A three-dimensional magnetorheological damper with axial-radial decoupling

Abstract

The application provides a three-way magnetorheological damper for axial-radial decoupling, which comprises an outer damping cylinder, an inner damping cylinder and a damping piston; the outer damping cylinder and the inner damping cylinder are integrally formed through rubber molding, the gap between the outer damping cylinder and the inner damping cylinder is filled with magnetorheological fluid, and the outer cylinder is provided with an outer cylinder excitation coil; a damping gap is left between the inner damping cylinder and the damping piston, the inner damping cylinder is filled with magnetorheological fluid, and the piston head of the damping piston is provided with a piston excitation coil; the damper can realize complete decoupling of axial and radial movements, has a large damping force adjustment range in combination with the variable damping characteristics of the magnetorheological fluid, and can tune the damping force generated by the system at any time through the excitation coil according to the working condition, so that the three-way vibration of the system is attenuated, and the vibration attenuation time of the system is greatly reduced.

Description

Technical Field

[0001] This invention relates to the field of damping device technology, and in particular to a triaxial magnetorheological damper with axial-radial decoupling. Background Technology

[0002] With the development of technology, dampers are increasingly used in large equipment, high-rise buildings and long-span structures to consume or isolate vibration / vibration energy through damping, or to apply external energy to counteract the effect of external excitation on the structure.

[0003] Currently, the stiffness and damping coefficient of ordinary mechanical dampers are fixed and cannot be adjusted according to different working conditions, resulting in low adaptability. To address this, engineers have developed magnetorheological dampers. Magnetorheological dampers are semi-active control devices made by utilizing the characteristic that the shear yield strength of magnetorheological fluid varies with the magnitude of the applied magnetic field. They possess both the stability of passive control and the adjustability of active control. Their stiffness or damping parameters are adjustable, and they have good adaptability. They are a new type of intelligent vibration damper that is currently being vigorously developed by various parties, featuring low power consumption, small time delay, and ease of control.

[0004] However, traditional magnetorheological dampers, such as the patent application No. 201710062175.9 "A rack-and-pinion driven disc magnetorheological damper" and the patent application No. 201610105046.9 "A novel combined vibration damper based on a magnetorheological damper," can only provide unidirectional energy-dissipating damping force. Due to the complexity of vibration conditions, system vibration in most cases is caused by the coupling of vibrations in multiple directions. Under such complex conditions, the unidirectional nature of traditional magnetorheological dampers greatly limits their effectiveness and makes it inconvenient to adjust the damping characteristics according to the operating conditions. Furthermore, some structural designs arrange multiple dampers according to a certain design scheme to form a vibration damping platform, such as the patent application No. 201410579879.X "A magnetorheological fluid vacuum infusion method for a magnetorheological damper." However, this makes the entire vibration damping system structurally complex, bulky, and reduces reliability. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a triaxial magnetorheological damper with axial-radial decoupling, which can simultaneously provide sufficient energy-dissipating damping in all three directions, effectively reduce the vibration decay time of the system, and can adjust the damping force generated by the system at any time to adapt to different working conditions.

[0006] To achieve the above objectives, the technical solution of the present invention is as follows: an axially-radial decoupled triaxial magnetorheological damper, comprising an outer damping cylinder, an inner damping cylinder, and a damping piston; the outer damping cylinder and the inner damping cylinder are arranged coaxially, the inner wall of the outer damping cylinder and the outer wall of the inner damping cylinder are radially integrally formed with rubber, a plurality of circumferentially arrayed balls are arranged between the upper end face and the lower end face of the outer damping cylinder and the inner damping cylinder, circumferential guide grooves are provided on the outer side of the upper end face and the outer side of the lower end face of the inner damping cylinder, and the inner side of the upper end face and the inner side of the lower end face of the outer damping cylinder are respectively set as planes, the balls are supported between the circumferential guide grooves and the planes, and the outer damping cylinder, the inner damping cylinder and the inner damping cylinder are... An integrally molded rubber outer casing forms an outer damping cylinder magnetorheological fluid chamber, which is filled with an outer magnetorheological fluid. The outer damping cylinder contains an excitation coil capable of controlling the magnetic force to regulate the damping characteristics of the outer magnetorheological fluid. An inner damping cylinder is coaxially arranged and slidably fitted with a damping piston. The inner damping cylinder and the damping piston together form an inner damping cylinder magnetorheological fluid chamber. A damping gap is left between the damping piston and the inner wall of the inner damping cylinder. The inner damping magnetorheological fluid chamber is filled with an inner magnetorheological fluid. The damping piston is equipped with a piston excitation coil capable of controlling the magnetic force to regulate the damping characteristics of the inner magnetorheological fluid.

