 31 is energized.

[0046] For further information, see Figure 3 , Figure 4 , Figure 5 and with Figure 6 The magnetic fluid 2 is affected by the magnetic force distribution of the electromagnet 31 below it, thereby changing the distribution of the magnetic fluid 2 and further changing the center of gravity distribution of the entire device.

[0047] In this embodiment, when the double-layer pancake-shaped cavity shell 1 needs to maintain horizontal balance, all switches of the magnetic fluid array 3 are turned on to allow the magnetic fluid 2 to be evenly distributed in the upper pancake-shaped cavity; when the device needs to actively control the magnetic fluid 2 to change its position, so as to achieve the purpose of changing the direction of the center of gravity, part of the magnetic fluid 2 is connected and the other part is not connected, which destroys the balance and enables the device to obtain the control ability to deviate in a specific direction. The density of the distribution of the magnetic fluid 2 can also be used to change the speed of the center of gravity change direction control; specifically, Figure 3is a magnetic fluid distribution diagram on a horizontal plane in the equilibrium state of the present invention, such as Figure 4 The magnetic fluid distribution diagram on the horizontal plane under the condition of slight deviation of the present invention is as follows: Figure 5 This is a magnetic fluid distribution diagram on the horizontal plane under the present invention, as shown in FIG. Figure 6 This is a magnetic fluid distribution diagram on a horizontal plane under extreme deviation conditions of the present invention.

[0048] For further information, see Figure 1 The magnetic fluid 2 is completely sealed around to prevent leakage.

[0049] In this embodiment, the magnetic fluid 2 is completely sealed around to prevent leakage and prevent the magnetic fluid 2 from flowing out of the upper layer of the double-layer pancake-shaped cavity shell 1 after the magnetic field changes after the electromagnet 31 is energized, thereby failing to achieve the purpose of changing the direction of the center of gravity.

[0050] For further information, see Figure 1 and Figure 2 The electromagnet array 3 is used to attract the magnetic fluid 2 to move and distribute in the corresponding direction, so as to achieve the effect of changing the center of gravity and controlling the direction.

[0051] In this embodiment, the electromagnet array 3 is mainly used to control the flow and distribution of the magnetic fluid 2. It is composed of array-shaped electromagnets 31 evenly distributed in a circular area of ​​a horizontal plane, which attract the magnetic fluid 2 to move and distribute in the corresponding direction, thereby achieving the effect of changing the center of gravity and controlling the direction. If the direction needs to be changed slowly by moving the center of gravity, some of the electromagnets 31 will be turned off, and most of the electromagnets 31 will still be energized, which will change the center of gravity in the horizontal direction by a relatively small amount. If the center of gravity needs to be changed drastically to change the direction, the electromagnets 31 in the desired moving direction will be opened to make the magnetic fluid 2 converge to one side.

[0052] For further information, see Figure 1 The positive and negative electrodes of the electromagnet 31 are both connected to the embedded system of the electric control mechanism 4.

[0053] In this embodiment, the electric control mechanism 4 is connected to the electromagnet array 3 by an embedded system to send signals thereto to control the on and off of each electromagnet 31 , and the positive and negative poles of the electromagnet 31 are both connected to the embedded system of the electric control mechanism 4 .

[0054] For further information, see Figure 1 The embedded system of the electric control mechanism 4 sends a signal to the electromagnet 31 at each position to achieve the purpose of balance or deviation in a certain direction.

[0055] In this embodiment, when the electric control mechanism 4 controls different parts of the electromagnet array 3 to be energized or de-energized, the magnetic fluid 2 in the upper layer of the double-layer pancake-shaped cavity shell 1 will also move in the corresponding direction, thereby changing the center of gravity distribution of the device. If a stable posture is required, the outer circle of electromagnets 31 is energized to make the magnetic fluid 2 evenly distributed in the upper cavity of the double-layer pancake-shaped cavity shell 1 to maintain horizontal balance. If the device needs to tilt in a certain direction, the corresponding part of the electromagnet 31 is energized to achieve the deflection of the center of gravity, thereby driving the device to turn in the direction of control.

[0056] Example:

[0057] Take a rocket or missile as an example. When the tail thruster is working, it provides a vertical force to make the rocket or missile move vertically. When we need to change the direction of movement, a specific magnetic field is formed by controlling the electromagnet array 3 to control the distribution of the magnetic fluid 2 to change the center of gravity of the device and change the movement posture and direction of the device.

