Adaptive adjustment rotary damper

Abstract

The present invention relates to the technical field of dampers, and provides a rotation damper with adaptive adjustment, which includes an outer shell sleeve and an internal rotor arranged in the outer shell sleeve. The internal rotor is configured with a driving input rotor and a central rotor coaxially arranged with the driving input rotor. When the driving input rotor rotates, it can drive the central rotor to rotate, and due to the change in the rotation speed of the driving input rotor, all or part of the attitude of the central rotor changes, thereby causing the damping between the central rotor and the outer shell sleeve to change. The present invention creatively proposes a rotation damper that can achieve adaptive adjustment of damping force according to the change in the rotation speed / acceleration of a rotating mechanism under passive conditions. It uses a pure mechanical structure, does not need to consider the problem of liquid leakage, is less affected by temperature, has a low loss coefficient, and high reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of dampers, and in particular, to a rotation damper with adaptive adjustment. Background Art

[0002] The deployment mechanism of a spacecraft includes various solar panels, antenna arrays, detection telescopic mechanisms, and various truss beam support structures with specific requirements. Currently, most of the one-time deployment mechanisms on spacecraft use elastic elements as the power source and are deployed in a rotational manner. To ensure the smooth deployment of the mechanism, torsion springs often apply a large initial torque. If no suppression measures are taken, when these mechanisms are deployed in place, it will inevitably cause a certain impact on the spacecraft, and this impact may damage the corresponding structures and equipment. At the same time, the unstable speed fluctuation during the deployment process of the mechanism may cause vibration of the system, affecting the stability and reliability of the system.

[0003] According to different energy dissipation mechanisms, currently existing dampers are mainly divided into viscous dampers, eddy current dampers, viscoelastic dampers, mechanical friction dampers, magnetic / current variable dampers, shape memory alloy dampers, piezoelectric friction dampers, etc. According to different impact suppression methods, most dampers can be divided into two categories: passive and semi-active. Passive dampers do not require external energy drive and rely on the damper itself to generate damping force (moment) as it moves with the mechanism, having good economy and reliability. Semi-active dampers only require a small amount of energy input, and the damping force (moment) is generated passively as the damper itself moves with the mechanism; however, the parameters of the damper itself can be actively adjusted by an external energy source, thereby changing the damping force (moment).

[0004] Currently, the technology of passive dampers has been relatively mature, and viscous dampers and eddy current dampers have been widely used in spacecraft deployment mechanisms. However, existing dampers have problems such as being greatly affected by temperature, having a risk of liquid leakage, being heavy and large in volume, etc.; the technology of semi-active dampers can adjust the damping more precisely, but it is still in the development stage at present, and semi-active dampers rely on external energy input, which will increase the complexity of the system and reduce the reliability of the system. Summary of the Invention

[0005] Aiming at the defects in the prior art, the purpose of the present invention is to provide a rotation damper with adaptive adjustment.

[0006] A rotation damper with adaptive adjustment according to the present invention includes an outer shell sleeve and an internal rotor arranged in the outer shell sleeve;

[0007] The internal rotor is configured with a driving input rotor and a central rotor coaxially arranged with the driving input rotor. When the driving input rotor rotates, it can drive the central rotor to rotate, and due to the change in the rotational speed of the driving input rotor, all or part of the attitude of the central rotor changes, thereby changing the damping between the central rotor and the outer shell sleeve.

[0008] Preferably, the outer shell sleeve includes a fixed friction outer sleeve, a rear end cover and a front end cover respectively arranged at both ends of the fixed friction outer sleeve. Among them, the end of the front end cover is the first fixed end, and the end of the shaft of the driving input rotor extends to the outside of the rear end cover as the second fixed end. Both the first fixed end and the second fixed end are used to connect the relative motion mechanism.

[0009] Preferably, the driving input rotor includes a first arc plate and a second arc plate arranged oppositely. Both ends of the central rotor are rotatably matched with magnetic damping blocks or connected by flexible members. The magnetic damping blocks are arranged between the first arc plate and the second arc plate. There are permanent magnets on the first arc plate and / or the second arc plate. Due to the change in the rotational speed of the driving input rotor, the distance between the permanent magnet and the magnetic damping block changes, causing the attitude of the magnetic damping block to change, and further causing the damping between the magnetic damping block and the fixed friction outer sleeve to change.