[0007] Optionally, the outer damping cylinder includes an upper end cap, an upper outer damping cylinder, an outer cylinder body, and a lower outer damping cylinder, wherein the outer cylinder body is axially sealed to the upper and lower outer damping cylinders.

[0008] Optionally, the outer damping cylinder, the inner damping cylinder, and the integrally molded rubber surround an inner damping cylinder magnetorheological fluid cavity filled with inner magnetorheological fluid, and the inner damping cylinder is reset by the elastic action of the integrally molded rubber.

[0009] Optionally, the upper end of the outer damping cylinder and the upper end of the inner damping cylinder are integrally formed by upper rubber, and the lower end of the outer damping cylinder and the lower end of the inner damping cylinder are integrally formed by lower rubber, and the magnetorheological fluid cavity of the outer damping cylinder is disposed between the upper rubber and the lower rubber.

[0010] Optionally, the outer cylinder excitation coil is connected to an independently controlled current control circuit to control the magnetic strength of the outer cylinder excitation coil by controlling the current, thereby adjusting the damping force of the outer magnetorheological fluid.

[0011] Optionally, multiple intermediate rubbers are spaced apart between the middle portion of the outer damping cylinder and the middle portion of the inner damping cylinder. The outer damping cylinder, the inner damping cylinder, and the multiple intermediate rubbers divide the magnetorheological fluid chamber of the outer damping cylinder into multiple independent chambers. The outer cylinder excitation coil includes multiple independently controlled ones, each corresponding to a different chamber. Each outer cylinder excitation coil is connected to an independently controlled external control circuit. Each external control circuit independently controls the magnetic strength of the outer cylinder excitation coil corresponding to each chamber, so as to independently adjust the damping force of the external magnetorheological fluid in each chamber.

[0012] Optionally, the piston excitation coil is connected to an independently controlled internal control circuit, which controls the magnetic strength of the piston excitation coil and adjusts the damping force of the internal magnetorheological fluid.

[0013] Optionally, the damping piston includes a piston head and a double-extended piston rod, the piston head has an outer circular groove on its outer periphery, and the piston excitation coil is wound in the outer circular groove.

[0014] Optionally, the piston head has multiple outer circular grooves arranged along the axial direction, and each outer circular groove has an independent piston excitation coil. Each piston excitation coil is connected to an independently controlled internal control circuit, and each internal control circuit independently controls the magnetic strength of each piston excitation coil to adjust the damping force of the magnetorheological fluid in the magnetorheological fluid chamber of the inner damping cylinder.

[0015] Optionally, the upper end cover of the inner damping cylinder has a plurality of circumferential guide grooves arranged in a circumferential array for accommodating the balls, and the lower end cover of the inner damping cylinder has a plurality of circumferential guide grooves arranged in a circumferential array for accommodating the balls. The inner surfaces of the upper end cover and the lower end cover of the outer damping cylinder are set as planes, and the balls are supported between the circumferential guide grooves and the planes.

