Vibration control device for flexible robotic arms based on magnetic shear thickening fluid effect

Abstract

This invention provides a vibration control device for a flexible robotic arm based on the magnetic shear thickening fluid effect, relating to the field of vibration control for flexible robotic arms. Addressing the problem that current vibration dampers struggle to reduce complex vibrations generated at the coupling point between the flexible robotic arm and the motor, this invention employs a sealed, enclosed shell structure to form an annular region surrounding the vibration source. After the annular region is filled with damping fluid, the damping fluid, exhibiting the magnetic shear thickening fluid effect, can reduce vibrations in multiple circumferential directions around the vibration source, thereby reducing wide-frequency, rapidly changing vibrations and improving the vibration control effect on the vibration source.

Description

Technical Field

[0001] This invention relates to the field of vibration control for flexible robotic arms, and more specifically to a vibration control device for flexible robotic arms based on the magnetic shear thickening fluid effect. Background Technology

[0002] Compared to traditional rigid robotic arms, chatter is one of the main challenges restricting the performance and stability of flexible robotic arms. Chatter refers to the self-excited vibration phenomenon that occurs in a mechanical system when subjected to external or internal excitation. Due to the flexible nature of their structure, flexible robotic arms are easily affected by external disturbances or workloads, leading to chatter. In particular, the nonlinear and coupled characteristics of the vibration of flexible robotic arms make chatter suppression more complex and difficult, resulting in instability, reduced accuracy, and even affecting the lifespan and safety of the robotic arm.

[0003] Non-Newtonian dilatant fluids, also known as shear-thickening fluids, are a class of fluids that exhibit nonlinear viscosity characteristics with varying shear rates. At high shear rates, their viscosity increases rapidly, resulting in high liquid damping forces, while at low shear rates, the viscosity decreases. Non-Newtonian fluids possess advantages such as ease of preparation, stable performance, good flexibility, and good adaptability. However, because they do not obey Newton's law of viscosity—that is, the relationship between shear stress and shear strain is not linear—their rheological properties are complex, and changes in viscosity are easily affected by various conditions. Current research has shown that introducing a magnetic field into the rheological experiments of non-Newtonian fluids can influence their rheological properties, and the viscosity of non-Newtonian fluids can be indirectly controlled by altering the magnetic field strength.

[0004] Chinese invention patent (application number: 202110577768.5) discloses a vibration control device and method for a flexible robotic arm that allows for movement and rotation. It simulates the structure of a flexible robotic arm combined with elastic joints, and conducts vibration experiments and control. The method combines piezoelectric ceramic sheet detection and accelerometer detection, which helps improve the accuracy of vibration detection. However, due to the presence of numerous rigid-flexible couplings and spring couplings, this invention inevitably suffers from insufficient accuracy when dealing with complex flutter problems, and it is also difficult to implement vibration control for larger amplitude frequencies.

[0005] Chinese invention patent (application number: 201710500897.8) discloses a vibration damper based on magnetorheological technology. This magnetorheological vibration damper utilizes the shear working mode of a magnetorheological elastomer. By adjusting the stiffness of the magnetorheological elastomer, the natural frequency of the damper can be changed, achieving good vibration damping performance over a wide frequency range and at high frequency change rates. However, it is not suitable for structures such as flexible robotic arms that experience complex or extreme vibration conditions. At the coupling point between the flexible robotic arm and the motor, the vibration direction is unpredictable and difficult to maintain, which can cause existing vibration dampers to fail due to overload operation under such conditions. Summary of the Invention

[0006] The purpose of this invention is to address the shortcomings of existing technologies by providing a flexible robotic arm vibration control device and method based on the magnetic shear thickening fluid effect. The device uses a sealed, enclosed shell structure to form an annular region around the vibration source. After the annular region is filled with damping fluid, the damping fluid with the magnetic shear thickening fluid effect can reduce vibration in multiple circumferential directions of the vibration source, thereby reducing wide-frequency, fast-changing vibrations and improving the vibration control effect of the vibration source.

[0007] The first objective of this invention is to provide a vibration control device for a flexible robotic arm based on the magnetic shear thickening fluid effect, employing the following scheme: including:

[0008] A sealed housing, including a sealed chamber for accommodating a vibration source;

[0009] The circulation system is connected to a sealed chamber and can fill the annular area between the sealed chamber and the vibration source with damping fluid;

[0010] The control system includes a vibration acquisition element, a viscosity acquisition element, a controller, and an electromagnet. The electromagnet acts on the damping fluid in the sealed chamber. The vibration acquisition element is used to acquire vibration data of the vibration source and send it to the controller. The viscosity acquisition element is used to acquire viscosity data of the damping fluid and send it to the controller. The controller is used to control the operating state of the electromagnet to change the viscosity of the damping fluid.