[0010] Preferably, the magnetic damping block has a contact angle, and the damping change is adjusted by adjusting the squeezing degree between the contact angle and the fixed friction outer sleeve.

[0011] Preferably, the hinge axis of the magnetic damping block is parallel to the axis of rotation of the driving input rotor.

[0012] Preferably, the contact angle is located at one end of the outer side of the magnetic damping block, and the other end of the inner side of the magnetic damping block is hinged at the corner of the central rotor.

[0013] Preferably, the two magnetic damping blocks are respectively elastically hinged at both ends of the central rotor.

[0014] Preferably, the longitudinal section of the central rotor is a hourglass-shaped structure formed by connecting the vertices of two triangles.

[0015] Preferably, a plurality of notches arranged centrally symmetrically are provided on the end face of the driving input rotor, and balls are located in the notches. A pin platform inserted into the notches is disposed on the surface of the central rotor facing the driving input rotor, and when the pin platform is inserted into the notches, the balls still have a movable gap. The bottom surface of the notch has a slope, so that due to the change in the rotational speed of the driving input rotor, the balls can be displaced in the notches, thereby changing the attitude of the central rotor and further changing the damping between the central rotor and the fixed friction outer sleeve.

[0016] Preferably, the notch is configured to have a tunnel in the middle and slopes connecting both sides of the tunnel. When the balls move to the slopes, they exert pressure on the central rotor, thereby changing the attitude of the central rotor.

[0017] Preferably, a plurality of pointed structures are circumferentially extended from the central rotor, and the pointed structures protrude radially outside the edge of the driving input rotor.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention creatively proposes a rotary damper that can achieve adaptive adjustment of damping force according to the change of the rotation speed / acceleration of the rotating mechanism under passive conditions. The damping force of the present invention mainly relies on friction damping, and the adaptive adjustment process is achieved through two methods: the coupling of the magnetic force of the permanent magnet and the inertial force or the coupling of the extrusion force of the balls and the inertial force. Friction damping is a relatively traditional mechanical braking principle. By doing work through the frictional resistance on the contact surface, mechanical energy is converted into internal energy. Due to its simple structure, strong energy consumption capacity, and insensitivity to load frequency, friction dampers are widely used in the field of mechanical engineering. The present invention realizes adaptive feedback adjustment; uses a pure mechanical structure, does not need to consider the problem of liquid leakage, is less affected by temperature, has a low loss coefficient, and high reliability.

[0020] 2. Since the friction energy consumption in the present invention mainly goes through two states of adhesion and sliding during operation, its energy consumption braking effect mainly depends on the normal pressure and the friction coefficient of the contact surface. As the rotational angular velocity of the deployment mechanism increases, the normal pressure between the damping block and the friction sleeve in the present invention also increases, thereby increasing the friction damping and reducing the rotational angular acceleration.

[0021] 3. Since the deployment of the spacecraft solar panel mostly involves low-speed rotational motion within a half-rotation period of 180 degrees, a speed-increasing gear mechanism is required in front of many rotational dampers, especially traditional mechanical friction dampers, to amplify the speed fluctuations. This will greatly increase the structural size and weight. In the present invention, the magnetic force between permanent magnets and the inertial force of the device itself or the squeezing force of the ball and the inertial force of the device itself are used to amplify the speed / speed fluctuations, and the speed is adjusted by changing the friction force, thereby greatly reducing the weight of the structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects, and advantages of the present invention will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

[0023] Figure 1 is a schematic structural diagram of the present invention;

[0024] Figure 2 is an exploded schematic structural diagram of Embodiment 2;

[0025] Figure 3 is a schematic side view of the structure of Embodiment 2;

[0026] Figure 4 is Figure 3 a schematic cross-sectional view of the structure in the I-I direction of

[0027] Figure 5 is a schematic internal structure diagram of Embodiment 3 in the axial direction;

[0028] Figure 6 is a disassembled schematic diagram of the structure of Embodiment 3;