[0016] Compared to existing technologies, the technical advantages of the axial-radial decoupled triaxial magnetorheological damper provided by this invention are mainly reflected in the following aspects: An outer damping cylinder and an inner damping cylinder are radially connected by an integral rubber molding process, forming an outer damping cylinder magnetorheological fluid cavity filled with an outer magnetorheological fluid. An outer cylinder excitation coil capable of controlling the magnetic force is provided within the outer damping cylinder to independently control the damping characteristics of the outer magnetorheological fluid, thereby achieving damping control of the inner damping cylinder relative to the outer damping cylinder. Furthermore, an inner damping cylinder and a damping piston form an inner damping magnetorheological cavity filled with an inner magnetorheological fluid. A piston excitation coil capable of controlling the magnetic force is provided on the damping piston to control the damping characteristics of the inner magnetorheological fluid, thereby achieving damping control of the damping piston relative to the inner damping cylinder. When vibration is transmitted to the piston rod, the vibration motion can be decomposed into axial and radial motion. The inner damping cylinder, in conjunction with the piston rod, provides axial displacement for the vibration reduction system. The axial motion of the piston rod causes the magnetorheological fluid to flow in the damping channel, providing axial energy dissipation damping. The inner damping cylinder, in conjunction with the outer damping cylinder, provides radial displacement for the vibration reduction system. The relative displacement of the inner and outer damping cylinders compresses the magnetorheological fluid in the gap, providing radial energy dissipation damping, thus providing three-dimensional energy dissipation damping simultaneously. Axial and radial energy dissipation damping are controlled separately by independent coils. Combined with the variable damping characteristics of the magnetorheological fluid, the vibration reduction system has a large damping force adjustment range and can be tuned in all directions according to changes in operating conditions. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention.

[0018] Figure 1 A schematic diagram of the structure of the first embodiment of the axial-radial decoupled triaxial magnetorheological damper provided by the present invention;

[0019] Figure 2 This is a schematic diagram of the upper end cap structure of the internal damping cylinder of the present invention;

[0020] Figure 3 Here is a schematic diagram of the damping piston structure of the present invention:

[0021] Figure 4 This is a top view of the damping piston of the present invention;

[0022] Figure 5 This is a schematic diagram of the lower end cap structure of the internal damping cylinder of the present invention;

[0023] Figure 6 This is a partial structural schematic diagram of the second embodiment of the axial-radial decoupled triaxial magnetorheological damper of the present invention;

[0024] Figure 7This is a partial structural schematic diagram of the third embodiment of the axial-radial decoupled triaxial magnetorheological damper of the present invention.

[0025] In the attached diagram, 1-damping piston, 2-ball bearing, 3-upper end cap of outer damping cylinder, 4-upper cylinder of outer damping cylinder, 5-piston head, 6-outer cylinder body, 7-lower cylinder of outer damping cylinder, 8-base, 9-lower end cap of inner damping cylinder, 10-magnetorheological fluid chamber of inner damping cylinder, 11-inner cylinder body, 12-magnetorheological fluid chamber of outer damping cylinder, 13-excitation coil of outer cylinder, 14-rubber, 15-upper end cap of inner damping cylinder, 16-piston excitation coil. Detailed Implementation

[0026] In vibration conditions, most system vibrations are caused by coupling vibrations in multiple directions. Existing magnetorheological dampers, due to structural limitations of the piston rod and damping cylinder, can only provide unidirectional energy-dissipating damping force, and the damping force is relatively small, with inconvenient adjustment. Under such complex conditions, traditional dampers significantly limit their effectiveness. Currently, existing technologies typically arrange multiple dampers according to a specific design scheme to form a vibration damping platform; however, the entire vibration reduction system has a complex structure, large size, and reduced reliability.

[0027] To address the aforementioned technical problems, this invention provides a triaxial magnetorheological damper with axial-radial decoupling. An outer damping cylinder and an inner damping cylinder are integrally molded from rubber. The outer and inner damping cylinders, along with the integrally molded rubber outer shell, form an outer damping cylinder magnetorheological fluid cavity. This cavity is filled with an outer magnetorheological fluid, and an excitation coil capable of controlling the magnetic force is located within the outer damping cylinder to control the damping characteristics of the outer magnetorheological fluid. The inner damping cylinder and a damping piston form an inner damping cylinder magnetorheological fluid cavity. A damping gap is left between the damping piston and the inner wall of the inner damping cylinder. This cavity is filled with an inner magnetorheological fluid, and the damping piston is equipped with a piston excitation coil capable of controlling the magnetic force to control the damping characteristics of the inner magnetorheological fluid. This new axial-radial decoupled triaxial magnetorheological damper can simultaneously provide sufficient energy-dissipating damping in all three directions, effectively reduce the vibration decay time of the system, and can adjust the damping force generated by the system at any time to adapt to different working conditions.

