A rotary magnetorheological damper with adjustable damping gap

Abstract

The present invention discloses a rotary magnetorheological damper with adjustable damping gap, comprising end covers (2) arranged at the top and bottom of a cylinder (1), a rotating main shaft (11) arranged in the cylinder (1), an excitation coil (17), a magnetic isolation ring (21), a static disk (4) and a dynamic disk (7); the static disk (4) is adjustably connected to the end cover (2) via a gap adjustment device (6); the cross-sections of the static disk (4) and the dynamic disk (7) are right-angle tooth shapes, and the gap between the two forms a damping channel (5) with a meandering right-angle tooth shape; the present invention increases the damping working area through the tooth structure, and at the same time improves the magnetic conductivity and magnetic concentration capacity of the working surface, thereby enhancing the damping effect of the damper; by changing the gap size of the damping channel, the size of the damping force can be adjusted and controlled, so that the damper has a wider range of adjustable damping torque, thereby improving the adaptability of the damper.

Description

Technical Field

[0001] The invention relates to the technical field of dampers, and in particular to a rotary magnetorheological damper with adjustable damping gap. Background Art

[0002] The rheological effect of magnetorheological fluid causes it to rapidly transform from a liquid state to a solid-like state under the action of an external magnetic field, and it has a certain shear resistance. At this time, it will output a damping force, which changes with the intensity of the magnetic field and has instantaneous, continuous and directional adjustability. Based on magnetorheological fluid, the magnetorheological damper has become a new type of semi-active actuator with its excellent characteristics.

[0003] Magnetorheological dampers of different structural forms are suitable for different applications. The existing magnetorheological damper structures are divided into direct-acting and rotary types. In some occasions, such as rehabilitation robots and flexible joint robots, magnetorheological dampers are required to output continuous and rotatable damping torque. Therefore, it is of practical significance to study rotary magnetorheological dampers.

[0004] The rotary magnetorheological damper works by filling a magnetorheological fluid with controllable yield stress between its stator and rotor; the working area of ​​its rotor is one of the main factors affecting the damper performance.

[0005] At present, most rotary magnetorheological dampers use the cylindrical surface of the rotor as the working surface, which is convenient for increasing the axial or radial dimensions of the rotor to increase the output torque of the damper. However, this structure has the following defects:

[0006] 1. The end surface of the rotor is not utilized, the damping working area is limited, and the damping effect is not obvious;

[0007] 2. The damping channels between the rotors are usually fixed channels and cannot be adjusted according to actual needs, which limits the working conditions and makes it difficult to meet the actual working conditions. Summary of the invention

[0008] The purpose of the present invention is to provide a rotary magnetorheological damper with adjustable damping gap in order to solve at least one of the above technical problems.

[0009] The present invention achieves the above-mentioned object through the following technical solutions: A rotary magnetorheological damper with adjustable damping gap, comprising end covers arranged at the top and bottom of a cylinder, and a rotating main shaft, an excitation coil, a magnetic isolation ring, a static disk and a dynamic disk arranged in the cylinder;

[0010] The cylinder is connected to the end cover by screws; the end cover is composed of an upper end cover and a lower end cover, and the upper end cover is provided with a magnetorheological fluid inlet and a water outlet for introducing magnetic fluid into the damper and discharging cooling water; the main shaft is provided with a bearing end cover, a bearing, an upper end cover, a static plate, an elastic retaining ring for the shaft, and a dynamic plate from top to bottom; the excitation coil is wound on the magnetic isolation ring; one end of the magnetic isolation ring is provided with a magnetorheological fluid channel and is connected to the magnetorheological fluid inlet, and the other end is connected to the water outlet;

[0011] The static disk is adjustably connected to the end cover through a gap adjustment device. The gap adjustment device is evenly distributed in four groups in the circumferential direction and is composed of a set screw and a compression spring. It is used to connect the end cover and the static disk and adjust the axial gap of the damping channel, thereby controlling the damping force adjustment range of the damper;

[0012] The cross-sections of the static disk and the dynamic disk are right-angled teeth, and the gap between them forms a damping channel with a meandering right-angled tooth shape. This structure greatly increases the damping working area and enhances the damping effect of the damper.

[0013] The cross section of the excitation coil is rectangular.

[0014] The moving plate is composed of two plate surfaces fixed by inner screws, and a spiral cooling water flow channel is arranged inside.

[0015] The static disk is integrated on the main shaft, the inner ring rotates relative to the main shaft and is sealed by an upper sliding oil seal, and the outer ring is sealed by a static sealing ring; one end face of the inner ring is fixed to the end cover, and the other end cooperates with the dynamic disk to form a magnetic circuit.

[0016] The moving plate is connected to the main shaft in the form of a key connection, the two ends of the inner ring are fixed by the shaft with elastic retaining rings, the outer ring and the magnetic isolation ring rotate relatively, and a sliding oil seal is used for dynamic sealing.