[0011] Furthermore, the circulation system includes a liquid storage component, a pumping component, and a purification component. The pumping component, the sealed chamber, and the liquid storage component are sequentially connected by pipelines to form a closed loop. The purification component is arranged on the pipeline to remove impurities and / or air bubbles from the damping fluid.

[0012] Furthermore, the circulation system also includes a temperature control component, which is connected to the pipeline to regulate the temperature of the damping fluid flowing in the closed loop.

[0013] Furthermore, the vibration acquisition element and the viscosity acquisition element are respectively disposed in a sealed chamber, with the vibration acquisition element attached to the vibration source.

[0014] Furthermore, the sealing housing is provided with drainage holes evenly distributed along the circumference, and the drainage holes are connected to the circulation system through pipelines.

[0015] Furthermore, the damping fluid is a colloidal medium with magnetic shear thickening fluid properties, and the circulation system fills the annular region with the damping fluid and keeps the annular region full.

[0016] Furthermore, the electromagnet is arranged on the outer circumferential surface of the sealed housing, and the coil of the electromagnet is connected to a controller. The controller changes the electromagnetic field strength acting on the sealed cavity by adjusting the operating state of the electromagnet.

[0017] Furthermore, Hall elements are connected to both ends of the electromagnet. The Hall elements are used to acquire the magnetic induction intensity data of the electromagnetic field generated by the electromagnet and send it to the controller.

[0018] A second objective of this invention is to provide a control method for a vibration control device of a flexible robotic arm based on the magnetic shear thickening fluid effect, comprising:

[0019] A sealed housing surrounds the vibration source, and a circulation system is connected to the sealed chamber to fill the annular area with damping fluid;

[0020] Vibration data from the vibration source is collected and sent to the controller. The controller adjusts the electromagnet parameters according to the pre-set correspondence, thereby changing the viscosity of the damping fluid.

[0021] Damping fluids with magnetic shear thickening fluid effect are subjected to shearing action from a vibration source, and their viscosity increases to a semi-solid state, absorbing vibration energy to suppress vibration.

[0022] As the vibration of the vibration source weakens and eventually disappears, the shear force on the damping fluid decreases, and the viscosity gradually decreases until it returns to its initial fluid state.

[0023] Furthermore, when the vibration source is vibrating, the damping fluid in the annular region is kept full, and when the vibration source is not vibrating, the damping fluid in the sealed chamber is circulated, filtered, and its temperature is adjusted.

[0024] Compared with the prior art, the advantages and positive effects of this invention are:

[0025] (1) To address the problem that current vibration dampers are unable to reduce the complex vibrations generated at the coupling position between the flexible robotic arm and the motor, a sealed shell structure is adopted to form an annular area around the vibration source. After the annular area is filled with damping fluid, the damping fluid with magnetic shear thickening fluid effect can reduce the vibration of the vibration source in multiple directions around the circumference, reduce the vibration with wide frequency and fast change speed, and improve the vibration control effect of the vibration source.

[0026] (2) Vibration suppression is achieved by utilizing the properties of magnetic shear thickening fluid. Compared with the traditional rigid vibration suppression method, it has obvious initiative and adaptability. It can exhibit different viscosity characteristics according to the strength, amplitude and frequency of vibration. It can generate higher damping force and larger volume expansion coefficient during the shearing process generated by excitation, thereby achieving more efficient vibration reduction performance.

[0027] (3) Magnetic shear thickening fluid can achieve more precise control of rheological properties under the action of an external magnetic field. The viscosity of the damping fluid in the sealed chamber is adjusted by an electromagnet, and feedback control is achieved based on the measured vibration data and viscosity data, thereby improving the working stability and accuracy of the robotic arm. Attached Figure Description

[0028] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0029] Figure 1 This is a schematic diagram of the vibration control device for the flexible robotic arm based on the magnetic shear thickening fluid effect in Embodiments 1 and 2 of the present invention.