[0028] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use.

[0029] like Figures 1 to 5 As shown, an embodiment of the axial-radial decoupled triaxial magnetorheological damper provided by the present invention includes a base 8, an outer damping cylinder, an inner damping cylinder, and a damping piston 1, wherein the outer damping cylinder is connected to the base.

[0030] The outer damping cylinder and the inner damping cylinder are arranged coaxially. The inner wall of the outer damping cylinder and the outer wall of the inner damping cylinder are integrally formed radially by rubber 14. Multiple circumferentially arrayed balls 2 are arranged between the upper and lower end faces of the outer damping cylinder and the inner damping cylinder. Circumferential guide grooves are provided on the outer side of the upper end face and the outer side of the lower end face of the inner damping cylinder. The inner side of the upper end face and the inner side of the lower end face of the outer damping cylinder are respectively set as planes. The balls 2 are supported between the circumferential guide grooves and the planes. The outer damping cylinder, the inner damping cylinder and the integrally formed rubber 14 are arranged to form an outer damping cylinder magnetorheological fluid cavity 12. The outer damping cylinder magnetorheological fluid cavity 12 is filled with an outer magnetorheological fluid. An outer cylinder excitation coil 13 that can control the strength of the magnetic force is provided in the outer damping cylinder to control the damping characteristics of the outer magnetorheological fluid. Specifically, the outer damping cylinder includes an upper outer damping cylinder cap 3, an upper outer damping cylinder 4, an outer cylinder body 6, and a lower outer damping cylinder 7. The outer cylinder body 6 is axially sealed to the upper outer damping cylinder 4 and the lower outer damping cylinder 7. Furthermore, the outer damping cylinder, the inner damping cylinder, and the integrally molded rubber 14 form an inner damping cylinder magnetorheological fluid cavity 10 filled with inner magnetorheological fluid. The elasticity of the integrally molded rubber 14 enables the inner damping cylinder to return to its original position. The upper end of the outer damping cylinder and the upper end of the inner damping cylinder are integrally molded together via an upper rubber 14, and the lower end of the outer damping cylinder and the lower end of the inner damping cylinder are integrally molded together via a lower rubber 14. The outer damping cylinder magnetorheological fluid cavity 12 is disposed between the upper and lower rubber 14.

[0031] The upper end cap 3 of the outer damping cylinder is rigidly connected to the upper cylinder 4 of the outer damping cylinder by bolts. The upper cylinder 4 of the outer damping cylinder is axially sealed to the outer cylinder body 6. The inner wall of the outer cylinder body 6 is wound with the outer cylinder excitation coil 13. The outer cylinder body 6 is axially sealed to the lower cylinder 7 of the outer damping cylinder. The lower cylinder 7 of the outer damping cylinder is rigidly connected to the base 8 by bolts. The magnetorheological fluid chamber 12 of the outer damping cylinder is filled with magnetorheological fluid. The outer cylinder excitation coil 13 is connected to an independently controlled current control circuit to control the magnetic force of the outer cylinder excitation coil 13 by controlling the current, thereby adjusting the damping force of the outer magnetorheological fluid.