[0029] Figure 7 is a schematic structural diagram of the driving input rotor and the central rotor of Embodiment 3 in the axial direction;

[0030] Figure 8 is Figure 7 a schematic diagram of the structure in the C-C direction of

[0031] The figures show:

[0032] Rear end cover 1

[0033] Fixed friction outer sleeve 2

[0034] Driving input rotor 3

[0035] Notch 31

[0036] First arc plate 32

[0037] Second arc plate 33

[0038] Support frame 34

[0039] Support shaft 35

[0040] Magnetic friction damping block 4

[0041] Contact angle 41

[0042] Central rotor 5

[0043] Pin platform 51

[0044] Connecting pin 6

[0045] Front end cover 7

[0046] First bearing 8

[0047] Second bearing 9

[0048] Third bearing 10

[0049] Ball 11 Specific implementation mode

[0050] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, several changes and improvements can be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0051] Embodiment 1:

[0052] The present invention provides an adaptively adjustable rotary damper, including a housing sleeve and an internal rotor arranged in the housing sleeve. The internal rotor is configured with a driving input rotor 3 and a central rotor 5 coaxially arranged with the driving input rotor 3. When the driving input rotor 3 rotates, it can drive the central rotor 5 to rotate, and due to the change in the rotational speed of the driving input rotor 3, all or part of the attitude of the central rotor 5 changes, thereby causing the damping between the central rotor 5 and the housing sleeve to change.

[0053] As Figure 1 shown, the housing sleeve includes a fixed friction outer sleeve 2 and a rear end cover 1 and a front end cover 7 respectively arranged at both ends of the fixed friction outer sleeve 2. Among them, the end of the front end cover 7 is the first fixed end, and the end of the shaft of the driving input rotor 3 extends to the outside of the rear end cover 1 as the second fixed end. Both the first fixed end and the second fixed end are used to connect a relative motion mechanism. The relative motion mechanism can be, for example, a deployment mechanism, etc. For another example, it can also be a relative rotation mechanism or a relative sliding mechanism, etc. Specifically, the rotary damper in the present invention can be flexibly applied to a variety of application scenarios.

[0054] Embodiment 2:

[0055] This embodiment is a preferred example of Embodiment 1.

[0056] In this embodiment, as Figure 2 shown, the driving input rotor 3 includes a first arc plate 32 and a second arc plate 33 which are arranged oppositely. The first arc plate 32 and the second arc plate 33 are arranged centrosymmetrically. A receiving space is formed between the first arc plate 32 and the second arc plate 33. There is a first gap between one end of the first arc plate 32 and one end of the second arc plate 33, and a second gap between the other end of the first arc plate 32 and the other end of the second arc plate 33. Magnetic damping blocks 4 are respectively connected to both ends of the central rotor 5. The magnetic damping blocks 4 are rotationally matched with the central rotor 5 or connected through a flexible member. For example, the magnetic damping blocks 4 are hinged to the central rotor 5. The hinge axis of the magnetic damping blocks 4 is preferably parallel to the axis of the rotating shaft of the driving input rotor 3. For another example, the magnetic damping blocks 4 are connected to the central rotor 5 through a flexible member, so that the magnetic damping blocks 4 can turn outwards or retract relative to the central rotor 5 under the action of an external force. The flexible member can be a flexible fabric, canvas, a metal elastic bendable sheet, etc.

[0057] Furthermore, the central rotor 5 is arranged in the receiving space. Among them, the magnetic damping block 4 at one end of the central rotor 5 is located in the first gap, and the magnetic damping block 4 at the other end of the central rotor 5 is located in the second gap. There are permanent magnets on the first arc plate 32 and / or the second arc plate 33. There is a magnetic force between the permanent magnets and the magnetic damping blocks 4. Since the rotational speed of the driving input rotor 3 changes, the distance between the permanent magnets and the magnetic damping blocks 4 changes. The change in the distance causes the attitude of the magnetic damping blocks 4 to change. The change in the attitude of the magnetic damping blocks 4 causes the tightening degree between the magnetic damping blocks 4 and the inner wall of the fixed friction outer sleeve 2 to change, that is, the damping between the magnetic damping blocks 4 and the fixed friction outer sleeve 2 changes.