[0030] Among them, 1. Vibration source, 2. Sealed housing, 3. Vibration acquisition element, 4. Electromagnet, 5. Control module, 6. Computer, 7. Circulation system, 8. Coil, 9. Hall element, 10. Viscosity acquisition element. Detailed Implementation

[0031] Example 1

[0032] In a typical embodiment of the present invention, such as Figure 1 As shown, a vibration control device for a flexible robotic arm based on the magnetic shear thickening fluid effect is presented.

[0033] Due to the flexibility of its structure, flexible robotic arms are easily affected by external disturbances or workloads, leading to flutter. In particular, the nonlinear and coupling characteristics of the vibration of flexible robotic arms make vibration suppression more complex and difficult. At the coupling point between the flexible robotic arm and the motor, the vibration direction is not fixed and is difficult to predict. Under this condition, existing vibration dampers may fail due to overload operation.

[0034] Based on this, this embodiment provides a vibration control device for a flexible robotic arm based on the magnetic shear thickening fluid effect. The vibration source 1 is enclosed by a sealed housing 2 and a damping fluid is filled into the sealed housing 2. The damping fluid has a magnetic shear thickening fluid effect. The damping fluid distributed circumferentially around the vibration source 1 can be subjected to the shearing action of the vibration source 1 from multiple circumferential directions. Thus, by changing the viscosity, it exhibits semi-solid properties and forms a vibration suppression effect, meeting the vibration reduction requirements of the flexible robotic arm under complex vibration conditions.

[0035] The vibration control device for a flexible robotic arm based on the magnetic shear thickening fluid effect will be described in detail below with reference to the accompanying drawings.

[0036] See Figure 1 The vibration control device for a flexible robotic arm based on the magnetic shear thickening fluid effect mainly includes a sealed housing 2, a circulation system 7, and a control system. The sealed housing 2 forms a closed chamber to accommodate the vibration source 1. This chamber is filled with a damping fluid, which is a colloidal medium with magnetic shear thickening fluid properties. When the vibration source 1 vibrates within the damping fluid, the shearing effect of the vibration source 1 on the damping fluid causes the viscosity of the damping fluid to increase rapidly, exhibiting semi-solid characteristics. This weakens the vibration of the vibration source 1, achieving the effect of vibration suppression.

[0037] The circulation system 7 is capable of filling the sealed chamber with damping fluid and extracting the damping fluid from the sealed chamber, thereby enabling the damping fluid to circulate.

[0038] The control system includes a data acquisition module, an electromagnet 4, and a controller. The data acquisition module can acquire the vibration data of the vibration source 1 and the viscosity of the damping fluid in the sealed cavity. The magnetic field of the electromagnet 4 passes through the sealed shell 2 and acts on the damping fluid in the sealed cavity, actively adjusting the viscosity of the damping fluid. The controller processes the acquired vibration data and viscosity data and controls the operating parameters of the electromagnet 4.

[0039] In this embodiment, the data acquisition module includes a vibration acquisition element 3 and a viscosity acquisition element 10. The vibration acquisition element 3 is used to acquire the vibration data of the vibration source 1 and send it to the controller; the viscosity acquisition element 10 is used to acquire the viscosity data of the damping fluid and send it to the controller; the controller controls the operating state of the electromagnet 4 to change the viscosity of the damping fluid.

[0040] Vibration source 1 is located at the coupling module between the flexible robotic arm and the motor. A sealed housing 2 is installed at the coupling module, which is then encased in a sealed chamber filled with damping fluid. The sealed housing 2 has drainage holes evenly distributed circumferentially, which are connected to the circulation system 7 via pipelines.

[0041] Optionally, the vibration acquisition element 3 and the viscosity acquisition element 10 are respectively arranged in the sealed chamber. The vibration acquisition element 3 is attached to the vibration source 1. The vibration acquisition element 3 can be a vibration sensor. The vibration sensor is connected by a wire. The wire passes through the annular area and the side wall of the sealed housing 2 and is led out to the outside. Then it is connected to the controller to upload the vibration data to the controller.

[0042] The viscosity acquisition element 10 can be a viscosity sensor, which is fixed on the inner wall of a sealed chamber and connected to the controller via wires to upload viscosity data to the controller.

[0043] The circulation system 7 includes a liquid storage component, a pumping component, and a purification component. The pumping component, the sealed chamber, and the liquid storage component are connected in sequence through pipelines to form a closed loop, ensuring that the damping liquid can circulate within the sealed chamber.