[0032] like Figure 1As shown, in this embodiment, the inner damping cylinder and the damping piston 1 are arranged coaxially and slidably fitted together. The inner damping cylinder and the damping piston 1 constitute the inner damping cylinder magnetorheological fluid chamber 10. A damping gap is left between the damping piston 1 and the inner wall of the inner damping cylinder. The inner damping magnetorheological fluid chamber is filled with inner magnetorheological fluid. The damping piston 1 is provided with a piston excitation coil 16 that can control the strength of the magnetic force in order to control the damping characteristics of the inner magnetorheological fluid. Specifically, the damping piston and the inner damping cylinder are designed coaxially. The piston excitation coil 16 is wound in the groove of the piston head of the damping piston 1. The upper end of the inner cylinder 11 is axially sealed by the upper end cover 15 of the inner damping cylinder. The upper section of the piston rod is in a sealed sliding fit with the upper end cover 15 of the inner damping cylinder. The lower section of the piston rod is in a sealed sliding fit with the inner cylinder 11 and the lower end cover 9 of the inner damping cylinder. The outer cylinder 6 is radially sealed with the lower end cover 9 of the inner damping cylinder. The magnetorheological fluid chamber 10 of the inner damping cylinder is filled with magnetorheological fluid and is divided into upper and lower chambers by the damping piston head.

[0033] In this embodiment, preferably, the damping piston 1 is rigidly connected to the piston head shell 5, which mainly serves to guide the magnetic field generated by the excitation coil inside the piston head, and provides a flow channel for the magnetorheological fluid in the inner damping cylinder, thereby increasing the magnetic field strength at the point of action of the magnetorheological fluid.

[0034] like Figure 1 As shown, the inner damping cylinder and the outer damping cylinder are designed coaxially. The upper end cover 15 of the inner damping cylinder and the upper cylinder 4 of the outer damping cylinder are integrally formed by rubber 14. The lower end cover 9 of the inner damping cylinder and the lower cylinder 7 of the outer damping cylinder are integrally formed by rubber 14. There are 8 circumferentially arrayed ball bearings between the upper end cover 15 of the inner damping cylinder and the upper end cover 3 of the outer damping cylinder, and between the lower end cover 9 of the inner damping cylinder and the base 8.

[0035] like Figure 3 As shown, in this embodiment, a magnetic coil 16 is provided at the damping piston head, and a magnetic coil 13 is provided at the outer cylinder 6. The damping force of the magnetorheological fluid can be adjusted by adjusting the current of the magnetic coil. Specifically, the piston excitation coil 16 is connected to an independently controlled internal control circuit. The internal control circuit controls the magnetic strength of the piston excitation coil 16, thereby adjusting the damping force of the internal magnetorheological fluid. In a preferred embodiment, the damping piston 1 includes a piston head 5 and a double-extended piston rod. An outer circular groove is formed on the outer periphery of the piston head 5, and the piston excitation coil 16 is wound inside the outer circular groove.

[0036] like Figure 1 , Figure 2 , Figure 4 and Figure 5As shown, the upper end cover 15 of the inner damping cylinder has multiple circumferential guide grooves or arc-shaped guide grooves arranged in a circumferential array to accommodate the ball bearings 2. The lower end cover 9 of the inner damping cylinder has multiple circumferential guide grooves arranged in a circumferential array to accommodate the ball bearings 2. The inner surfaces of the upper end cover 3 and the outer end cover of the outer damping cylinder are set as planes, and the ball bearings 2 are supported between the circumferential guide grooves and the planes. This structure allows the ball bearings to be stable relative to the inner damping cylinder and move freely relative to the outer damping cylinder, achieving both stable support for the inner damping cylinder and maintaining structural stability.

[0037] This structure achieves complete decoupling of the axial and radial motions of the system vibration. The relative motion between the inner damping cylinder and the damping piston within the magnetorheological fluid provides axial damping force, achieving energy dissipation and vibration reduction during axial vibration. The relative motion between the outer damping cylinder and the inner damping cylinder within the magnetorheological fluid provides radial damping force, achieving energy dissipation and vibration reduction during radial vibration. Furthermore, the two damping cylinders do not interfere with each other and can operate simultaneously. The rubber structure, while providing vibration reduction and sealing, also functions as a reset mechanism, returning the inner damping cylinder to its initial position after vibration. Combined with the variable damping characteristics of the magnetorheological fluid, it offers a wide range of damping force adjustment and allows for real-time tuning of the system's damping force according to operating conditions.