[0058] 1. Set up the electromagnet array 3:

[0059] 1. Please refer to Figure 8 The circuit diagram of the electromagnet array 3 is provided;

[0060] 2. Set the control of the electromagnet array 3:

[0061] 1) Control the power supply of a single, single row or single column of electromagnets 31, such as Figure 8 The 8×8 electromagnet array 3 shown is composed of 64 electromagnets 31, and each electromagnet 31 is placed at the intersection of the row line and the column line. When a corresponding row is set to level 1 and a corresponding column is set to level 0, the corresponding electromagnet 31 is energized; if the first electromagnet 31 is to be energized, pin 1 is connected to a high level and pin a is connected to a low level, then the first point will generate magnetic force; if the first row is to be energized, pin 1 is connected to a high level, and pins (a, b, c, d, e, f, g, h) are connected to a low level, then the first row will generate magnetic force; if the first column is to be energized, pin a is connected to a low level, and (1, 2, 3, 4, 5, 6, 7, 8) are connected to a high level, then the first column will generate magnetic force;

[0062] In the above manner, a single electromagnet 31 in a single row or a single column, or multiple electromagnets 31 in a row or a column can be magnetized. The magnetized electromagnet 31 can control the magnetic fluid 2 above the electromagnet 31 to move in the corresponding direction, thereby changing the center of gravity distribution of the device, thereby changing the movement posture and direction of the device.

[0063] 2) To control the power-on of multiple electromagnets 31 in the electromagnet array 3, the dynamic display principle of digital tubes is required. The electromagnet array 3 uses this principle to control the electromagnets 31 at multiple positions. To realize the power-on of electromagnets 31 at different positions of rows and columns, a dynamic control method is required, and a scanning method is also required to power on the first row of electromagnets 31 for a period of time and then turn them off, power on the second row for a period of time and then turn them off, power on the third row for a period of time and then turn them off, and so on until all eight rows are powered on once. The total time from powering on the first row to powering off the last row is 8 milliseconds;

[0064] The principle of dynamic display of digital tubes in the above method is: the bit selection controls whether it is lit or not, while the segment selection controls the displayed number, and different numbers can be displayed. For example, if the segment selection 1 controls the first digital tube to display 1, then when the second digital tube is displayed, the segment selection controls the digital tube to display 2, and the bit selection controls the second digital tube to light up and the first digital tube to go out. Because the time is too short, the human eye cannot recognize it, but it can be found that the dynamic display of the digital tube is to light up one by one to the left or right, which can avoid the defect that the human eye cannot recognize.

[0065] 3) Control the electromagnet matrix column 3 to display a specific magnetic field. To display a specific shape magnetic field on the electromagnet array 3, some lights in each row and column will be turned on or off, which will form a set of data, that is, the display data of digital characters. We only need to send this data to the corresponding row or column of the electromagnet array 3 through the 38 decoder to display a specific shape magnetic field;

[0066] The digital character display data in the above method is specifically as follows: if you want to display a specific shape of magnetic field on the electromagnet array 3, some lights will be lit or extinguished in each corresponding row and column, which will constitute a set of data. We only need to send these data to the corresponding row or column of the electromagnet array 3 through the 38 decoder to display a specific shape of magnetic field. The magnetic field can make the magnetic fluid 2 move in the corresponding direction, thereby changing the center of gravity distribution of the device, thereby changing the movement posture and direction of the device.

[0067] 2. Set up 38 decoder:

[0068] 1. The 38 decoder is used to convert three binary numbers into 8 outputs of different states through the circuit. The 38 decoder can control the on and off of the high and low levels of each pin in the electromagnet matrix column 3;

[0069] 2. The present embodiment specifically uses one of the 38 decoders: the 74HC95 module circuit; the 74HC95 module circuit is an 8-bit serial input, parallel output shift register, wherein the parallel output is a three-state output (i.e., high level, low level, and high impedance), the shift register and the memory are separate clocks; data is input at the rising edge of SCK and enters the memory at the rising edge of RCK. If the two clocks are connected together, the shift register is always one pulse earlier than the memory. The shift register has a serial input (DS), a serial output (Q7 not), and a An asynchronous low-level reset, the storage register has a parallel 8-bit bus output with three states. When MR is high and OE is low, the data enters the shift register at the rising edge of SHCP and is output to the parallel port at the rising edge of STCP; when MR is high (i.e., the reset function fails) and OE is low, the data enters the shift register at the rising edge of SHCP (i.e., the data is stored in the shift register) and is output to the parallel port at the rising edge of STCP (i.e., the data of the shift register is transferred to the storage register, and the memory is connected to the output IO port, so it is output to the parallel end);

[0070] 1) Please refer to Fig. 9 , is the schematic diagram of the 74HC95 module circuit;

[0071] 2) Please refer to Fig.10 , which is the pin diagram of the 74HC95 module circuit;

[0072] 3) Please refer to Fig.11 , is the circuit function table of the 74HC95 module, where:

[0073] H=high level state L=low level state ↑=rising edge ↓=falling edge

[0074] Z = high impedance NC = no change × = invalid;

[0075] 4) Set the data end of the 74HC95 module circuit:

[0076] QA--QH (pins 1-7): 8-bit parallel output terminal, which can control the 8 segments of the digital tube;

[0077] QH' (pin 9): cascade output terminal, connect it to the SI terminal;

[0078] SI (pin 14): serial data input terminal.