[0058] Specifically, as Figure 3 、 Figure 4 shown, the magnetic damping block 4 has a contact angle 41. The damping change is adjusted by adjusting the tightening degree between the contact angle 41 and the fixed friction outer sleeve 2. Among them, the contact angle 41 is located at one end of the outer side of the magnetic damping block 4. The other end of the inner side of the magnetic damping block 4 is hinged at the corner of the central rotor 5. The design of this structure enables the contact angle 41 to have a larger spatial range of motion when the magnetic damping block 4 rotates around the hinged end, providing a larger adjustment space for the adjustment of the damping between the contact angle 41 and the fixed friction outer sleeve 2.

[0059] The relative positions between the first arc plate 32 and the second arc plate 33 are connected and fixed through a support frame 34. The center of the support frame 34 has a through hole for the support shaft 35 to pass through, so that the two arc plates are fixed on the support shaft 35 through the support frame 34. When the support shaft 35 rotates, it can drive the first arc plate 32 and the second arc plate 33 to rotate simultaneously through the support frame 34.

[0060] In practical applications, to reduce the weight of the entire damper, the central rotor 5 is designed to have a structure with a relatively small weight on the premise of meeting the volume and support strength. For example, the longitudinal section of the central rotor 5 is designed as Figure 2 an hourglass structure with two triangular vertices connected in the figure; for another example, the central rotor 5 can also be designed as a structure with partial hollowing out.

[0061] In this embodiment, both ends of the fixed friction outer sleeve 2 are respectively connected to the rear end cover 1 and the front end cover 7 through bolt cooperation. The front end cover 7 is connected to one of the sailboards or antennas of the deployment component through a preset interface and serves as a fixing member; the driving input rotor 3 and the central rotor 5 are concentrically matched through the second bearing 9. When no magnetic force is applied and the driving input rotor 3 is fixed, the central rotor 5 can swing freely within the gap range; both ends of the driving input rotor 3 are respectively matched with the rear end cover 1 and the front end cover 7 through the first bearing 8 and the third bearing 10, respectively, so that it can rotate concentrically; the part of the support shaft 35 of the driving input rotor 3 extending outside the rear end cover 1 is connected to the other sailboard or antenna of the deployment component and serves as a movable member.

[0062] As Figure 2 shown, both ends of the central rotor 5 are also connected to two magnetic friction damper blocks 4 through connecting pins 6 and elastic hinges. The magnetic damper block 4 is configured with a pair of permanent magnets and a contact angle 41 at the end. The permanent magnets of the magnetic damper block 4 generate a mutual force with the permanent magnets at the end of the driving input rotor 3 and are in force balance in the relative equilibrium state. When the position changes relatively, the magnetic damper block 4 is subjected to an unbalanced magnetic force. The end contact angle 41 of the magnetic damper block 4 contacts the fixed friction sleeve 2, and a frictional damping force is generated during the movement. At the same time, by using an elastic hinge, it can be ensured that when the magnetic damper block 4 contacts the inner wall of the fixed friction outer sleeve 2 and causes over-damping, it can be retracted smoothly to reduce the situation of excessive frictional damping.

[0063] The working process and principle of this embodiment:

[0064] The outer shell sleeve is connected to a sailboard or an antenna as a fixing member, and the driving input rotor 3 is connected to another sailboard or antenna through a support shaft 35 as a movable member. When the sailboard or antenna is unfolded, it will drive the driving input rotor 3 to rotate relative to the fixed friction outer sleeve 2. When the angular velocity of the driving input rotor 3 is constant, under the combined action of magnetic force, contact angle 41 and the frictional torque of the fixed friction outer sleeve 2, the relative positions of the driving input rotor 3 and the central rotor 5 are balanced. When the driving input rotor 3 rotates and accelerates, the relative positions of the driving input rotor 3 and the central rotor 5 change, and the balance is broken. Under the action of magnetic force, the magnetic damping block 4 has a tendency of "turning outwards", and the normal pressure of the contact angle 41 at the end with the friction damping sleeve 2 increases, so the frictional damping force increases. Under the action of magnetic force, the magnetic damping block 4 reacts on the driving input rotor 3, causing it to receive a damping torque in the opposite direction, thereby reducing the rotational speed. When the driving input rotor 3 rotates and decelerates, the relative positions of the driving input rotor 3 and the central rotor 5 change. Under the action of magnetic force and the elastic hinge at the connection between the central rotor 5 and the magnetic damping block 4, the magnetic damping block 4 has a tendency of "retracting inwards", and the normal pressure of the contact angle 41 at the end with the friction damping sleeve 2 decreases, so the frictional damping decreases and the damping torque decreases, thereby increasing the rotational speed.