[0038] like Figure 6 As shown, in the second embodiment of the present invention, a plurality of intermediate rubbers 14 are provided at intervals between the middle part of the outer damping cylinder and the middle part of the inner damping cylinder. The outer damping cylinder, the inner damping cylinder and the plurality of intermediate rubbers 14 divide the magnetorheological fluid chamber 12 of the outer damping cylinder into a plurality of independent chambers. The outer cylinder excitation coil 13 includes a plurality of independently controlled ones. Each outer cylinder excitation coil 13 is respectively set to a different chamber. Each outer cylinder excitation coil 13 is connected to an independently controlled external control circuit. Each external control circuit independently controls the magnetic strength of the outer cylinder excitation coil 13 corresponding to each chamber, so as to independently adjust the damping strength of the external magnetorheological fluid in each chamber.

[0039] Compared to Embodiment 1, Embodiment 2 uses multiple intermediate rubber outer damping cylinders and inner damping cylinders to form multiple independent chambers. Each chamber is filled with external magnetorheological fluid, and the external magnetorheological fluid in each chamber is independently controlled by the excitation coils of the corresponding outer cylinders. This allows for regional control of the damping characteristics of the external magnetorheological fluid, thus better adapting to different vibration conditions. Figure 7As shown, in a specific implementation, the system is divided into three independent chambers: a first chamber 12a, a second chamber 12b, and a third chamber 12c, by two intermediate rubbers, an upper rubber, and a lower rubber. Correspondingly, the outer cylinder excitation coil 13 is divided into a first outer cylinder excitation coil 13a (corresponding to the first chamber 12a), a second outer cylinder excitation coil 13b (corresponding to the second chamber 12b), and a third outer cylinder excitation coil 13c (corresponding to the third chamber 12c). It is possible to increase the current of the first outer cylinder excitation coil 13a to control the damping characteristics of the external magnetorheological fluid in the first chamber 12a, and to increase the damping characteristics of the external magnetorheological fluid in the second outer cylinder excitation coil 13c. The current of the excitation coil 13b controls the damping characteristics of the external magnetorheological fluid in the second chamber 12b, resulting in weaker damping characteristics in the external magnetorheological fluid of the third chamber 12c. Alternatively, the current of the excitation coil 13a can be increased to control the damping characteristics of the external magnetorheological fluid in the first chamber 12a, and the current of the excitation coil 13c can be increased to control the damping characteristics of the external magnetorheological fluid in the third chamber 12c, resulting in weaker damping characteristics in the external magnetorheological fluid of the second chamber 12b. This regional control of the damping characteristics of the external magnetorheological fluid better adapts to different vibration conditions. The other structural components of this embodiment are the same as in Embodiment 1 and will not be described again.

[0040] Based on Embodiment 1 or Embodiment 2, this invention provides a third embodiment, in which multiple independently controlled piston excitation coils are arranged on the damping piston to achieve control over the damping characteristics of the internal magnetorheological fluid in different regions outside the damping piston, such as... Figure 6 As shown, in the third embodiment of the present invention, the piston head 5 is provided with a plurality of outer circular grooves along the axial direction. Each outer circular groove is provided with an independent first piston excitation coil 16a, second piston excitation coil 16b, third piston excitation coil 16c, fourth piston excitation coil 16d, and fifth piston excitation coil 16e. The first piston excitation coil 16a, second piston excitation coil 16b, third piston excitation coil 16c, fourth piston excitation coil 16d, and fifth piston excitation coil 16e are each connected to an independently controlled internal control circuit. Each internal control circuit independently controls the magnetic strength of the first piston excitation coil 16a, second piston excitation coil 16b, third piston excitation coil 16c, fourth piston excitation coil 16d, and fifth piston excitation coil 16e, so as to adjust the damping force of the magnetorheological fluid in the inner damping cylinder magnetorheological fluid chamber 10.