[0079] 5) Setting the control end of the 74HC95 module circuit:

[0080] SCLR (pin 10): Low point usually clears the data of the shift register and connects to Vcc;

[0081] SCK (pin 11): data shift in the data register on the rising edge, QA-->QB-->QC-->...-->QH; the data in the shift register remains unchanged on the falling edge;

[0082] RCK (pin 12): The data of the shift register enters the data storage register at the rising edge, and the data of the storage register remains unchanged at the falling edge; Set RCK to a low level, and when the shift is completed, a positive pulse is generated at the RCK end to update the displayed data;

[0083] G (pin 13): Output is prohibited when the level is high (high impedance state), which is convenient for producing flashing and extinguishing effects, and saves time and effort than shifting control through the data end.

[0084] The working principle and use process of the present invention are as follows: the present invention changes the center of gravity to make the device generate an offset force in a specific direction. The magnetic fluid 2 is placed in the upper layer of the double-layer pancake-shaped cavity shell 1, and the surrounding of the magnetic fluid 2 is completely sealed to prevent leakage; the electromagnet array 3 is placed in the lower layer of the double-layer pancake-shaped cavity shell 1, and a specific magnetic field is formed through the control of the electromagnet array 3 to control the distribution of the magnetic fluid 2, thereby further changing the center of gravity of the device, thereby further changing the movement posture and direction of the device to achieve the purpose of direction control; the electric control mechanism 4 is connected to the electromagnet array 3 by an embedded system, and sends an electrical signal to it to control the on and off of the electromagnet 31. When no power is supplied, the magnetic fluid 2 flows freely in the upper layer of the cavity, but when power is supplied to the electromagnet 31, the magnetic fluid 2 flows freely in the upper layer of the cavity. After that, the magnetic fluid 2 will be affected by the magnetic field of the electromagnet array 3. If the device needs to maintain balance in the horizontal direction, open a magnetic fluid array 2 that is symmetrical at any angle. For example, opening all the magnetic fluid array 2 or only opening the electromagnets 31 in the outer layer of the magnetic fluid array 2 can achieve the effect of maintaining balance in the horizontal direction. If it is necessary to deviate in a specific direction, it can be controlled by the electronic control mechanism 4 of the device. The embedded system of the electronic control mechanism 4 sends instructions to the electromagnet array 3 to generate corresponding magnetic fields as required to control the flow of the magnetic fluid 2. It can also be used in conjunction with equipment such as a gyroscope. In a bumpy state, the information feedback of the gyroscope and the dynamic adjustment of the magnetic fluid 2 and the electromagnet array 3 are used to keep the entire device balanced.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A direction control device based on controllable magnetic fluid, characterized in that: It comprises a double-layer pancake-shaped cavity shell (1), a magnetic fluid (2), an electromagnet array (3) and an electric control mechanism (4); The double-layer pancake-shaped cavity shell (1) is arranged at the outermost layer of the device, and the double-layer pancake-shaped cavity shell (1) is divided into two parts, the upper layer is a sealed pancake-shaped cavity, and the interior of the cavity is used to hold the magnetic fluid (2), and the lower layer is a semi-open cylinder, and the interior of the empty cylinder has a plurality of fixed positions for fixing the electromagnet array (3); The magnetic fluid (2) is located in the upper layer of the double-layer pancake-shaped cavity shell (1) and is the main counterweight part; The electromagnet array (3) is composed of a plurality of electromagnets (31), and the plurality of electromagnets (31) are evenly distributed in an array in a circular area on a horizontal plane, and are mainly used to control the flow and distribution of the magnetic fluid (2); The electric control mechanism (4) is connected to the electromagnet array (3) by an embedded system and sends a signal thereto to control the on and off of each electromagnet (31).

2. A direction control device based on controllable magnetic fluid as claimed in claim 1, characterized in that: The double-layer pancake-shaped cavity shell (1) is made of non-magnetic material.

3. A direction control device based on controllable magnetic fluid as claimed in claim 1, characterized in that: The magnetic fluid (2) is affected by the magnetic force distribution of the electromagnet (31) below it, thereby changing the distribution of the magnetic fluid (2) and further changing the center of gravity distribution of the entire device.

4. A direction control device based on controllable magnetic fluid as claimed in claim 3, characterized in that: The magnetic fluid (2) is completely sealed around to prevent leakage.

5. A direction control device based on controllable magnetic fluid as claimed in claim 1, characterized in that: The electromagnet array (3) is used to attract the magnetic fluid (2) to move and distribute in a corresponding direction, thereby achieving the effects of changing the center of gravity and controlling the direction.

6. A direction control device based on controllable magnetic fluid as claimed in claim 1, characterized in that: The positive and negative electrodes led out of the electromagnet (31) are both connected to the embedded system of the electric control mechanism (4).

7. A direction control device based on controllable magnetic fluid as claimed in claim 6, characterized in that: The embedded system of the electric control mechanism (4) sends a signal to the electromagnet (31) at each position to achieve the purpose of balancing or shifting in a certain direction.

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