[0044] The purification components are arranged on the pipeline. The purification components can adopt a multi-stage filtration structure. The multi-stage filtration structure can use existing commonly used filter elements to remove impurities and air bubbles in the damping fluid and improve the flow conditions of the damping fluid. In addition, the circulation system 7 also includes a temperature control component, which is connected to the pipeline to regulate the temperature of the damping fluid flowing in the closed loop.

[0045] After the vibration ends, the damping fluid is filtered in the purification component through the circulation system 7, and its temperature is adjusted by the temperature control component. The performance parameters of the damping fluid are measured by the control system and fed back to the controller. Finally, it enters the storage component.

[0046] Understandably, the temperature control component can be a combination of existing cooling and heating components. The cooling component can use a cold source such as a thermoelectric cooler, and the heating component can use a heat source such as a heating wire. This regulates and controls the temperature of the damping fluid, ensuring it operates at a suitable temperature and minimizing the impact of temperature variations on its performance.

[0047] Electromagnet 4 is arranged on the outer circumferential surface of the sealed housing 2. Electromagnet 4 includes an iron core and a coil 8. The coil 8 of electromagnet 4 is connected to a controller. The controller changes the electromagnetic field strength acting on the sealed cavity by adjusting the operating state of electromagnet 4.

[0048] Hall elements 9 are connected to both ends of the electromagnet 4. The Hall elements 9 are used to acquire the magnetic induction intensity data of the electromagnetic field generated by the electromagnet 4 and send it to the controller. When the electromagnet 4 is energized, the Hall elements 9 monitor the magnetic induction intensity and feed it back to the controller.

[0049] In this embodiment, the controller includes a control module 5 and a computer 6. The control module 5 serves as a primary data processing module and can be a host computer or similar device. The computer 6 serves as an execution module. The collected vibration data, viscosity data, and magnetic induction intensity data are first input into the control module 5 for preprocessing and then sent to the computer 6 for further analysis and processing. The computer 6 issues control signals to control the operating state of the electromagnet 4, thereby controlling the electromagnetic field of the electromagnet 4 acting on the damping fluid in the sealed cavity to change the rheological properties of the damping fluid, forming a closed-loop control circuit that can actively control the rheological properties of the damping fluid according to the intensity of vibration.

[0050] It should be noted that the damping fluid in this embodiment is a colloidal medium with magnetic shear thickening fluid characteristics. Its main components are shear thickening base fluid and hydroxyl iron powder. The main components of the shear thickening base fluid are shear thickening phase (organic polymer or its modified polymer) and dispersed phase (its main components are water or organic dispersed phase such as grade A silicone oil, esters, alcohols, etc.). The shear thickening base fluid is a dilatant non-Newtonian power-law fluid formed by mixing.

[0051] In this embodiment, polyethylene glycol and nano-SiO2 powder are mixed to prepare a shear-thickening base liquid with non-Newtonian dilatational fluid properties. This liquid is then mixed with hydroxyl iron powder and uniformly dispersed in an ultrasonic disperser for at least 1 hour before being removed. Before application, rheological tests must be conducted to verify that its rheological properties meet the usage requirements.

[0052] Understandably, the specific composition of the damping fluid can be selected based on its working environment and the material of the object being damped. Its main function is to rapidly fill the damping fluid through the drainage hole when the flexible robotic arm experiences flutter due to sudden changes in rotation speed. The circulation system 7 fills the annular area with the damping fluid and keeps the annular area full. Under the shearing action of vibration, the viscosity increases rapidly, exhibiting semi-solid characteristics, which quickly weakens the vibration and achieves the effect of suppressing vibration.

[0053] At the same time, the rheological properties of the damping fluid are changed by the action of the external magnetic field of the electromagnet 4, and the strength of the induced current is controlled to control the electromagnetic field strength, thus achieving indirect control by the magnetic field strength.

[0054] Magnetic shear thickening fluid can achieve relatively precise control of rheological properties under the action of an external magnetic field. The viscosity of the damping fluid in the sealed chamber is adjusted by electromagnet 4, and feedback control is achieved based on the measured vibration data and viscosity data, thereby improving the working stability and accuracy of the robotic arm.

[0055] Example 2

[0056] In another typical embodiment of the present invention, such as Figure 1 As shown, a control method for a vibration control device for a flexible robotic arm based on the magnetic shear thickening fluid effect is presented.