[0041] like Figure 7As shown, compared to Embodiment 1 or Embodiment 2, Embodiment 3 can control the damping characteristics of the internal magnetorheological fluid in different axial regions of the damping piston according to the working conditions. Specifically, five outer circular grooves are arranged axially on the outer periphery of the piston head 5. Each outer circular groove is independently equipped with a first piston excitation coil 16a, a second piston excitation coil 16b, a third piston excitation coil 16c, a fourth piston excitation coil 16d, and a fifth piston excitation coil 16e. In some working conditions, when the vibration amplitude of the piston head is small and the vibration force is large, the internal magnetorheological fluid in the corresponding region can be enhanced by increasing the current of the second piston excitation coil 16b, the third piston excitation coil 16c, and the fourth piston excitation coil 16d. The damping strength of the rheological fluid can be specifically increased to enhance the damping force experienced by the piston head within a small range of movement, meeting the requirements of a small damping range and large damping force in this operating condition. In other operating conditions, when the vibration amplitude of the piston head is large and the vibration force is small, the damping range of the internal magnetorheological fluid can be increased by enhancing the current of the first piston excitation coil 16a, the third piston excitation coil 16c, and the fifth piston excitation coil 16e. This can specifically increase the damping force required for the piston head to experience low damping force during a large range of movement. The other parts of the structure in this embodiment are the same as those in Embodiment 1 or Embodiment 2, and will not be described again.

[0042] The axial-radial decoupled triaxial magnetorheological dampers provided in each embodiment fill the space between the outer and inner damping cylinders with an outer magnetorheological fluid. An excitation coil in the outer cylinder, capable of controlling the strength of the magnetic force, independently controls the damping characteristics of the outer magnetorheological fluid, thereby achieving damping control of the inner damping cylinder relative to the outer damping cylinder. Alternatively, an inner magnetorheological fluid is filled between the inner damping cylinder and the damping piston. The damping characteristics of the inner magnetorheological fluid are controlled by a piston excitation coil, which also controls the strength of the magnetic force, thereby achieving damping control of the damping piston relative to the inner damping cylinder. When vibration is transmitted to the piston rod, the vibration motion can be decomposed into axial and radial motion. The inner damping cylinder, in conjunction with the piston rod, provides axial displacement for the vibration damping system. The axial motion of the piston rod causes the magnetorheological fluid to flow in the damping channel, providing axial energy dissipation damping. The inner damping cylinder, in conjunction with the outer damping cylinder, provides radial displacement for the vibration damping system. The relative displacement of the inner and outer damping cylinders compresses the magnetorheological fluid in the gap, providing radial energy dissipation damping. This provides triaxial energy dissipation damping, and the axial and radial energy dissipation damping are controlled separately by independent coils. Combined with the variable damping characteristics of the magnetorheological fluid, the vibration damping system has a large damping force adjustment range and can adjust the damping force in each direction of the system according to changes in working conditions. This solves the problem that traditional magnetorheological dampers can only provide unidirectional energy dissipation damping force and cannot adapt to working conditions with vibration coupling in multiple directions, thus improving the damping and vibration reduction effect. It also solves the problem that arranging multiple dampers according to a certain design scheme to form a vibration damping platform results in a complex structure, large size, and reduced reliability of the entire vibration damping system.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A triaxial magnetorheological damper with axial-radial decoupling, characterized in that: Includes a base (8), an outer damping cylinder, an inner damping cylinder, and a damping piston (1); The external damping cylinder is connected to the base (8); The outer damping cylinder and the inner damping cylinder are arranged coaxially. The inner wall of the outer damping cylinder and the outer wall of the inner damping cylinder are integrally formed radially by rubber (14). Multiple circumferentially arranged balls (2) are arranged between the upper and lower end faces of the outer damping cylinder and the inner damping cylinder. Circumferential guide grooves are provided on the outer side of the upper end face and the outer side of the lower end face of the inner damping cylinder. The inner side of the upper end face and the inner side of the lower end face of the outer damping cylinder are respectively set as planes. The balls (2) are supported between the circumferential guide grooves and the planes. The outer damping cylinder, the inner damping cylinder and a... An integrally molded rubber (14) is provided as an outer damping cylinder magnetorheological fluid cavity (12), which is filled with an outer magnetorheological fluid. The outer damping cylinder is provided with an outer cylinder excitation coil (13) that can control the strength of the magnetic force, so as to control the damping characteristics of the outer magnetorheological fluid. The outer cylinder excitation coil (13) is connected to an independently controlled current control circuit, so as to control the strength of the magnetic force of the outer cylinder excitation coil (13) by controlling the current, and adjust the strength of the damping force of the outer magnetorheological fluid. The inner damping cylinder and the damping piston (1) are arranged coaxially and slidably fitted together. The inner damping cylinder and the damping piston (1) form the inner damping cylinder magnetorheological fluid chamber (10). A damping gap is left between the damping piston (1) and the inner wall of the inner damping cylinder. The inner damping cylinder magnetorheological fluid chamber (10) is filled with inner magnetorheological fluid. The damping piston (1) is provided with a piston excitation coil (16) that can control the strength of the magnetic force, so as to control the damping characteristics of the inner magnetorheological fluid. The damping piston (1) includes a piston head (5) and a double-extended piston rod. The piston head (5) has an outer circular groove on its outer periphery. The piston excitation coil (16) is wound in the outer circular groove. The piston head (5) has multiple outer circular grooves arranged along the axial direction. Each outer circular groove is provided with an independent piston excitation coil (16). Each piston excitation coil (16) is connected to an independently controlled internal control circuit. Each internal control circuit independently controls the magnetic strength of each piston excitation coil (16) to adjust the damping strength of the magnetorheological fluid in the magnetorheological fluid chamber (10) of the inner damping cylinder. The upper end cover (15) of the inner damping cylinder has multiple circumferential guide grooves arranged in a circumferential array to accommodate the balls (2). The lower end cover (9) of the inner damping cylinder has multiple circumferential guide grooves arranged in a circumferential array to accommodate the balls (2). The inner surfaces of the upper end cover (3) and the end cover of the outer damping cylinder are set as planes. The balls (2) are supported between the circumferential guide grooves and the plane.