[0065] It should be particularly noted that the normal pressure between the contact angle 41 at the end of the magnetic damping block 4 and the fixed friction sleeve 2 is the key to adjusting the magnitude of the damping force. This normal pressure is mainly related to the relative position relationship / motion state between the driving input rotor 3 and the magnetic damping block 4 and the centrifugal force of the structure itself. By simplifying the entire system model and analyzing the forces on the magnetic damping block 4, and by designing and adjusting the size and material parameters of each structure, the damper can relatively stably keep the unfolding speed of the sailboard / antenna at a designed value, thereby reducing speed fluctuations and impact loads.

[0066] Embodiment 3:

[0067] This embodiment is a variant of Embodiment 1.

[0068] In this embodiment, as Figure 5 , Figure 6 , Figure 7 , Figure 8 shown, a plurality of notches 31 arranged centrally symmetrically are provided on the end face of the driving input rotor 3 and balls 11 are located in the notches 31. A pin platform 51 inserted into the notches 31 is arranged on the surface of the central rotor 5 facing the driving input rotor 3. When the pin platform 51 is inserted into the notches 31, the balls 11 still have a movable gap. The bottom surface of the notches 31 has a slope, so due to the change in the rotational speed of the driving input rotor 3, the balls 11 can displace in the notches 31, thereby changing the attitude of the central rotor 5 and causing the damping between the central rotor 5 and the fixed friction outer sleeve 2 to change.

[0069] Specifically, the notch 31 is configured to have a tunnel in the middle and slopes connecting both sides of the tunnel. When the ball 11 moves to the slope, it exerts extrusion on the central rotor 5, thereby causing a change in the attitude of the central rotor 5. The central rotor 5 extends a plurality of sharp-cornered structures along the circumferential direction, and the sharp-cornered structures protrude radially outside the edge of the drive input rotor 3 and contact the inner wall of the fixed friction outer sleeve 2. Due to the different attitudes of the central rotor 5, the extrusion force between the sharp-cornered structures and the fixed friction outer sleeve 2 is different.

[0070] The difference in the working principle between this embodiment and Embodiment 2 is that the adjustment of the damping torque in this embodiment is achieved by the movement and extrusion of the ball 11 to change the relative position of the drive input rotor 3 and the friction damping rotor 5. Similarly, through the concentric cooperation of the second bearing 9, a pin platform 51 corresponding to the position of the notch 31 is inserted into the notch 31 at the end face of the friction damping rotor 5, but there is a certain gap. In the free state, the friction damping rotor 5 swings within the limit range of the notch 31. At the same time, a ball 11 with a size slightly smaller than the gap between the notch 31 and the pin platform 51 is installed in each notch 31, as Figure 8 shown. As the rotational angular velocity or angular acceleration changes, the ball 11 will displace in the tunnel and exert extrusion on the friction damping rotor 5 at the slope, causing a change in the relative pose of the friction damping rotor 5, thereby changing the normal pressure between the sharp-cornered structure of the friction damping rotor 5 and the fixed friction sleeve 2 and changing the friction damping torque. The specific mechanism of adjustment is similar to that of the rotary damper in Embodiment 2. The difference is that the magnetic pole force is transformed into the force of direct contact and extrusion between the ball 11 and various structures in the notch 31. By designing and adjusting the size and material parameters of each structure and the relative size of the notch 31 and the ball 11, etc., the damper can relatively stably maintain the deployment speed of the sailboard / antenna at a designed value, thereby reducing the speed fluctuation and the impact load.