[0057] The vibration control method using the flexible robotic arm vibration control device based on the magnetic shear thickening fluid effect as described in Example 1 includes:

[0058] The sealed housing 2 surrounds the vibration source 1, and the circulation system 7 is connected to the sealed chamber to fill the annular area with damping fluid;

[0059] Vibration data from vibration source 1 is collected and sent to the controller. The controller adjusts the parameters of electromagnet 4 according to the pre-set correspondence, thereby changing the viscosity of the damping fluid.

[0060] The damping fluid with magnetic shear thickening effect is subjected to shearing action when vibrating from vibration source 1, and its viscosity increases to a semi-solid state, absorbing vibration energy to suppress vibration.

[0061] As the vibration of vibration source 1 weakens and eventually disappears, the shear force on the damping fluid decreases, and the viscosity gradually decreases until it returns to its initial fluid state.

[0062] When vibration source 1 is vibrating, the damping fluid in the annular region is kept full. When vibration source 1 is not vibrating, the damping fluid in the sealed chamber is circulated, filtered, and its temperature is adjusted.

[0063] Specifically, in combination Figure 1 The above control methods are described in detail, including:

[0064] Step 1: Based on the actual working conditions and materials of the flexible robotic arm, prepare a non-Newtonian high-performance damping fluid with magnetic shear thickening effect, and fill it into the liquid storage component of the circulation system 7. Control the circulation system 7 to release the damping fluid, which is then drained through the drainage hole on the sealed housing 2 to fill the sealed chamber and participate in vibration reduction.

[0065] Step 2: The vibration of vibration source 1 is monitored by vibration sensor, vibration data is collected and transmitted to control module 5 for preprocessing and then sent to computer 6 for analysis. The analyzed vibration signal is converted into control command to control the current strength of electromagnet 4 to form an electromagnetic field with a certain intensity.

[0066] Step 3: When the flexible robotic arm is in a state of vibration, the damping fluid with magnetic shear thickening effect increases in viscosity due to strong shearing, thus exhibiting semi-solid properties and rapidly absorbing vibration energy to achieve the effect of suppressing vibration.

[0067] As the vibration weakens and eventually disappears, the damping fluid gradually decreases due to shearing, and its viscosity gradually decreases, thus restoring the initial fluid state.

[0068] During this process, the magnetic particles in the damping fluid form magnetic brushes with a specific arrangement under the action of a magnetic field. This structure changes the viscosity by altering the molecular clusters inside the shear-thickening fluid, thus exhibiting a specific viscosity change under a specific magnetic field strength.

[0069] Step 4: After the flutter ends, the damping fluid is filtered and conditioned through the circulation system 7, and the performance parameters of the damping fluid are extracted and detected through the control system to keep the damping fluid in the required performance state.

[0070] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A flexible manipulator vibration control device based on the effect of a magnetic shear thickening fluid, characterized by, The application relates to a vibration damping device. The device comprises a sealed shell, a circulation system, a control system and a damping liquid. The sealed shell comprises a closed chamber for accommodating a vibration source. The circulation system is connected to the closed chamber and can fill the annular area between the closed chamber and the vibration source with the damping liquid. The damping liquid is a colloidal medium with the property of magnetic shear thickening fluid.

2. The flexible robotic arm vibration control device based on the effect of magnetic shear thickening fluid according to claim 1, wherein, The circulation system fills the annular area with the damping liquid and keeps the annular area full.

3. The flexible manipulator vibration control device based on the effect of a magnetically sheared dilatant fluid according to claim 2, wherein The control system comprises a vibration acquisition element, a viscosity acquisition element, a controller and an electromagnet.

4. The flexible manipulator vibration control device based on the effect of a magnetically sheared dilatant fluid according to claim 1, wherein The vibration acquisition element is used to acquire vibration data of the vibration source and send the data to the controller.

5. The flexible robotic arm vibration control device based on the effect of magnetic shear thickening fluid according to claim 1, wherein, The viscosity acquisition element is used to acquire viscosity data of the damping liquid and send the data to the controller.

6. The flexible robotic arm vibration control device based on the effect of magnetic shear thickening fluid according to claim 1, wherein, The controller comprises a control module and a computer.

7. The flexible robotic arm vibration control device based on the effect of magnetic shear thickening fluid according to claim 6, wherein The acquired vibration data, viscosity data and magnetic induction intensity data are input into the control module for preprocessing and then sent to the computer for further analysis and processing.