2. The axial-radial decoupled triaxial magnetorheological damper according to claim 1, characterized in that: The outer damping cylinder includes an upper end cap (3), an upper outer damping cylinder (4), an outer cylinder body (6), and a lower outer damping cylinder (7). The outer cylinder body (6) is axially sealed with the upper outer damping cylinder (4) and the lower outer damping cylinder (7).

3. The axial-radial decoupled triaxial magnetorheological damper according to claim 1, characterized in that: The outer damping cylinder, the inner damping cylinder, and the integrally molded rubber (14) surround the inner damping cylinder magnetorheological fluid cavity (10) filled with the inner magnetorheological fluid. The inner damping cylinder is reset by the elastic action of the integrally molded rubber (14).

4. The axial-radial decoupled triaxial magnetorheological damper according to claim 1, 2, or 3, characterized in that: The upper end of the outer damping cylinder and the upper end of the inner damping cylinder are integrally formed by an upper end rubber (14), and the lower end of the outer damping cylinder and the lower end of the inner damping cylinder are integrally formed by a lower end rubber (14). The magnetorheological fluid cavity (12) of the outer damping cylinder is disposed between the upper end rubber (14) and the lower end rubber (14).

5. The axial-radial decoupled triaxial magnetorheological damper according to claim 4, characterized in that: Multiple intermediate rubbers (14) are spaced apart between the middle part of the outer damping cylinder and the middle part of the inner damping cylinder. The outer damping cylinder, the inner damping cylinder and the multiple intermediate rubbers (14) divide the magnetorheological fluid chamber (12) of the outer damping cylinder into multiple independent chambers. The outer cylinder excitation coil (13) includes multiple independently controlled ones. Each outer cylinder excitation coil (13) is set to a different chamber. Each outer cylinder excitation coil (13) is connected to an independently controlled external control circuit. Each external control circuit independently controls the magnetic strength of the outer cylinder excitation coil (13) corresponding to each chamber, so as to independently adjust the damping strength of the external magnetorheological fluid in each chamber.

6. The axial-radial decoupled triaxial magnetorheological damper according to claim 1, characterized in that: The piston excitation coil (16) is connected to an independently controlled internal control circuit. The internal control circuit controls the magnetic strength of the piston excitation coil (16) and adjusts the damping force of the internal magnetorheological fluid.

Images