[0071] The present invention can achieve adaptive adjustment according to the rotational angular velocity and / or angular acceleration of the rotating component without energy input, realize the control of the speed as required, and reduce the impact during in-place locking. It amplifies the speed fluctuation under low-speed conditions through magnetic force or ball extrusion, thereby realizing adaptive feedback adjustment; it uses a pure mechanical structure, does not need to consider the problem of liquid leakage, is less affected by temperature, has a low loss coefficient, and high reliability.

[0072] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application 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 should not be construed as a limitation to the present application.

[0073] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other.

Claims

1. An adaptive adjustable rotary damper, characterized in that, it includes a housing sleeve and an internal rotor arranged in the housing sleeve; the internal rotor is configured with a driving input rotor (3) and a central rotor (5) arranged coaxially with the driving input rotor (3). When the driving input rotor (3) rotates, it can drive the central rotor (5) to rotate, and due to the change in the rotational speed of the driving input rotor (3), all or part of the attitude of the central rotor (5) changes, thereby causing the damping between the central rotor (5) and the housing sleeve to change; the housing sleeve includes a fixed friction outer sleeve (2) and a rear end cover (1) and a front end cover (7) respectively arranged at both ends of the fixed friction outer sleeve (2). Among them, the end of the front end cover (7) is the first fixed end, and the end of the shaft of the driving input rotor (3) extends to the outside of the rear end cover (1) as the second fixed end. Both the first fixed end and the second fixed end are used to connect relative motion mechanisms; the driving input rotor (3) includes a first arc plate (32) and a second arc plate (33) arranged oppositely. Both ends of the central rotor (5) are rotatably matched with magnetic damping blocks (4) or connected by flexible members. The magnetic damping blocks (4) are arranged between the first arc plate (32) and the second arc plate (33). The first arc plate (32) and / or the second arc plate (33) has a permanent magnet. Due to the change in the rotational speed of the driving input rotor (3), the distance between the permanent magnet and the magnetic damping block (4) changes, causing the attitude of the magnetic damping block (4) to change, and further causing the damping between the magnetic damping block (4) and the fixed friction outer sleeve (2) to change.

2. The adaptive adjustable rotary damper according to claim 1, characterized in that, the magnetic damping block (4) has a contact angle (41), and the damping change is adjusted by adjusting the squeezing degree between the contact angle (41) and the fixed friction outer sleeve (2).

3. The adaptive adjustable rotary damper according to claim 1, characterized in that, the hinge axis of the magnetic damping block (4) is parallel to the axis of rotation of the driving input rotor (3).

4. The adaptive adjustable rotary damper according to claim 2, characterized in that, the contact angle (41) is located at one end of the outer side of the magnetic damping block (4), and the other end of the inner side of the magnetic damping block (4) is hinged at the corner of the central rotor (5).

5. The adaptive adjustable rotary damper according to claim 1, characterized in that, the two magnetic damping blocks (4) are respectively elastically hinged at both ends of the central rotor (5).

6. The adaptive adjustable rotary damper according to claim 1, characterized in that, A plurality of notches (31) arranged in central symmetry are provided on the end face of the driving input rotor (3), and balls (11) are located in the notches (31). A pin platform (51) inserted into the notches (31) is arranged on one side of the central rotor (5) facing the driving input rotor (3), and when the pin platform (51) is inserted into the notches (31), the balls (11) still have a movable gap. The bottom surface of the notches (31) has a slope, so that due to the change in the rotational speed of the driving input rotor (3), the balls (11) can be displaced in the notches (31), thereby changing the attitude of the central rotor (5), and further changing the damping between the central rotor (5) and the fixed friction outer sleeve (2).

7. The self - adaptive adjustable rotary damper according to claim 6, characterized in that, the notches (31) are configured to have a tunnel in the middle and slopes connecting both sides of the tunnel. When the balls (11) move to the slopes, they exert pressure on the central rotor (5), thereby changing the attitude of the central rotor (5).

8. The self - adaptive adjustable rotary damper according to claim 6, characterized in that, the central rotor (5) extends a plurality of pointed - shaped structures along the circumferential direction, and the pointed - shaped structures protrude radially outside the edge of the driving input rotor (3).

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