8. A control method of a flexible manipulator vibration control device based on the effect of a magnetic shear thickening fluid according to any one of claims 1 to 7, characterized by, The computer sends a control signal to control the operation state of the electromagnet, thereby controlling the electromagnetic field of the damping liquid in the closed chamber to change the rheological property of the damping liquid and form a closed-loop control circuit capable of actively controlling the rheological property of the damping liquid according to the vibration intensity. The circulation system comprises a liquid storage assembly, a pumping assembly and a purification assembly. The pumping assembly, the closed chamber and the liquid storage assembly are connected in sequence by pipelines to form a closed loop. The purification assembly is arranged on the pipeline to remove impurities and / or bubbles in the damping liquid. The circulation system further comprises a temperature control assembly connected to the pipeline to adjust the temperature of the damping liquid flowing in the closed loop.

9. The control method of the flexible manipulator vibration control apparatus based on the effect of a magnetic shear thickening fluid according to claim 8, characterized by, The vibration acquisition element and the viscosity acquisition element are arranged in the closed chamber respectively. The vibration acquisition element is attached to the vibration source. The sealed shell is provided with drainage holes uniformly distributed along the circumferential direction. The drainage holes are connected to the circulation system by pipelines. The electromagnet is arranged on the outer circumferential surface of the sealed shell. The coil of the electromagnet is connected to the controller. The controller adjusts the operation state of the electromagnet to change the electromagnetic field intensity in the closed chamber. The two ends of the electromagnet are respectively connected to Hall elements. The Hall elements are used to acquire the magnetic induction intensity data of the electromagnetic field generated by the electromagnet and send the data to the controller. The application relates to a vibration damping device. The device comprises a sealed shell, a circulation system, a control system and a damping liquid. The sealed shell comprises a closed chamber for accommodating a vibration source. The circulation system is connected to the closed chamber and can fill the annular area between the closed chamber and the vibration source with the damping liquid. The damping liquid is a colloidal medium with the property of magnetic shear thickening fluid. The circulation system fills the annular area with the damping liquid and keeps the annular area full. The control system comprises a vibration acquisition element, a viscosity acquisition element, a controller and an electromagnet. The vibration acquisition element is used to acquire vibration data of the vibration source and send the data to the controller. The viscosity acquisition element is used to acquire viscosity data of the damping liquid and send the data to the controller. The controller comprises a control module and a computer. The acquired vibration data, viscosity data and magnetic induction intensity data are input into the control module for preprocessing and then sent to the computer for further analysis and processing. The computer sends a control signal to control the operation state of the electromagnet, thereby controlling the electromagnetic field of the damping liquid in the closed chamber to change the rheological property of the damping liquid and form a closed-loop control circuit capable of actively controlling the rheological property of the damping liquid according to the vibration intensity. The circulation system comprises a liquid storage assembly, a pumping assembly and a purification assembly. The pumping assembly, the closed chamber and the liquid storage assembly are connected in sequence by pipelines to form a closed loop. The purification assembly is arranged on the pipeline to remove impurities and / or bubbles in the damping liquid. The circulation system further comprises a temperature control assembly connected to the pipeline to adjust the temperature of the damping liquid flowing in the closed loop. The vibration acquisition element and the viscosity acquisition element are arranged in the closed chamber respectively. The vibration acquisition element is attached to the vibration source. The sealed shell is provided with drainage holes uniformly distributed along the circumferential direction. The drainage holes are connected to the circulation system by pipelines. The electromagnet is arranged on the outer circumferential surface of the sealed shell. The coil of the electromagnet is connected to the controller. The controller adjusts the operation state of the electromagnet to change the electromagnetic field intensity in the closed chamber. The two ends of the electromagnet are respectively connected to Hall elements. The Hall elements are used to acquire the magnetic induction intensity data of the electromagnetic field generated by the electromagnet and send the data to the controller. The application relates to a vibration damping device. The device comprises a sealed shell, a circulation system, a control system and a damping liquid. The sealed shell comprises a closed chamber for accommodating a vibration source. The circulation system is connected to the closed chamber and can fill the annular area between the closed chamber and the vibration source with the damping liquid. The damping liquid is a colloidal medium with the property of magnetic shear thickening fluid. The circulation system fills the annular area with the damping liquid and keeps the annular area full. In the non-vibration state of the vibration source, the damping liquid in the closed chamber is circulated, filtered and temperature-adjusted.

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