[0017] The magnetorheological fluid flows from the magnetorheological fluid inlet of the end cover through the magnetorheological fluid flow channel of the magnetic isolation ring and enters the damping channel. The excitation coil is energized to generate a magnetic field. The magnetic field starts from the upper end cover and passes through the upper stator plate, the upper damping channel, the movable plate, the lower damping channel, the lower stator plate, the lower cylinder cover and the cylinder barrel in sequence, and then returns to the upper end cover to form a closed loop.

[0018] The lower end surface of the main shaft is provided with a water inlet, and a cooling water flow channel is provided inside.

[0019] The bearing end cover and the main shaft are sealed via a sealing ring.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The cross-sections of the static plate and the dynamic plate of the present invention are right-angle tooth shapes, and the damping channel is a winding right-angle tooth shape, which increases the actual damping area and improves the upper limit of the damping force;

[0022] 2. The present invention changes the gap size of the damping channel through the gap adjustment device to achieve the adjustment and control of the damping force, so that the damper has a wider range of adjustable damping torque and improves the adaptability of the damper;

[0023] 3. The present invention provides a spiral cooling water channel in the moving disk to improve cooling efficiency and increase the stability of the damper. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a cross-sectional view of a rotary magnetorheological damper in an embodiment of the present invention;

[0025] Figure 2 is a top view of the upper end cover in an embodiment of the present invention;

[0026] Figure 3 Schematic diagram of the cooling water side of the moving disk in the embodiment of the present invention;

[0027] Figure 4 is a distribution diagram of magnetic flux lines of the excitation coil in an embodiment of the present invention;

[0028] In the figure: 1, cylinder barrel, 2, end cover, 3, water outlet, 4, static plate, 5, damping channel, 6, gap adjustment device, 7, moving plate, 8, cooling water flow channel, 9, bearing end cover, 10, bearing, 11, main shaft, 12, sealing ring, 13, upper sliding oil seal, 14, elastic retaining ring for shaft, 15, inner screw, 16, magnetorheological fluid inlet, 17, excitation coil, 18, lower sliding oil seal, 19, static sealing ring, 20, water inlet. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] like Figures 1 to 4 As shown, the present invention is a rotary magnetorheological damper with adjustable damping gap, comprising end covers 2 arranged at the top and bottom of a cylinder 1, and a rotating main shaft 11, an excitation coil 17, a magnetic isolation ring 21, a static plate 4 and a dynamic plate 7 arranged in the cylinder 1;

[0031] The cylinder 1 is connected to the end cover 2 by screws; the end cover 2 is composed of an upper end cover and a lower end cover, and the upper end cover is provided with a magnetorheological fluid inlet 16 and a water outlet 3 for introducing magnetic fluid into the damper and discharging cooling water; the main shaft 11 is provided with a bearing end cover 9, a bearing 10, an upper end cover, a static plate 4, a shaft elastic retaining ring 14, and a moving plate 7 from top to bottom; the excitation coil 17 is wound on the magnetic isolation ring 21, and its cross section is rectangular; one end of the magnetic isolation ring 21 is provided with a magnetorheological fluid channel and is connected to the magnetorheological fluid inlet 16, and the other end is connected to the water outlet 3;

[0032] The static disk 4 is adjustably connected to the end cover 2 via a gap adjustment device 6. The gap adjustment device 6 is evenly distributed in four groups in the circumferential direction and is composed of a set screw and a compression spring, and is used to connect the end cover 2 and the static disk 4 and adjust the axial gap of the damping channel 5, thereby controlling the damping force adjustment range of the damper;

[0033] The cross-sections of the static plate 4 and the dynamic plate 7 are right-angled teeth, and the gap between them forms a damping channel 5 with a meandering right-angled tooth shape. This structure greatly increases the damping working area and enhances the damping effect of the damper.

[0034] like Figure 1 and Figure 4 The movable disc 7 is composed of two disc surfaces fixed by inner screws 15, and a spiral cooling water flow channel 8 is provided inside. The movable disc 7 is connected to the main shaft 11 in the form of a key connection. The two ends of the inner ring are fixed by elastic retaining rings 14 for the shaft. The outer ring rotates relative to the magnetic isolation ring 21, and a sliding oil seal 18 is used for dynamic sealing.

[0035] Among them, the static disk 4 is integrated on the main shaft 11, the inner ring and the main shaft 11 have relative rotation, so the upper sliding oil seal 13 is used for sealing, and the outer ring is statically sealed with a static sealing ring 19; one end face of the inner ring is fixed to the end cover 2, and the other end cooperates with the moving disk 7 to form a magnetic circuit.

[0036] like Figure 4 As shown: the inner end surface of the stator plate 4 and the two outer end surfaces of the movable plate 7 form a damping action surface, and the cross section of the action surface presents a winding right-angle tooth shape. The magnetorheological fluid flows from the magnetorheological fluid inlet 16 of the end cover 2 through the magnetorheological fluid flow channel of the magnetic isolation ring 21 and enters the damping channel 5. The excitation coil 17 is energized to generate a magnetic field. The magnetic field starts from the upper end cover, passes through the upper stator plate, the upper damping channel, the movable plate 7, the lower damping channel, the lower stator plate, the lower cylinder head and the cylinder barrel 1 in sequence, and then returns to the upper end cover to form a closed loop.

[0037] The lower end surface of the main shaft 11 is provided with a water inlet 20 , and a cooling water channel 8 is provided inside thereof, which is connected to the main shaft 11 .

[0038] The bearing end cover 9 and the main shaft 11 are sealed via a sealing ring 12 .

[0039] like Figure 4 As shown: when the excitation coil 17 is energized, the magnetorheological effect causes the magnetorheological fluid in the damping channel 5 to produce a solidification phenomenon. The yield stress generated by this phenomenon will hinder the rotation of the rotor, thereby outputting the damping force outward; because the magnetic field strength passing through the magnetorheological fluid varies with the size of the current, the damping effect of the magnetorheological fluid on the rotor also changes with the change of the current, so the damping effect of the magnetorheological damper during rotation is controllable. At the same time, the gap size of the damping channel 5 is changed through the gap adjustment device 6, thereby changing the adjustment range of the damping force, effectively enhancing the adaptability of the rotary damper.

[0040] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0041] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A rotary magnetorheological damper with adjustable damping gap, characterized in that: It comprises end covers (2) arranged at the top and bottom of a cylinder (1), and a rotating main shaft (11), an excitation coil (17), a magnetic isolation ring (21), a stationary disk (4) and a moving disk (7) arranged in the cylinder (1); The cylinder (1) is connected to the end cover (2) by screws; the end cover (2) is composed of an upper end cover and a lower end cover, the upper end cover is provided with a magnetorheological fluid inlet (16) and a water outlet (3) for introducing magnetic fluid into the damper and discharging cooling water; the main shaft (11) is provided with a bearing end cover (9), a bearing (10), an upper end cover, a static plate (4), a shaft elastic retaining ring (14), and a dynamic plate (7) from top to bottom; the excitation coil (17) is wound on the magnetic isolation ring (21); one end of the magnetic isolation ring (21) is provided with a magnetorheological fluid channel and is connected to the magnetorheological fluid inlet (16), and the other end is connected to the water outlet (3); The static disk (4) is adjustably connected to the end cover (2) via a gap adjustment device (6); the gap adjustment device (6) is evenly distributed in four groups in the circumferential direction and is composed of a set screw and a compression spring, and is used to connect the end cover (2) and the static disk (4) and adjust the axial gap of the damping channel (5), thereby controlling the damping force adjustment range of the damper; The cross-sections of the static disk (4) and the dynamic disk (7) are of right-angle tooth shape, and the gap between them forms a damping channel (5) of meandering right-angle tooth shape. This structure greatly increases the damping working area and enhances the damping effect of the damper.

2. A rotary magnetorheological damper with adjustable damping gap according to claim 1, characterized in that: The cross section of the excitation coil (17) is rectangular.

3. The rotary magnetorheological damper with adjustable damping gap according to claim 1, characterized in that: The moving disc (7) is composed of two disc surfaces fixed by inner screws (15), and a spiral cooling water flow channel (8) is provided inside.

4. A rotary magnetorheological damper with adjustable damping gap according to claim 1 or 2, characterized in that: The static disk (4) is integrated on the main shaft (11), the inner ring and the main shaft (11) rotate relative to each other so as to be sealed by an upper sliding oil seal (13), and the outer ring is sealed by a static sealing ring (19); one end face of the inner ring is fixed to the end cover (2), and the other end cooperates with the dynamic disk (7) to form a magnetic circuit.

5. The rotary magnetorheological damper with adjustable damping gap according to claim 3, characterized in that: The moving disk (7) is connected to the main shaft (11) in a key connection form, the two ends of the inner ring are fixed by shaft elastic retaining rings (14), the outer ring and the magnetic isolation ring (21) are relatively rotatable, and a sliding oil seal (18) is used for dynamic sealing.

6. The rotary magnetorheological damper with adjustable damping gap according to claim 2, characterized in that: The magnetorheological fluid flows from the magnetorheological fluid inlet (16) of the end cover (2) through the magnetorheological fluid flow channel of the magnetic isolation ring (21) into the damping channel (5). The excitation coil (17) is energized to generate a magnetic field. The magnetic field starts from the upper end cover, passes through the upper stator plate, the upper damping channel, the moving plate (7), the lower damping channel, the lower stator plate, the lower cylinder cover and the cylinder barrel (1), and then returns to the upper end cover to form a closed loop.

7. The rotary magnetorheological damper with adjustable damping gap according to claim 2, characterized in that: The lower end surface of the main shaft (11) is provided with a water inlet (20), and a cooling water flow channel (8) is provided inside.

8. The rotary magnetorheological damper with adjustable damping gap according to claim 1, characterized in that: The bearing end cover (9) and the main shaft (11) are sealed via a sealing ring (12).

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